MEDICAL VISUALIZATION SYSTEM AND METHOD FOR VIDEO STABILIZATION IN SUCH A SYSTEM

Description

[0001] The invention relates to a medical visualization system, in particular a surgical microscope system, and a method for video stabilization in such a system.

[0002] Medical visualization systems, e.g. in microscopy and especially in surgical microscopes, require a stable live video image on a display unit (e.g. a monitor, mixed reality glasses, a digital eyepiece, a projector, etc.).

[0003] It is known from EP 3 437 547 A1 to carry out electronic image stabilization, wherein either an image evaluation or an accelerometer is used as a motion detection device to detect movements of the operating microscope and the resulting need for stabilization.

[0004] US patent 2018 / 172971 A1 also uses an accelerometer as a motion detection device to determine whether image stabilization is required. It then performs mechanical image stabilization by appropriately moving the optical head of the surgical microscope. The system is designed to differentiate between various movements and, in particular, to detect vibrations based on the accelerometer signals. Frequency analysis is used to distinguish between different vibration patterns, such as vibrations caused by building vibrations and vibrations resulting from impacts to the surgical microscope.

[0005] US 2019 / 394400 A1, which is included in the preamble of the independent claims, also relates to image stabilization and provides a vibration sensor as a motion detection device in the operating microscope. The type of vibration is determined from its signals, and the need for stabilization is established. The image stabilization is then implemented either electronically, i.e., by suitable processing of the video image data, or mechanically, i.e., by suitable displacement of optical elements or an image sensor.

[0006] CN 1 13 132 612 A describes an image stabilization method that uses different stabilization techniques for different image areas, namely foreground and background, to compensate for camera shake through image processing. In addition to image motion data, gyroscope data from the camera is also evaluated.

[0007] US 8 749 648 B1 discloses, among other things, a method in which motion data obtained from a motion sensor, recorded during the recording, is used in downstream image processing to stabilize the video.

[0008] JP 2009 147727 A and JP 4 274233 B2 concern the correction of video data using a displacement vector.

[0009] In surgical microscopy, a live image is used by the surgeon. Time delays are extremely disruptive in this context. Current technology proves problematic here, as image stabilization is relatively computationally intensive and can therefore lead to delays in displaying the live video. Furthermore, current technology struggles to distinguish object movements from microscope vibrations.

[0010] The invention is therefore based on the objective of providing improved image stabilization for surgical microscopy, which avoids the problems of the prior art.

[0011] The invention is defined in claims 1 and 8. It provides a medical visualization system and a method for video stabilization in a medical visualization system. The medical visualization system has an image sensor. Furthermore, a motion detection device is used, which detects movements of the image sensor and generates corresponding sensor motion data, while simultaneously a video image of an object is generated by the medical visualization system.

[0012] Where the term "operating microscope (system)" is used below, it is used as an example of a medical visualization system.

[0013] The invention utilizes the knowledge that several movements can occur simultaneously for image stabilization. This can involve a movement of the microscope relative to the object.

[0014] This could be, for example, microscope vibration. However, there can also be movements of the object itself, which appear either across the entire image or partially. In surgical microscopy, an example would be blood vessels, which move rhythmically with the heartbeat. Furthermore, there can be externally moving elements within the object, which usually appear in the foreground and therefore potentially out of focus. In surgical microscopy, this could include the movement of surgical instruments or tools. These various components form a single motion vector and cannot be distinguished from one another through image analysis – this also applies if an accelerometer is used, as required by current technology, to determine the need for image stabilization.

[0015] The term "motion vector" here refers to a vector that represents all movements in the video data, regardless of whether they are caused by the movement of the microscope relative to the object, by movements of the object itself, or by movements in the foreground of the image. It can be determined from the image motion data. "Displacement vector data," on the other hand, are those displacement values ​​obtained after the corresponding combined evaluation of image motion data and sensor motion data, and which are caused exclusively, or to a proportion of at least 60%, preferably 70%, very preferably 80%, and most preferably 90%, by movements in the object field—that is, the desired isolated portion of the motion vector.

[0016] The correction can be performed as a simple lateral shift correction, or as more complex corrections collectively known as warping. The shift vectors preferably form a matrix, which allows for more complex corrections. In the simplest case, the mean value is used as the lateral shift. When combined with the third spatial direction, a superimposed magnification change using warping is the corrective measure.

