Medical visualization system and method for video stabilization in such a system - Patents.com

Abstract

The present invention describes a method for video stabilization in a surgical microscope including an image sensor (10), the method comprising the steps of: a) providing a surgical microscope (1) and a motion detection device (18) for detecting movement of the image sensor (10) and generating corresponding sensor motion data; b) detecting an object field (14) by the image sensor (10), generating video data of the object field (14), and generating image motion data by evaluating the video data; and c) correcting the video data, the steps including: c1) calculating, with a combined use of the sensor motion data, displacement vector data indicative only or mostly of movement of the image sensor (10) but not or only slightly indicative of movement in the object field, the image motion data indicative of changes in movement in the object field being weighted and / or filtered based on the sensor motion data; and c2) correcting the video data based on the displacement vector data.

Description

[Technical field]

[0001] The present invention relates to medical visualization systems, in particular surgical microscope systems, and to methods for video stabilization in such systems. [Background technology]

[0002] In medical visualization systems, for example microscopes and especially surgical microscopes, a stable live video image on a display unit (eg monitor, mixed reality glasses, digital eyepiece, projector, etc.) is required.

[0003] In this respect, it is known from EP 3 437 547 A1 to perform electronic image stabilization, in which an image evaluation or acceleration sensor is used as a movement detection device to detect the movement of the surgical microscope and the stabilization needs resulting therefrom.

[0004] US Patent Application No. 2018 / 0172971 A1 similarly uses an accelerometer as a motion detector to detect whether image stabilization is required, which then performs mechanical image stabilization by correspondingly moving the optical head of the surgical microscope. It is intended to distinguish between different movements and in particular to perform vibration detection based on the acceleration sensor signal. Frequency analysis is used to distinguish between different vibration patterns, for example vibrations caused by building vibrations and vibrations caused by impacts on the surgical microscope.

[0005] US Patent Application No. 2019 / 0394400 A1, which is taken into account in the preamble of the independent claims, likewise relates to image stabilization, for which purpose a vibration sensor is arranged in the surgical microscope as a motion detection device. The type of vibration is determined from the signal and the need for stabilization is determined. Image stabilization is then performed as electronic image stabilization, i.e. by suitable processing of the video image data, or as mechanical image stabilization, i.e. by suitable displacement of optical elements or of the image sensor.

[0006] Chinese patent No. 113132612A describes an image stabilization method that compensates for camera shake by image processing, using different stabilization methods for different image regions, in this case foreground and background. In addition to image motion data, gyroscope data from the camera is also evaluated.

[0007] US Pat. No. 8,749,648 B1 discloses, inter alia, a method in which motion data obtained from a motion sensor and registered during recording is used in downstream image processing operations to stabilise the video.

[0008] In surgical microscopy, live images are used by the surgeon. Time delays are very bothersome. Current technology has proven problematic in this regard, since image stabilization is relatively computationally intensive and can therefore lead to time delays in the display of live video. In addition, current technology makes it difficult to distinguish object motion from vibrations of the microscope. Summary of the Invention [Problem to be solved by the invention]

[0009] The present invention is therefore based on the object of providing improved image stabilization for surgical microscopes, which avoids the problems of the state of the art. [Means for solving the problem]

[0010] The present invention is defined in patent claims 1 and 9. It provides a medical visualization system and a method for video stabilization in a medical visualization system. The medical visualization system includes an image sensor. Further, a motion detection device is used, which detects the movement of the image sensor and generates corresponding sensor motion data, while a video image of the object is generated by the medical visualization system.

[0011] In so far as a surgical microscope (system) is mentioned below, this is an example of a medical visualization system.

[0012] A method for video stabilization in a medical visualization system including an image sensor is provided, the method comprising the steps of: a) providing a medical visualization system and a motion detection device for detecting motion of an image sensor and generating corresponding sensor motion data; b) capturing an object field with an image sensor to generate video data of the object field, and generating image motion data by evaluating the video data; c) correcting the video data, c1) calculating displacement vector data using a combination of sensor motion data and image motion data, the displacement vector data reproducing only or almost exclusively the image sensor motion, but not or only to a small extent the motion in the object field, the image motion data reproducing the motion changes in the object field being weighted and / or filtered based on the sensor motion data; c2) correcting the video data with the displacement vector data. and Includes.

