Image navigation method and system for surgical microscope

Abstract

The present invention relates to an image navigation method and system for a surgical microscope. The method includes: first, after fixing a surgical object and markers, radiographing the surgical object and markers to obtain a three-dimensional digital image; then, positioning the markers in the three-dimensional digital image to form a three-dimensional coordinate system and obtain the relative position between the target lesion and the markers; then, plotting a surgical instrument entry point and path guidance points on the three-dimensional digital image to form a navigation path, and transmitting the navigation path data to a media signal processing device; then, positioning the target lesion and markers within the field of view of the surgical microscope and transmitting the image within the field of view of the surgical microscope to the media signal processing device; the media signal processing device recognizing the markers to form a three-dimensional space corresponding to the image within the field of view of the surgical microscope; and real-time navigation is achieved by superimposing the navigation path image at predetermined coordinates on the image within the field of view of the surgical microscope in the three-dimensional space. The system includes a surgical microscope, a media signal processing device, and markers, and the surgical microscope includes a microscope tube and an image enhancement device. By accurately positioning the surgical instrument entry point and path guidance point, the present invention can guide a doctor or related personnel in completing dental treatment and surgery, thereby improving the precision of surgery.

Description

[Technical Field]

[0001] The present invention relates to the technical field of dental diagnosis and treatment, and more particularly to an image navigation method and system for a surgical microscope. [Background technology]

[0002] Modern medicine has made great strides in the fields of in vitro diagnosis, microscopy, medical imaging, minimally invasive treatment, etc., and many interdisciplinary and multidisciplinary integrated diagnostic and treatment methods have emerged. With the continuous development of medical imaging equipment and the rapid advancement of medical imaging technology, subfamilies of medical imaging, such as CT, MR, interventional radiotherapy, ultrasound, and nuclear medicine, have been gradually established, and the discipline of medical imaging technology has also gradually taken shape.

[0003] Medical image information is characterized by its sensitivity, intuition, specificity, and ability to realize early detection of diseased areas. Image analysis has evolved from qualitative to quantitative analysis, and image display has evolved from displaying diagnostic information to guiding surgical procedures. Image capture cameras and their image displays have evolved from 2D simulated images to three-dimensional fully digitalized images. Image storage has evolved from hard copies of film to filmless soft copies or networked image transmission. Furthermore, image technology has evolved from a single imaging technology to comprehensive imaging technology.

[0004] To realize the digitization, networking, and integration of medical images, it is necessary to establish a comprehensive specialty consisting of three specialties: diagnosis, technology, and engineering, because a single specialty can no longer fulfill the functions of modern medical images.

[0005] For example, when treating a root canal, a physician must thoroughly open the pulp cavity and then locate and treat all root canals. Typically, a human tooth contains one to four root canals, with the posterior teeth having the most. Due to changes in the morphology of multi-canal teeth caused by aging, deposition of reparative dentin, calculus formation, calcification of the pulp cavity, and changes in root canal shape, it can be difficult to identify the location of the root canal orifice. Therefore, 3D anatomical images of the tooth are required to observe the anatomy of the dental pulp cavity from various directions and positions. Furthermore, X-ray images taken at various angles are required to grasp and display various changes, such as the number, shape, location, direction, and curvature of the roots and root canals, the relationship between the roots and dental crown, and the anatomy of the roots and root canals. Some teeth contain four root canals or complex conditions such as lateral root canals, accessory root canals, apical ramifications, and apical furcations, making it difficult to see detailed information even when the tooth image is enlarged. In these cases, after predicting the possible location of the root canal, a small spherical drill must be used to remove a small amount of dentin from the tooth development groove at the predicted location of the root canal. Next, a sharp probe is used to penetrate the mineralized part of the tooth, defining the dentin shoulder of the root canal orifice where the dental neck has been removed, and exposing the root canal orifice. In cases such as mineralized root canal orifices, the surgeon must search for various predicted locations of the root canal, which may injure healthy dental tissue.

[0006] Currently, surgeons use preoperative images to determine or confirm the drill bit entry point and depth for the target tooth. In this case, surgeons must expend some effort memorizing the root canal morphology and rechecking the tooth image during surgery. There is a risk that the drill bit entry point may deviate due to observation errors by the surgeon. Furthermore, because surgeons usually determine the drill bit entry point and depth based on experience, they are unable to accurately determine the drill bit position. Furthermore, prior art surgical navigation devices have complex structures and require various preparations before surgery, which may affect the efficiency of surgery.