[0017] The invention combines image analysis and motion detection to isolate from the motion vector those components caused by movement of the microscope relative to the object. The motion vector, and thus the image motion data, indicates displacements within the video data and is therefore not inherently separated with respect to the microscope movement of interest. By combining the sensor motion data with the image motion data, it is possible to weight and / or filter the motion vector based on the sensor motion data. In this way, displacement vector data is generated that now represents movement of the image sensor but not movement within the object field. The use of the motion detection device in this combined approach thus enables weighting and / or filtering of the motion vector.a sorting out of motion vectors and thus the separation of the portion of the motion vector that represents the movement of the microscope itself.

[0018] The combination achieves an accuracy that exceeds the resolution of the sensor motion data.

[0019] This approach is not only particularly computationally efficient and involves minimal latency, but it also has the further advantage that a wide variety of motion capture devices can be used without requiring any changes to the analysis. The extraction of the relevant data is completely independent of the type of motion capture device. This allows for easy adaptation and retrofitting of existing surgical microscopes.

[0020] The motion detection device can use one or more of the following sensors / techniques: a. a one- to six-axis accelerometer that measures linear accelerations along three axes and is located on the image acquisition unit or the object; b. an inertial measurement unit that measures linear accelerations, e.g., along three axes, as well as rotations about three axes ("gyroscope") and optionally also measures the magnetic field (9DOF absolute orientation sensors) and is located on the image acquisition unit or the object; c. a wide-angle surround-view camera, also mounted on the image acquisition unit, but with a larger or different field of view (possibly also in a different direction); d. another camera or, more generally, an external tracking system, e.g., a laser tracking system, which is not mounted on the image acquisition unit and detects the movement of the image acquisition unit from the outside. For this purpose, additional elements such as markers or retroreflectors can be placed on the image acquisition unit if required; e.a. Projection of markers / patterns from the image acquisition unit and determination of the relative position of the markers / patterns to the image content. The markers and the remaining image content can be located either in the same or in a deliberately separable spectral range (e.g., IR); f. Projection of markers / patterns from an external static object; g. Tracking of distinctive object features with a separate tracking system, such as pupil tracking in surgical microscopes in ophthalmology; and h. A second image sensor, such as may be present in the image acquisition unit of stereomicroscope systems.

[0021] In surgical microscopes, the image sensor is typically mounted on a stand or arm. It is then preferred to use a vibration model of the stand or arm to calculate the displacement vector data. This approach serves to establish a typical vibration behavior of the image sensor in order to filter / weight the motion vector from it and determine the displacement vector data that can be used to correct the video data. The vibration model is not intended to perform an analysis of the vibrations, and in particular, not to check for vibrations with specific parameters.

[0022] In some embodiments, the object is imaged at a predetermined overall magnification and displayed on a screen. Preferably, the ratio of optical magnification (optical zoom) to digital magnification (digital zoom) is readjusted as needed. If no vibration is detected in the plane parallel to the image sensor around a rest position, the magnification desired by the user is primarily set by the system's optical magnification. This results in maximum image quality. However, if vibration is detected parallel to the image sensor around a rest position, partial optical zoom out and digital zoom in are possible. This makes a larger area available on the image sensor for subsequent cycles, which can be used for further correction steps, resulting in optimized video stability despite the moving image capture unit.

[0023] Vibrations perpendicular to the plane of the image field captured by the image sensor could cause defocusing. Therefore, certain designs preferably adjust a pupil diaphragm accordingly, as the pupil diaphragm is known to influence the depth of field. Closing the pupil diaphragm increases the depth of field. Image brightness is then typically kept constant by adjusting electronic gain; that is, closing the pupil diaphragm increases the image gain, and vice versa. The results of the vibration analysis can now be taken into account when adjusting the pupil diaphragm. The aperture of the optical system and the electronic gain or exposure time are then readjusted. If no vibration around a rest position perpendicular to the image field (along the optical axis) is detected, the aperture of the system is opened wide to obtain the best possible image quality.If, however, an oscillation around a resting position perpendicular to the image field is detected, the aperture may be set to a smaller value to increase the depth of field. To maintain a similar image brightness, the electronic gain and / or the exposure time may be adjusted.

[0024] A similar principle applies to the focal plane of the optical system. It is also affected by vibrations perpendicular to the plane of the image field, but not by vibrations within the plane of the image field. The focal plane of the optical system is readjusted. If a vibration around a rest position perpendicular to the image field (along the optical axis) is detected, the focal plane is readjusted according to a position predicted for the next exposure period and / or the depth of field is adjusted by partially closing the aperture so that a sufficiently large / the entire vertical vibration range is rendered with sufficient sharpness.