[0013] There is further provided a medical visualization system including an image sensor generating video data of an object and a motion detection device configured to detect movement of the image sensor and generate corresponding sensor motion data, a controller including a processor and a memory connected via a data link to the image sensor and the motion detection device, and a display for displaying the video data, the controller comprising: - calculating displacement vector data using a combination of the sensor motion data and the image motion data, the displacement vector data reproducing only or almost exclusively the image sensor motion but not or only to a small extent the motion in the object field, the image motion data reproducing the motion changes in the object field being weighted and / or filtered based on the sensor motion data, - Correct the video data by the displacement vector data and transmit it to the display It is configured as follows.

[0014] The invention makes use of the discovery that several motions can occur simultaneously for image stabilization. There can be a motion of the microscope with respect to the object. This could be, for example, a vibration of the microscope. However, there can also be motions of the object that occur either in the whole image or in part. An example in a surgical microscope would be blood vessels that rhythmically move due to the action of the heart. There can also be externally moved elements in the object, which usually appear in the foreground and therefore appear blurred. In the case of a surgical microscope, this can include, for example, the motion of surgical instruments and tools. These various components form motion vectors that cannot be distinguished from one another by image analysis, even when, according to the state of the art, an acceleration sensor is additionally used to detect the need for image stabilization.

[0015] The term "motion vectors" here refers to vectors reproducing all of the movements in the video data, whether these are due to movements relative to the microscope object, to movements of the object itself, or to movements in the foreground of the image, which can be determined from the image motion data. "Displacement vector data", on the other hand, are displacement data obtained after a combined evaluation of the corresponding image motion data and sensor motion data, which are due exclusively to movements in the object field of view, or are at least 60%, preferably 70%, more preferably 80%, most preferably 90%, thereof, i.e. a desired separation from the motion vectors.

[0016] The correction can be performed as a simple correction of the lateral displacement or as a more complex correction, which can be summarized by the term warping. The displacement vectors preferably form a matrix, which allows more complex corrections. In the simplest case, an average value is used as the lateral displacement. With respect to the third spatial direction, the superposition scaling with warping is the corrective action.

[0017] The invention combines the evaluation of the image and the motion detection device to separate the part of the motion vector that is due to the movement of the microscope relative to the object. The motion vector and therefore the image motion data indicate the displacement in the video data, i.e. it is not yet separated as such with respect to the microscope movement of interest. The combined use of the sensor motion data and the image motion data allows the motion vector to be weighted and / or filtered based on the sensor motion data. In this way, displacement vector data is generated that reproduces only the movement of the image sensor but not the movement in the object field. The use of the motion detection device in this combined approach thus allows the weighting or sorting of the motion vector and therefore the separation of the part of the motion vector that reproduces the movement of the microscope itself.

[0018] This combination provides accuracy that exceeds the resolution of the sensor motion data.

[0019] Moreover, this approach is not only particularly computationally efficient and involves almost no time delay, but also has the advantage that different types of motion detection devices can be used and therefore no different evaluations need to be performed. The isolation of the part of interest is completely independent of the type of motion detection device. This allows for easy adaptation or retrofitting options for existing surgical microscopes.

[0020] The motion detection device may use one or more of the following sensors / technologies: a. 1- to 6-axis acceleration sensor measuring linear acceleration along 3 axes and positioned on the image recording unit or object b. An inertial measurement unit positioned on the image recording unit or object, for example measuring linear acceleration along and rotation around three axes ("gyroscope") and, if applicable, also measuring magnetic fields (9DOF - absolute orientation sensor). c. A wide-angle close-up camera also attached to the image recording unit, but looking at a larger or different image field (possibly in a different direction). d. A separate camera, or more generally an external tracking system, not attached to the image recording unit, which determines the movement of the image recording unit from the outside, for example a laser tracking system. For this purpose, additional elements such as markers or retroreflectors can be installed on the image recording unit, if necessary. e. Projection of the marker / pattern and the relative position of the marker / pattern into a specific image content from the image recording unit. The marker and the remaining image content may be in the same spectral range or in deliberately separable spectral ranges (e.g. IR). f. Projection of markers / patterns from external stationary objects g. Tracking different object features using alternative tracking systems, e.g. pupil tracking in an ophthalmic surgical microscope h. A second image sensor, as may be in the image recording unit of the stereomicroscope system.