[0007] To solve the problems of the prior art, new technical matters need to be provided. Summary of the Invention [Problem to be solved by the invention]

[0008] The object of the present invention is to solve at least one of the drawbacks of the prior art by providing an image navigation method and system for a surgical microscope, which can determine the location of a target lesion, indicate the entry point and penetration depth of a drill bit, and assist a surgeon in performing surgery. [Means for solving the problem]

[0009] The present invention provides a method for image navigation of a surgical microscope, the method comprising: Step S1: after fixing the surgical object and the marker, obtain a three-dimensional structural digital image by performing radiography on the surgical object and the marker; Step S2: determining the positions of the markers in the three-dimensional structural digital image to form a three-dimensional coordinate system and obtain the relative positions between the target lesion and the markers; Step S3: forming a navigation path by plotting an entry point and a path guidance point of a surgical instrument on the three-dimensional structure digital image, and sending the navigation path data to a media signal processing device; Step S4: positioning the target lesion and the marker within the field of view of the surgical microscope and transmitting an image within the field of view of the surgical microscope to the media signal processing device; Step S5, in which the media signal processing device forms a three-dimensional space applied to an image in the field of view of the surgical microscope by recognizing the markers; The method includes step S6 of realizing real-time navigation by superimposing a navigation path image of predetermined coordinates on an image within the field of view of the surgical microscope in the three-dimensional space using an image enhancement device.

[0010] Before performing step S5, the media signal processing device calibrates with respect to the markers to eliminate errors between the image received by the media signal processing device and the actual image.

[0011] Calibrating the markers includes: T1, the second media signal processing device captures a plurality of images within the field of view of the surgical microscope using a camera module; T2 detects feature points in the image and calculates a homography based on the position information of the feature points and their coordinates in the image; T3, which calculates the intrinsic and extrinsic parameters by analytical estimation methods; T4, which designs the target by maximum likelihood estimation method and performs optimization, and obtains parameter optimization by performing parameter optimization.

[0012] The marker includes a base and positioning components mounted on the base, the number of the positioning components is at least three, and a calibration pattern is formed on the base. In step S1, the marker is attached near the target affected area. In step S2, the media signal processing device opens the three-dimensional structure digital image and sequentially determines the positions of the three positioning components to form a three-dimensional coordinate system.

[0013] The positioning part is a metal sphere.

[0014] When determining the position of each positioning component, the position of the positioning component is determined by simultaneously selecting the center position of the positioning component in three directions.

[0015] The calibration pattern (23) is an Aruco pattern. In step S5, the media signal processing device detects the ID information of the Aruco code in the Aruco pattern information and forms a world coordinate system based on the ID information of the Aruco code. Next, the orientation of the marker in the field of view of the surgical microscope is determined based on the correspondence between the image corner point in the corner point coordinates and the world corner point in the world coordinate system, and a corresponding three-dimensional space is formed. In step S6, the media signal processing device registers the world coordinate system, the screen coordinate system, and the three-dimensional coordinate system, and sends a navigation path image of a specified coordinate in the three-dimensional space to an image enhancement device to be superimposed on the image in the field of view of the surgical microscope.

[0016] The media signal processing device includes a first media signal processing device and a second media signal processing device, and the first media signal processing device and the second media signal processing device are communicatively connected. The second media signal processing device is connected to the image enhancement device via an optical adapter, and a camera module of the second media signal processing device captures images within the field of view of the surgical microscope via the optical adapter and transmits the captured images to the second media signal processing device for display. The first media signal processing device receives a three-dimensional digital image of the surgical object and markers, and then determines the positions of the markers using the three-dimensional digital image and forms a three-dimensional coordinate system. The first media signal processing device forms a navigation path by plotting surgical instrument entry points and path guidance points on the three-dimensional digital image, and transmits the navigation path data to the second media signal processing device. The second media signal processing device transmits the navigation path data to the image enhancement device, and the image enhancement device converts the navigation path data into an optical image and superimposes the optical image within the field of view of the surgical microscope to form a superimposed image.

[0017] Step S6 further includes superimposing a predetermined three-dimensional structure digital image in the three-dimensional space by the image enhancement device within the field of view of the surgical microscope.

[0018] The image enhancement device includes a spectroscopic structure, and the image in the field of view of the surgical microscope is dispersed by the spectroscopic structure, and the image in the field of view of the surgical microscope is transmitted to the media signal processing device for display at any time. The image in the field of view of the surgical microscope includes an image of the target lesion and an image of a marker.