[0025] The described surgical microscope system and method have the further advantage that only vibrations of the surgical microscope are detected at any given time. Movement of the object is no longer erroneously transferred from the motion vector to the motion vector data, as can occur, for example, with pure image analysis. Furthermore, it is not necessary, as in EP 3 437 547 A1, to use an image sensor with more pixels than the display device used to present the video. In some embodiments, the image sensor and display have the same number of pixels.

[0026] The described concept also achieves image stabilization in 3D, i.e., also along the optical axis. Image blur caused by vibrations can thus be corrected.

[0027] According to the invention, filtering is performed based on the sensor motion data. A motion vector range is defined, and only image motion data within this range is used for the displacement vector data. The filtering allows not only a yes / no selection but also weighting of the image motion data, e.g., distance weighting. Machine learning can also be used to improve the filtering.

[0028] Insofar as the invention is described here with reference to a surgical microscope, the method performed on the surgical microscope need not necessarily be linked to a surgical or diagnostic procedure. In certain embodiments, no therapeutic or diagnostic procedure is performed on a living human or animal body. Examples of such non-therapeutic and non-diagnostic uses of a surgical microscope can be found particularly in ophthalmology, e.g., in examining the fundus, or in the preliminary assessment of a subsequent surgical field, e.g., in the oral cavity, the nasopharynx, or the ear. Likewise, a surgical microscope can also be used for the preparation of a transplant, i.e., on a non-living human body.

[0029] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations given, but also in other combinations or on their own, without leaving the scope of the present invention.

[0030] The invention is explained in more detail below with reference to exemplary embodiments and the accompanying drawings, which also disclose essential features of the invention. These exemplary embodiments serve only for illustration and are not to be interpreted as limiting. For example, a description of an exemplary embodiment with a plurality of elements or components is not to be interpreted as meaning that all of these elements or components are necessary for implementation. Rather, other exemplary embodiments may also contain alternative elements and components, fewer elements or components, or additional elements or components. Elements or components from different exemplary embodiments may be combined with one another unless otherwise specified. Modifications and variations described for one of the exemplary embodiments may also be applicable to other exemplary embodiments.To avoid repetition, identical or corresponding elements in different figures are designated with the same reference symbols and are not explained multiple times. The figures show: . Fig. 1 a schematic representation of an operating room microscope system, Fig. 2 a block diagram for a video stabilization method, Fig. 3 a schematic representation to explain the generation of displacement vector data, and Figs. 4 and 5 variations of the microscope of the Fig. 1 .

[0031] Fig. 1 Figure 1 schematically shows a surgical microscope 1, which, together with an accelerometer and a control unit, forms a surgical microscope system. The surgical microscope 1 comprises a microscope head 2, which is attached to an arm 4. The arm 4 is adjustable via joints 6, allowing the position of the microscope head 2 in 3D space to be set. The joints 6 are equipped with actuators to adjust individual segments of the arm 4 relative to each other. Typically, the surgical microscope 1 allows six degrees of freedom of adjustment: three translational and three rotational. The joints 6 are connected to a control unit 8 via their actuators, which sets the position of the arm 4 and thus of the microscope head 2. The microscope head 2 is also connected to the control unit 8, which includes a processor 8.1 and a memory 8.2.It controls the operation of the operating microscope 1 and, as will be explained below, performs in particular image stabilization.

[0032] The microscope head 2 includes an image sensor 10 on which an object 14, e.g. a part of a patient, which is located on a table 16, usually an operating table, is imaged by means of an objective 12, which is usually designed as a zoom lens.

[0033] The microscope head 2 has an aperture 20 for adjustment, which is designed as a pupillary diaphragm and controls the amount of light passing through the objective 12 onto the image sensor 10. The surgical microscope 1 usually also has other elements, such as a light source, etc. This is shown in the schematic diagram of the Fig. 1 Not shown, as it is not relevant to the details described here.

[0034] The microscope head 2 is connected via an unspecified control line to the control unit 8, which controls the operation of the operating microscope 1 at the microscope head 2, in particular the acquisition of image data by the image sensor 10 and the position of the objective 12 and the pupil diaphragm 20. The control unit 8 also reads the accelerometer 18, which is rigidly connected to the image sensor 10, so that it measures the accelerations occurring at the image sensor 10.