[0021] In a surgical microscope, the image sensor is usually mounted on a stand or arm. It is then preferable to calculate the displacement vector data using a vibration model of the stand or arm. This application is used to go from the typical vibration behavior of the image sensor to filtering / weighting the motion vectors therefrom to identifying displacement vector data that can be used to correct the video data. The vibration model is not intended to perform an analysis of vibrations, specifically to check the vibration of a specific parameter.

[0022] In an embodiment, the object is imaged at a predefined total magnification and displayed on the display. The ratio between optical magnification (optical zoom) and digital magnification (digital zoom) can preferably be readjusted here if appropriate. If no vibrations are detected around the rest position in a plane parallel to the image sensor, the magnification desired by the user is in principle set by the optical magnification of the system. As a result, maximum image quality is obtained. On the other hand, if no vibrations are detected around the rest position parallel to the image sensor, it is possible to partially optically zoom out and digitally zoom in. This makes a larger area available on the image sensor for the subsequent cycles, which can be used for subsequent correction steps, so that the stability of the video is optimized, regardless of the moving image recording unit.

[0023] Vibrations perpendicular to the plane of the imaging field provided by the image sensor can cause defocusing. Therefore, embodiments preferably adjust the pupil diaphragm appropriately, since it is known that the pupil diaphragm affects the imaging depth of field. When the pupil diaphragm is narrowed, the depth of field increases. Then, the image brightness is conventionally kept constant by adjusting the electronic gain, i.e., when the pupil diaphragm is closed, the image gain increases and vice versa. Now, when adjusting the diaphragm, the results of the vibration analysis can be taken into account. Then, the diaphragm and the electronic gain or the exposure time of the optical system are readjusted. If no vibrations are detected around a rest position perpendicular to the imaging field (along the optical axis), the diaphragm of the system is left wide open to obtain the best image quality. On the other hand, if vibrations are detected around a rest position perpendicular to the imaging field, the image diaphragm can be set to a smaller value to increase the depth of field. To obtain a comparable image brightness, the electronic gain and / or the exposure time can be adjusted.

[0024] The same applies to the focal plane of the optical system, which is also affected by vibrations perpendicular to the plane of the imaging field, but not by vibrations in the plane of the imaging field. The focal plane of the optical system is readjusted: when vibrations around a rest position perpendicular to the imaging field (along the optical axis) are detected, the focal plane is readjusted according to the position predicted for the next exposure period and / or the depth of field is set by partially closing the aperture so that a sufficiently large / complete range of vertical vibrations is imaged with sufficient sharpness.

[0025] The surgical microscope system described herein or the method described herein also has the advantage that vibrations of the surgical microscope are always detected. Object movements are not inaccurately converted from motion vectors into motion vector data, as can happen for example with pure image analysis. Furthermore, it is not necessary to use an image sensor with more pixels than the display device used to display the video, as in EP 3 437 547 A1. In an embodiment, the image sensor and the display have the same number of pixels.

[0026] The concepts described herein furthermore provide image stabilization in 3D, i.e. along the optical axis, which allows compensation of image blurring due to vibration.

[0027] It is preferable to filter based on sensor motion data. For example, a range of motion vectors can be defined, and only image motion data falling within this range is used for the displacement vector data. In this case, weighting of image motion data, for example distance weighting, as well as yes / no selection in filtering is possible. Machine learning can also be used to improve filtering.