[0019] The present invention also provides an image navigation system for a surgical microscope. The system includes a surgical microscope, a media signal processing device, and a marker. The surgical microscope includes a microscope tube and an image enhancing device. The image enhancing device is mounted on the microscope tube and includes a spectroscopic structure, and an image within the field of view of the surgical microscope is dispersed by the spectroscopic structure and continuously transmitted to the media signal processing device for display. The image enhancing device is communicatively connected to the media signal processing device. The marker is attached near a target lesion, and the media signal processing device receives a three-dimensional structural digital image of the surgical object and the marker and determines the position of the marker in the three-dimensional structural digital image to form a three-dimensional coordinate system and obtain the relative position between the target lesion and the marker. A navigation path is formed by plotting an entry point and a path guidance point for a surgical instrument on the three-dimensional structural digital image. The media signal processing device transmits navigation path data to the image enhancing device. The image enhancing device converts the navigation path data into an optical image and superimposes the optical image on the main optical path of the microscope tube to form a superimposed image within the field of view of the surgical microscope.

[0020] The image enhancement device includes a projection module and a superimposition lens group, the projection module is communicatively connected to the media signal processing device, and the superimposition lens group is attached to a main optical path of the microscope tube. The projection module is configured to receive navigation path data transmitted by the media signal processing device and convert the received navigation path data into an optical image. The superimposition lens group superimposes the optical image transmitted by the projection module onto the main optical path of the microscope tube to form a superimposed image. The superimposed image can then be observed through a binocular tube of the surgical microscope.

[0021] The media signal processing device includes a first media signal processing device and a second media signal processing device, and the first media signal processing device is communicatively connected to the second media signal processing device. The second media signal processing device is connected to the image enhancement device by an optical adapter, and a camera module of the second media signal processing device captures images within the field of view of the surgical microscope through the optical adapter and transmits the captured images to the second media signal processing device for display. The first media signal processing device receives a three-dimensional structure digital image of the surgical object and markers, and then determines the positions of the markers using the three-dimensional structure digital image and forms a three-dimensional coordinate system. The first media signal processing device forms a navigation path by plotting entry points and path guidance points for surgical instruments on the three-dimensional structure digital image, and transmits the navigation path data to the second media signal processing device, and the second media signal processing device transmits the navigation path data to the image enhancement device. [Effects of the Invention]

[0022] Compared with the prior art, the image navigation method for a surgical microscope of the present invention can achieve one or more of the following inventive advantages. The surgical microscope image navigation method and system of the present invention accurately determines the position of the surgical instrument entry point and path guidance point, and guides the surgeon or operator's work, thereby enabling accurate dental treatment surgery and improving surgical precision. It also simplifies the surgical process, reduces pre-operative preparation time, and improves surgical efficiency. Conventional surgical microscope navigation systems typically use dedicated navigation devices. However, dedicated navigation devices are large and may intrude into the field of view of the surgical microscope. Because the present invention does not use a dedicated navigation device, it has the advantages of low cost, high efficiency, ease of use, fewer device components, and shorter surgical preparation time.

[0023] By appropriately designing the markers of the present invention, navigation accuracy can be improved and the overall complexity of the navigation system can be reduced.

[0024] The present invention uses a design in which two optical paths overlap, so when an operator views an image through the binocular tube, both of the operator's eyes can see the overlapping image, thereby improving the operator's comfort and convenience when viewing images. The use of a DMD projection module is preferable instead of the conventional OLED screen projection method. Due to the different lighting principle, the brightness of the DMD projection module can reach more than 100 times that of the OLED screen projection method. This solves the problem of poor screen brightness and contrast when displaying images on an OLED screen. [Brief explanation of the drawings]