[0035] With the aid of this operating microscope system, video data is recorded during operation of the operating microscope 1 and processed by the control unit 8 and then displayed on a display 22. Video stabilization is performed according to the procedure described in Fig. 2 The procedure is carried out according to a schematic representation. In step S1, the image information is captured by the image sensor 10, i.e., the video data is recorded, which shows the object 14 at an adjustable magnification. Image motion data is determined from the video data using known image analysis techniques. This data indicates movements within the image.

[0036] Simultaneously, in step S2, sensor motion information is acquired by reading the accelerometer 18. In step S2, the position of the image sensor 10 is determined and the resulting sensor motion data is calculated.

[0037] In step S3, the most accurate possible displacement vector is determined based on the combination of image and sensor motion data. This process does not rely solely on the raw image data from step S1 (as in EP 3 437 547 A1). Furthermore, the evaluation of the image data is not simply dependent on a prior classification of the sensor motion data, as is known in the prior art. Instead, a motion vector is first calculated based on the image motion data, which is then weighted and / or filtered based on the sensor motion data. Specifically, in step S4, a motion vector range is filtered based on the sensor motion data. This range may contain image motion data likely resulting from microscope movement. Image motion data outside this range is suppressed and does not contribute to the displacement vector data.

[0038] In this context, it should be noted that the image and sensor motion data can generally be understood as motion vectors or groups of vectors (for different pixels or sub-objects). The combined summarization of this data allows for weighting and the desired differentiation of motion vectors that do not originate from the microscope movement. This prevents, for example, a global movement of the observed object from being interpreted as a movement of the image acquisition unit.

[0039] Another positive aspect of incorporating a second piece of information (from a sensor or system information) is a reduction in the necessary computing effort and thus a reduction in the latency of the video transmission.

[0040] In step S4, for example, an algorithmic determination is made as to whether an oscillation around a rest position with an amplitude requiring correction is present. Such an algorithm's decision can, for example, be based on the following information: a. The determined displacement vector and, if applicable, other sensor data are compared with defined threshold values ​​based on the sensor motion data; b. The course of the displacement vectors and, if applicable, other sensor data are taken from the storage element and compared with an analytical model (e.g., of an exponentially decaying oscillation); and c. The course of the displacement vectors and, if applicable, other sensor data are taken from the storage element and examined for specific patterns that, using machine learning methods, allow a statement about the presence of an oscillation.

[0041] Fig. 3 Figure 1 schematically shows an evaluation of the motion vectors based on the sensor motion data. Motion angles are plotted on the x- and y-axes, and the individual measurement points are motion vectors 28 derived from the image motion data. Only the motion vectors 28 lying within the area 30 (marked with a "+") are used to determine the displacement vector data. The x- and y-axes are thus the angular projections in the two-dimensional object plane. The distinction between the motion vectors "+" and "*" is based on the sensor motion data.

[0042] Of course, this approach is not limited to a two-dimensional analysis, but can also take into account the third dimension, i.e., the depth dimension of an object field. In particular, a vector length can be included as a measure of the quality of the individual motion vectors in order to obtain the final displacement vector data (e.g., by averaging) with the highest possible precision.

[0043] In an optional subsequent step S5, the optical system of the microscope head 2 is optimized: a. The ratio of optical magnification (optical zoom 12) to digital magnification (digital zoom) is readjusted if necessary. If no vibration in the plane parallel to the image sensor 10 around a rest position is detected, the magnification desired by the user is primarily set by the optical magnification of the system. This results in maximum image quality. If, however, a vibration parallel to the image sensor 10 around a rest position is detected, partial optical zoom out and digital zoom in are possible. This makes a larger area available on the image sensor 10 for the next cycle, which can be used for subsequent correction steps, resulting in optimized video stability despite the moving image capture unit; b. The aperture 20 of the optical system and the electronic gain or exposure time are then readjusted.If no oscillation around a rest position perpendicular to the image sensor 10 (along the optical axis) is detected, the aperture 20 of the system is opened wide to obtain the best possible image quality. If, however, an oscillation around a rest position perpendicular to the image sensor 10 is detected, the aperture 20 may be set to a smaller value to increase the depth of field. To obtain a similar image brightness, the electronic gain and / or the exposure time may be adapted; and c. the focal plane of the lens 12 is readjusted. If an oscillation around a rest position perpendicular to the image sensor 10 (along the optical axis) is detected, the focal plane is readjusted according to a position predicted for the next exposure period and / or the depth of field is adjusted by partially closing the aperture so that a sufficiently large / the entire vertical oscillation range is rendered sufficiently sharply.