[0028] Insofar as the invention refers here to a surgical microscope, the methods carried out on the surgical microscope do not necessarily have to relate to surgical or diagnostic methods. In embodiments, no therapeutic or diagnostic methods are carried out on a human or animal living body. Examples of such non-therapeutic and non-diagnostic uses of the surgical microscope are found in particular in ophthalmology, for example when viewing the fundus of the eye, or in the preliminary clarification of the post-operative field, for example in the oral cavity, nasopharynx or ear area. Similarly, the surgical microscope can also be used on the human body for the preparation of transplants, i.e. not as a living body.

[0029] It goes without saying that the features mentioned above and those to be described can be used not only in the combinations specified, but also in other combinations, or even separately, without departing from the scope of the invention.

[0030] The present invention will be described in more detail below based on exemplary embodiments with reference to the attached drawings, which also disclose essential features of the present invention. These exemplary embodiments are provided for illustration only and should not be interpreted as limiting. For example, the description of an exemplary embodiment having a number of elements or components should not be interpreted as meaning that all of these elements or components are necessary for implementation. Rather, other exemplary embodiments may include alternative elements and components, fewer elements or components, or additional elements or components. Elements or components of different exemplary embodiments may be combined with each other, unless otherwise specified. Improvements and modifications described for one of the exemplary embodiments may also be applied to the other exemplary embodiments. To avoid repetition, the same or mutually corresponding elements in different drawings are given the same reference numerals and will not be described multiple times. [Brief description of the drawings]

[0031] [Figure 1] FIG. 1 shows a schematic diagram of a surgical microscope system. [Diagram 2] 1 shows a block diagram of a video stabilization method. [Diagram 3] FIG. 1 shows a schematic diagram for explaining generation of displacement vector data. [Figure 4] An improvement to the microscope of FIG. [Diagram 5] An improvement to the microscope of FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] FIG. 1 shows a schematic representation of a surgical microscope 1, which together with the acceleration sensor and the control device constitute 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 a joint 6, allowing the position in 3D space of the microscope head 2 to be set. The joint 6 has drives for this purpose, allowing the individual segments of the arm 4 to be adjusted with respect to each other. In general, six degrees of freedom of adjustment are possible in the surgical microscope 1, namely translation 3 and rotation 3. The joints 6 are connected to a control device 8, which adjusts the position of the arm 4 and thus of the microscope head 2 with respect to their drives. The microscope head 2 is likewise connected to the control device 8, which comprises a processor 8.1 and a memory 8.2. This controls the operation of the surgical microscope 1 and, as will be explained later, performs in particular image stabilization.

[0033] The microscope head 2 comprises an image sensor 10, on which an object 14, for example part of a patient positioned on a table 16, usually an operating table, is imaged through an objective lens 12, usually designed as a zoom lens.

[0034] The microscope head 2 is provided with an adjustable diaphragm 20, which is configured as a pupil diaphragm and sets the amount of light that passes through the objective lens 12 and reaches the image sensor 10. Typically, the surgical microscope 1 also comprises further elements, such as a light source, which are not shown in the schematic diagram of FIG. 1, as they are not relevant for the details described herein.

[0035] The microscope head 2 is connected via control lines (not further specified) to a control device 8, which controls the operation of the surgical microscope 1 in the microscope head 2, in particular the recording of the image data by the image sensor 10 as well as the positions of the objective lens 12 and the pupil diaphragm 20. The control device 8 furthermore reads an acceleration sensor 18 which is rigidly connected to the image sensor 10 and measures the accelerations occurring in the image sensor 10.

[0036] With the aid of this surgical microscope system, video data is recorded during operation of the surgical microscope 1, processed by the control device 8 and then displayed on the display 22. In this case, video stabilization is performed according to the method shown diagrammatically in Fig. 2. In step S1, image information is recorded by the image sensor 10, i.e. video data showing the object 14 is captured at an appropriate magnification. From the video data, image motion data is determined by known image evaluation. The image motion data indicates the movement in the image.

[0037] At the same time, in step S2, sensor motion information is obtained by reading the acceleration sensor 18. In step S2, the position of the image sensor 10 is determined and the resulting sensor motion data is calculated.