[0025] [Figure 1] 2 is a flow chart illustrating an image navigation method for a surgical microscope according to an embodiment of the present invention. [Figure 2] 1 is a perspective view showing the structure of a marker according to an embodiment of the present invention. [Figure 3] 1A and 1B are diagrams showing attachment positions of markers according to an embodiment of the present invention. [Figure 4] 10A-10C are software screenshots illustrating positioning with three positioning components according to an embodiment of the present invention. [Figure 5] 10A-10C are software screenshots illustrating positioning with three positioning components according to an embodiment of the present invention. [Figure 6] 10A-10C are software screenshots illustrating positioning with three positioning components according to an embodiment of the present invention. [Figure 7] 10A-10C show screenshots of software for planning entry points for surgical instruments in an embodiment of the present invention. [Figure 8]10A-10C show screenshots of software for planning path guidance points for surgical instruments in an embodiment of the present invention. [Figure 9] FIG. 4 shows a navigation path schematically illustrated in a second media signal processing device according to an embodiment of the present invention; [Figure 10] 1 is a diagram showing the mounting positions of two media signal processing devices according to an embodiment of the present invention; [Figure 11] FIG. 2 is a diagram illustrating a position where a second media signal processing device according to an embodiment of the present invention is mounted on a surgical microscope. [Figure 12] 10A-10C show screenshots of software for calibrating markers in an embodiment of the present invention. [Figure 13] FIG. 10 is a diagram showing how three positioning components and entry points are displayed with bright light points during surgery in an embodiment of the present invention. [Figure 14] 10A and 10B show CBCT superimposed images of the side of a marker according to an embodiment of the present invention when it is attached to a target tooth. [Figure 15] 1 is a diagram showing a position where an image enhancing device according to an embodiment of the present invention is mounted on a microscope lens barrel. [Figure 16] 1 is a cross-sectional view showing the structure of an image enhancing device according to an embodiment of the present invention. [Figure 17] 2 is a diagram showing the forward direction of light inside an image enhancement device according to an embodiment of the present invention; FIG. [Figure 18] 4A and 4B are diagrams illustrating the forward direction of light when the light is superimposed and dispersed by the first superimposing lens group according to an embodiment of the present invention; [Figure 19] 1 is a perspective view showing the structure of an image enhancing device according to an embodiment of the present invention; [Figure 20] 1 is a plan view showing the structure of an image enhancing device according to an embodiment of the present invention; [Figure 21] 1 is a rear view showing the structure of an image enhancing device according to an embodiment of the present invention; [Figure 22] FIG. 1 is a diagram showing an operator performing surgery according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0026] In order to explain in more detail the technical means adopted to achieve the object of the present invention and the effects of the invention, the specific embodiments, structures, features and effects of the invention will be described in detail below with reference to the drawings and preferred embodiments.

[0027] Example In this embodiment, an image navigation method for an operating microscope is provided, as shown in Figure 1, the method includes the following steps:

[0028] In step S1, the surgical object and markers 2 are fixed, and then radiography is performed on the surgical object and markers 2 to obtain a three-dimensional structural digital image. Before surgery, the markers 2 are attached near the target lesion 8. The markers 2 include a base 21 and positioning components 22 installed on the base 21. There are at least three positioning components 22, and a calibration pattern 23 is formed on the base 21. The positioning components 22 include a first positioning component, a second positioning component, and a third positioning component. Preferably, at least two of the positioning components 22 are different in size, and the three positioning components 22 are not located on a single straight line. A first plane formed at one end of the positioning components 22 intersects with a second plane formed at the other end of the positioning components 22. The first and second positioning components, which have larger volumes, are located on one side of the calibration pattern 23, and the third positioning component is located on the other side of the calibration pattern 23. The distance between the second positioning component and the third positioning component is 2 to 8 times the distance between the second positioning component and the first positioning component. The distance between the first positioning component and the second positioning component ranges from 2 mm to 8 mm, the distance between the first positioning component and the third positioning component ranges from 8 mm to 33 mm, and the distance between the second positioning component and the third positioning component ranges from 8 mm to 35 mm. The diameter of the first positioning component ranges from 1 mm to 8 mm, the diameter of the second positioning component ranges from 1 mm to 6 mm, and the diameter of the third positioning component ranges from 1 mm to 6 mm. This improves navigation accuracy and reduces the complexity of the entire system. The positioning component 22 is preferably a metal sphere. Therefore, a three-dimensional structural digital image acquired by radiography includes images of three positioning components 22. For example, in a dental surgery, the marker 2 is fixed to the target affected area 8 before surgery. That is, the marker 2 is fixed near the target tooth. The structure of FIG. 2 can be adopted as the structure of the marker 2.The marker 2 of FIG. 2 is composed of a substrate 21 and three metallic spherical positioning elements 22. Of the three metallic spherical positioning elements 22, one metallic spherical positioning element 22 is large, the other two metallic spherical positioning elements 22 are small, and the two smaller metallic spherical positioning elements 22 are equal in size. The substrate 21 is composed of a base 211 and a pattern substrate 212. The calibration pattern 23 is mounted on the pattern substrate 212, and one side of the base 211 has a fixing recess and the other side has a receiving recess, and the pattern substrate 212 is fixed in the receiving recess. The pattern substrate 212 and the base 211 can be fixed by fixing elements such as bolts, or can be bonded with adhesive or other methods. The pattern substrate 212 and the base 211 can also be molded as a single unit. A fixing recess can be formed on one side of the substrate 21, and the calibration pattern 23 can be attached to the other side. When using the marker 2, the base 21 is bonded to the patient's tooth by inserting the fixing recesses of the base 21 into the patient's tooth, and then the base 21 can be fixed with a special adhesive. Three positioning components 22 are attached around the calibration pattern 23. For example, as shown in FIG. 2, three positioning components 22 can be attached to both sides of the pattern substrate 212. To fix the positioning components 22, for example, the method shown in FIG. 2 can be used. That is, circular recesses are formed at predetermined positions on the base 211, and the positioning components 22 are inserted into the circular recesses and then fixed with adhesive or the like. Next, CBCT tomography is performed on the patient's affected area and the marking board to obtain three-dimensional structural digital images of the tooth's hard tissue, the shape of the root canal, the metal spheres in the marking board (i.e., the positioning components), etc. It should be noted that the above embodiment is merely a preferred example of the present invention, and the shape, size, mounting position and mounting method of the positioning element 22 are not specifically limited in the embodiment of the present invention, and they can be appropriately adjusted according to actual needs. The present invention also does not limit the fixing position of the marker 2.The marker 2 may be fixed anywhere as long as it prevents artifacts from being generated during radiography such as CBCT and ensures sufficient reading of the features of the positioning component 22. As shown in FIG. 3, it is necessary to ensure that the marker 2 appears within the microscope's field of view, prevents the marker 2 from blocking the target tooth and other important information, and ensure that each piece of information in the calibration pattern 23 on the marker 2 is displayed in detail and at an appropriate size. The calibration pattern 23 is preferably an Aruco pattern. As shown in FIG. 2, this type of pattern includes binary encoding, which improves the fault tolerance of the algorithm. This increases the tolerance for incorrect measurements and calibrations and allows a specific marker 2 to be converted into three-dimensional coordinates. The calibration pattern 23 is not limited to an Aruco pattern and can be other patterns. Furthermore, the calibration pattern 23 is not limited to a flat pattern and can be a 3D pattern. When selecting the number of patterns, it is necessary to ensure that the ratio of the number of horizontal and vertical patterns is 1:1, which ensures that fine features can be recognized, and increasing the number of patterns can improve accuracy during calibration and navigation.