[0044] The following are suitable for sensor motion detection: a. A one- to six-axis accelerometer that measures linear accelerations along three axes and is located on the image acquisition unit or the object; b. An inertial measurement unit that measures linear accelerations, e.g., along three axes, as well as rotations about three axes ("gyroscope") and optionally also measures the magnetic field (9DOF absolute orientation sensors) and is located on the image acquisition unit or the object; c. A wide-angle surround-view camera, also mounted on the image acquisition unit, but with a larger or different field of view (possibly also in a different direction); d. Another camera, or more generally, an external tracking system, e.g., a laser tracking system, which is not mounted on the image acquisition unit and detects the movement of the image acquisition unit from the outside. For this purpose, additional elements such as markers or retroreflectors can be placed on the image acquisition unit if required; e.a. Projection of markers / patterns from the image acquisition unit and determination of the relative position of the markers / patterns to the image content. The markers and the rest of the image content can be located either in the same or in a deliberately separable spectral range (e.g., IR); f. Projection of markers / patterns from an external static object; g. Tracking of distinctive object features with a separate tracking system, such as pupil tracking in surgical microscopes in ophthalmology; and h. A second image sensor, such as may be present in the image acquisition unit of stereomicroscope systems.

[0045] Fig. 4 The figure shows, by way of example, the embodiment with environment camera 24 or (dashed line) with tracking system 26, which detects the movement of the microscope head 2 and thus of the image sensor 10.

[0046] Fig. 5Figure 1 shows, by way of example, the design of microscope 1 as a stereo microscope, so that a second image sensor 10a is provided.

[0047] The method is not limited to use on surgical microscopes, but can generally be applied to other areas where an image acquisition unit is mounted on a moving or oscillating object and a possibly moving object is being viewed.

Claims

1. Method for video stabilization in a medical visualization system (1), in particular a surgical microscope, comprising an image sensor (10), wherein the method includes the following steps: a) providing the medical visualization system (1) and a movement capture device (18) that captures a movement of the image sensor (10) and generates corresponding sensor movement data, b) capturing an object field (14) and generating video data of the object field (14) by means of the image sensor (10) and generating image movement data which reproduce movement changes in the object field (14), by evaluating the video data, and c) correcting the video data, comprising c1) calculating displacement vector data, wherein the sensor movement data and the image movement data are used and the image movement data are weighted and / or filtered on the basis of the sensor movement data, so that displacement vector data are obtained which only or predominantly reproduce a movement of the image sensor (10), but do not, or only to a minor degree, reproduce a movement within the object field, wherein a movement vector range is defined on the basis of the sensor movement data and only image movement data which lie within this range are used for the calculation of the displacement vector data, and c2) correcting the video data by means of the displacement vector data.

2. Method according to Claim 1, wherein the calculated displacement vector data are arranged in the form of a matrix of displacement vectors and in step c2) an image distortion is corrected using the matrix.

3. Method according to Claim 2, wherein a mean value of the displacement vectors in the matrix is calculated and a lateral displacement is corrected, wherein the mean value is used.

4. Method according to any of the above claims, wherein the image sensor in the medical visualization system (1) is attached to a stand (4) or arm and in step d1) the displacement vector data are calculated using a vibration model of the stand (4) or arm.

5. Method according to any of the above claims, wherein the displacement vector data are evaluated to determine whether an axial vibration is present, which runs only in one plane perpendicular to the image field captured by the image sensor (10), and wherein the medical visualization system (1) has a zoom optical unit (12) and the object (14) is displayed with a specified total magnification by means of additional electronic image magnification, and a proportion of the total magnification which a magnification that is due to the zoom optical unit (12) has is enlarged or maximized when the axial vibration has been detected.

6. Method according to any of the above claims, wherein the displacement vector data are evaluated to determine whether a lateral vibration is present, which runs parallel to the image field captured by the image sensor (10), and wherein - the medical visualization system (1) has a zoom optical unit (12) and the object (14) is displayed with a specified total magnification by means of additional electronic image magnification and a proportion of the total magnification which the electronic image magnification has is enlarged when the lateral vibration has been detected, and / or - the medical visualization system (1) has a pupil stop (20) upstream of the image sensor (10) and this pupil stop is enlarged by adapting an electronic image sensor signal gain or maximized in terms of the opening when the lateral vibration has been detected.

7. Method according to any of the above claims, wherein the displacement vector data are evaluated to determine whether an axial vibration is present, which runs only in one plane perpendicular to the image field captured by the image sensor (10), and wherein - the medical visualization system (1) has a pupil stop (20) upstream of the image sensor (10) and this pupil stop is decreased by adapting an electronic image sensor signal gain or minimized in terms of the opening when the axial vibration has been detected, and / or - the medical visualization system (1) has a focusing device (12) and the latter is controlled to change the focal position when the axial vibration has been detected.