[0038] In step S3, a combination of image motion data and sensor motion data is used to determine a maximally accurate displacement vector. This does not simply use the pure image data from step S1 (as in EP 3437547 A1). Furthermore, the evaluation of the image data does not simply rely on a past classification of the sensor motion data as known in the state of the art. Instead, a motion vector is first calculated based on the image motion data and then weighted and / or filtered based on the sensor motion data. In particular, in step S4, a motion vector range is filtered based on the sensor motion data, in which image motion data that may result from microscope movement may be included. Image motion data outside this range is suppressed and does not contribute to the displacement vector data.

[0039] In this regard, it should be noted that the image motion data and the sensor motion data can generally be considered as motion vectors or as groups of motion vectors (for different pixels or partial objects). The combined aggregation of these data allows a weighting and desired differentiation of motion vectors that are not due to microscope motion, which prevents, for example, a global motion of the observed object from being interpreted as a motion of the image recording unit.

[0040] Another positive feature of the incorporation of secondary information (from sensors or system information) is the reduction in the required computational effort and thus the latency of the video transmission.

[0041] In step S4, for example, an algorithmic determination is made as to whether there are any oscillations around the rest position with amplitudes that should be corrected. For example, such an algorithmic decision can be based on the following information: The identified displacement vector and, if necessary, other sensor data are compared to a defined threshold using the sensor motion data. b. The change in displacement vector over time, and optionally other sensor data from a memory element, is compared to an analytical model (eg, an exponentially decaying vibration). c. The change in displacement vector over time, and if necessary further sensor data from the memory element, are examined by machine learning methods to identify certain patterns that enable statements regarding the presence of vibration.

[0042] FIG. 3 shows a schematic representation of the evaluation of motion vectors based on sensor motion data. The motion angles are plotted on the x and y axes and each measurement point is a motion vector 28, which is obtained from the image motion data. Only vectors 28 (plotted with "+") that lie within region 30 are used to determine the displacement vector data. The x and y axes are therefore angular projections in the two-dimensional object plane. The motion vectors "+" and " * " are differentiated based on sensor motion data.

[0043] Of course, this procedure is not limited to a two-dimensional analysis, but also takes into account a third dimension, namely the depth dimension on the object field. In particular, by including vector length as a measure of the quality of the individual motion vectors, the final displacement vector data to be determined (e.g. by averaging) can be obtained with the greatest possible accuracy.

[0044] In an optional downstream step S5, the optical system of the microscope head 2 is optimized: a. A readjustment of the ratio between the optical magnification (optical zoom 12) and the digital magnification (digital zoom) is performed, if appropriate. If no vibrations in a plane parallel to the image sensor 10 around the rest position are detected, the magnification desired by the user is essentially set by the optical magnification of the system. As a result, the best image quality is obtained. On the other hand, if vibrations parallel to the image sensor 10 around the rest position are detected, it is possible to partially zoom out optically and zoom in digitally. This makes a larger area on the image sensor 10 available for the following cycles, which can be used for the subsequent correction steps, so that the video stability is optimized, regardless of the movement of the image recording unit. b. The aperture 20 of the optical system and the electronic gain or exposure time are then readjusted. If no vibrations about a rest position perpendicular to the image sensor 10 (along the optical axis) are detected, the aperture 20 of the system is opened wide to obtain maximum image quality. On the other hand, if vibrations about a rest position perpendicular to the image sensor 10 are detected, the aperture 20 may be set to a smaller value to increase the depth of field. The electronic gain and / or exposure time may be adjusted to obtain a comparable image brightness. c. The focal plane of the objective lens 12 is readjusted: when vibrations around a rest position perpendicular (along the optical axis) to the image sensor 10 are detected, the focal plane is readjusted according to the position predicted for the next exposure period and / or the depth of field is set by partially closing the aperture such that a sufficiently large / complete range of vertical vibrations is imaged with sufficient sharpness.