8. Medical visualization system, in particular a surgical microscope system, comprising - an image sensor (10) for generating video data for an object (14) and a movement capture device (18) configured to capture a movement of the image sensor (10) and to generate corresponding sensor movement data, - a control device (8) comprising a processor (8.1) and a memory (8.2) which is connected to the image sensor (10) and the movement capture device (18) via a data link, - a display (22) for displaying the video data, - wherein the control device (8) is configured -- to capture an object field (14) and to generate image movement data which reproduce movement changes in the object field (14), by evaluating the video data, -- to calculate displacement vector data and in the process to use the sensor movement data and the image movement data and to weight and / or filter the image movement data reproducing movement changes in the object field on the basis of the sensor movement data, so that the displacement vector data only or predominantly reproduce a movement of the image sensor (10), but do not, or only to a minor degree, reproduce a movement within the object field, wherein the control device (8) is configured to define a movement vector range on the basis of the sensor movement data and to use only image movement data which lie within this range for the calculation of the displacement vector data, and -- to correct the video data by means of the displacement vector data and to transmit them to the display (22).

9. Medical visualization system according to Claim 8, wherein the image sensor (10) is attached to a stand (4) or arm and the control device (8) is further configured to use a vibration model of the stand (4) or arm to calculate the displacement vector data.

10. Medical visualization system according to Claim 8 or 9, wherein the control device (8) is configured to arrange the calculated displacement vector data in the form of a matrix of displacement vectors, and the control device (8) is further configured to correct an image distortion using the matrix.

11. Medical visualization system according to Claim 10, wherein the control device (8) is configured to calculate a mean value of the displacement vectors in the matrix and to use it for correcting a lateral displacement using the matrix.

12. Medical visualization system according to any of Claims 8 to 11, wherein the control device is configured to evaluate the displacement vector data to determine whether an axial vibration is present, which runs only in one plane perpendicular to the image field captured by the image sensor (10), and wherein - the medical visualization system (1) has a zoom optical unit (12), controlled by the control device (8), and a display (22), and displays the object (14) on the display (22) with a specified total magnification by means of additional electronic image magnification, and the control device (8) is further configured to enlarge or maximize a proportion of the total magnification which a magnification that is due to the zoom optical unit (12) has when the axial vibration has been detected, and / or - the medical visualization system (1) has a pupil stop (20) which is arranged upstream of the image sensor (10) and is controlled by the control device (8), and the control device (8) is further configured to decrease the pupil stop (20) by adapting an electronic image sensor signal gain or minimize it in terms of the opening when the axial vibration has been detected, and / or - the medical visualization system (1) has a focusing device (12) controlled by the control device (8), and the control device (8) is further configured to control the focusing device (12) for changing the focal position when the axial vibration has been detected.

13. Medical visualization system according to any of Claims 8 to 12, wherein the control device is configured to evaluate the displacement vector data to determine whether a parallel vibration is present, which runs in a plane parallel to the image field captured by the image sensor (10), and wherein - the medical visualization system (1) has a zoom optical unit (12), controlled by the control device (8), and displays the object (14) on the display (22) with a specified total magnification by means of additional electronic image magnification, and the control device (8) is further configured to enlarge a proportion of the total magnification which the electronic image magnification has when the parallel vibration has been detected, and / or - the medical visualization system (1) has a pupil stop (20) which is arranged upstream of the image sensor (10) and is controlled by the control device (8), and the control device (8) is further configured to enlarge the pupil stop (20) by adapting an electronic image sensor signal gain or maximize it in terms of the opening when the parallel vibration has been detected.

14. Medical visualization system according to any of Claims 8 to 13, characterized in that the movement capture device (18) has at least one of the following devices: a single-axis to six-axis acceleration sensor in a fixed location relative to the image sensor (10), a single-axis to six-axis inertial measurement system in a fixed location relative to the image sensor (10), a vicinity camera (24) in a fixed location relative to the image sensor (10), a tracking system (26) directly or indirectly monitoring the image sensor (10), a pattern projector, which projects a pattern onto the object (14) captured by the image sensor (10), in a fixed location relative to the image sensor (10), a tracking system (26) directly or indirectly monitoring the object (14), a pupil tracker and a second image sensor (100a) that looks at the object (14) at a stereo angle.