[0045] Sensors for motion detection can use: a. 1- to 6-axis acceleration sensor measuring linear acceleration along 3 axes and positioned on the image recording unit or object b. An inertial measurement unit positioned on the image recording unit or object, for example measuring linear acceleration along and rotation around three axes ("gyroscope") and, if applicable, also measuring magnetic fields (9DOF - absolute orientation sensor). c. A wide-angle close-up camera also attached to the image recording unit, but viewing a larger or different imaging field of view (possibly in a different direction). d. A separate camera, or more generally an external tracking system, not attached to the image recording unit, which determines the movement of the image recording unit from the outside, for example a laser tracking system. For this purpose, additional elements such as markers or retroreflectors can be installed on the image recording unit, if necessary. e. Projection of the marker / pattern and the relative position of the marker / pattern into a specific image content from the image recording unit. The marker and the remaining image content may be in the same spectral range or in deliberately separable spectral ranges (e.g. IR). f. Projection of markers / patterns from external stationary objects g. Tracking different object features using alternative tracking systems, e.g. pupil tracking in an ophthalmic surgical microscope h. A second image sensor, as may be in the image recording unit of the stereomicroscope system.

[0046] FIG. 4 shows, by way of example, an embodiment with a close-up camera 24 or a tracking system 26 (dashed lines) that captures the movement of the microscope head 2 and thus the image sensor 10 .

[0047] FIG. 5 shows, by way of example, the configuration of the microscope 1 as a stereomicroscope, in which a second image sensor 10a is provided.

[0048] The method is not limited to use in surgical microscopes, but can also be used generally in other fields where an image recording unit is mounted above a moving or vibrating object and where potentially moving objects are observed.

Claims

1. A method for video stabilization in a medical visualization system (1), in particular a surgical microscope, comprising an image sensor (10): a) providing the medical visualization system (1) and a motion detection device (18) for detecting movement of the image sensor (10) and generating corresponding sensor motion data; b) capturing video data of an object field (14) with the image sensor (10) to generate video data of the object field (14) and evaluating the video data to generate image motion data; c) correcting the video data, c1) calculating displacement vector data using a combination of the sensor motion data and the image motion data, the displacement vector data reproducing only or almost exclusively the motion of the image sensor (10) but not or only to a small extent the motion in the object field, the image motion data reproducing the motion changes in the object field being weighted and / or filtered based on the sensor motion data; c2) correcting the video data with the displacement vector data; and A method comprising:

2. The method of claim 1 , wherein a motion vector range is defined based on the sensor motion data, and only image motion data falling within this range is used in the calculation of the displacement vector data.

3. The method of claim 1 , wherein the displacement vector data forms a matrix of displacement vectors, and image distortion is corrected in step c).

4. The method of claim 3 , wherein an average value of the displacement vectors is used to correct for lateral displacements, and a convolution scaling factor is used for correction in relation to a third spatial direction.

5. 2. The method of claim 1, wherein the image sensor is mounted on a stand (4) or arm) of the medical visualization system (1), and a vibration model of the stand (4) or arm is used in step d1) to calculate the displacement vector data.

6. 2. The method of claim 1, wherein the displacement vector is evaluated to detect whether there is an axial vibration occurring only in a plane perpendicular to the field of view provided by the image sensor, the medical visualization system includes an optical zoom, the object is displayed at a predetermined total magnification, and a magnification portion of the total magnification affected by the optical zoom is increased or maximized when the axial vibration is detected.

7. the displacement vector data is evaluated to detect the presence of lateral vibrations occurring parallel to the field of view provided by the image sensor; - the medical visualization system (1) includes an optical zoom (12), the object (14) is displayed at a predetermined total magnification, and an electronic zoom portion of the total magnification is increased when the lateral vibration is detected; the medical visualization system (1) comprises a pupil diaphragm (20) upstream of the image sensor (10), which pupil diaphragm is widened or maximized in terms of aperture while adjusting the electronic gain when the lateral vibrations are detected; The method of claim 1.

8. the displacement vector data is evaluated to detect whether there is an axial vibration occurring only in a plane perpendicular to the field of view provided by the image sensor; the medical visualization system (1) comprises a pupil diaphragm (20) upstream of the image sensor (10), which pupil diaphragm is reduced or minimized in terms of aperture while adjusting the electronic gain when the axial vibration is detected, and / or - said medical visualization system (1) comprises a focusing device (12), which is controlled to change the focus position when said axial vibrations are detected; The method of claim 1.

9. In medical visualization systems, especially surgical microscope systems, an image sensor (10) for generating video data of an object (14) and a motion detection device (18) configured to detect movement of said image sensor (10) and generate corresponding sensor motion data; a control device (8) including a processor (8.1) and a memory (8.2) connected via a data link to said image sensor (10) and to said motion detection device (18); a display (22) for displaying said video data; Including, said control device (8) - calculating displacement vector data using a combination of the sensor motion data and the image motion data, which data only or mostly reproduces the motion of the image sensor (10) but not or only to a small extent reproduces the motion in the object field, the image motion data reproducing the motion changes in the object field being weighted and / or filtered based on the sensor motion data; - correcting the video data by the displacement vector data and transmitting it to the display (22); A medical visualization system configured as follows.

10. 10. The medical visualization system of claim 9, wherein the image sensor (10) is mounted on a stand (4) or an arm, and the control device (8) is further configured to calculate the displacement vector data using a vibration model of the stand (4) or arm.

11. 10. The medical visualization system of claim 9, wherein the displacement vector data forms a matrix of displacement vectors, and the control unit (8) is configured to correct image distortion.

12. 12. The medical visualization system of claim 11, wherein the control device (8) is configured to use an average value of the displacement vectors for lateral displacement correction and to use a superposition magnification change for correction in relation to a third spatial direction.

13. the control device is configured to evaluate the displacement vector data to detect whether there is an axial vibration occurring only in a plane perpendicular to the field of view provided by the image sensor; the medical visualization system (1) includes an optical zoom (12) controlled by the control device (8) to display the object (14) on the display (22) at a predetermined total magnification, the control device (8) being further configured to increase or maximize the portion of the total magnification affected by the optical zoom (12) when the axial vibration is detected; the medical visualization system (1) comprises a pupil diaphragm (20) arranged upstream of the image sensor (10) and controlled by the control device (8), the control device (8) being further configured to reduce or minimize the pupil diaphragm (20) in terms of aperture while adjusting the electronic gain when the axial vibration is detected; and / or the medical visualization system (1) comprises a focusing device (12) controlled by the control device (8), the control device (8) being further configured to control the focusing device (12) to change a focus position when the axial vibration is detected; The medical visualization system of claim 9.

14. the control device is configured to control the displacement vector data to detect whether there is a parallel vibration occurring in a plane parallel to the field of view provided by the image sensor (10); the medical visualization system (1) includes an optical zoom (12) controlled by the control device (8) to display the object (14) on the display (22) at a predetermined total magnification, the control device (8) being further configured to increase an electronic zoom portion of the total magnification when the parallel vibration is detected; and / or 10. The medical visualization system of claim 9, wherein the medical visualization system (1) comprises a pupil diaphragm (20) arranged upstream of the image sensor (10) and controlled by the control device (8), the control device (8) being further configured to widen or maximize the pupil diaphragm (20) in terms of aperture while adjusting electronic gain when the parallel vibration is detected.

15. 10. The medical visualization system of claim 9, wherein the motion detection device (18) includes at least one of the following devices: a 1-axis to 6-axis acceleration sensor in a fixed position relative to the image sensor (10); a 1-axis to 6-axis inertial measurement system in a fixed position relative to the image sensor (10); a proximity camera in a fixed position relative to the image sensor (10); a tracking system that directly or indirectly monitors the image sensor (10); a pattern projector in a fixed position relative to the image sensor (10) that projects a pattern onto the object (14) captured by the image sensor (10); a tracking system that directly or indirectly monitors the object (14); a pupil tracker; and a second image sensor that views the object (14) at a stereo angle.

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