[0029] In step S2, the position of the marker 2 is determined in the three-dimensional digital image, forming a three-dimensional coordinate system and determining the relative position between the target lesion 8 and the marker 2. In this step, the first media signal processing device 3, e.g., a computer, receives the three-dimensional digital image of the surgical object and the marker 2 and opens it. Next, the three-dimensional coordinate system is formed by sequentially determining the positions of the three positioning components 22. Simultaneous detection of the center positions of each positioning component 22 in three directions allows for the determination of their positions and reduces positioning errors. Software is installed in the computer, and the software can display the three-dimensional digital image on the computer display in a three-dimensional display format. In this case, the operator can select a specific point on the three-dimensional digital image displayed on the computer display and then determine the three-dimensional coordinates of that point. As shown in Figures 4 to 6, the software simultaneously selects the center positions of each positioning component 22 in three directions to determine the relative spatial coordinates between the three positioning components 22 and form the three-dimensional coordinate system. As a result, it is possible to obtain the coordinates where each position of the target affected area 8 and each position of the markers 2 are located in the three-dimensional coordinate system.

[0030] In step S3, a navigation path is formed by plotting entry points and path guidance points for surgical instruments 9 on the 3D structure digital image, and the navigation path data is transmitted to a second media signal processing device 4. The second media signal processing device can be a second mobile terminal, such as a mobile phone or tablet. The second media signal device is communicatively connected to the computer in step S2. The surgical instrument 9 can be a drill bit used in root canal therapy. In this step, the method for plotting entry points and path guidance points is the same as that in step S2. As shown in Figures 7 and 8, the operator selects entry points and path guidance points in three directions using software, and then determines the three-dimensional coordinates of the two points. Next, the software forms a navigation path using the three-dimensional coordinates of the two points. That is, as shown in Figure 9, a straight line is formed starting from the entry point and passing through the path guidance point. 9 shows a schematic diagram of multiple navigation paths. It should be noted that the first media signal processing device 3 and the second media signal processing device 4 can be a single device, such as a mobile terminal. In steps S2 and S3, determining the position of each positioning component 22 and planning the entry points and path guidance points for the surgical instruments can be performed by predetermined software in the mobile terminal.

[0031] In step S4, the target lesion 8 and the marker 2 are positioned within the field of view of the surgical microscope 1, and an image of the target lesion 8 and the marker 2 within the field of view of the surgical microscope 1 is transmitted to a second media signal processing device 4, i.e., a mobile terminal. The mobile terminal is connected to an image intensifier device 12 via an optical adapter 5. The mobile terminal shown in Figures 10 and 11 is a mobile phone. For details of the optical adapter 5, please refer to the previously filed patent application number 201720275596.5. For details of the image intensifier device 12, please refer to the previously filed patent application number 202121362228.7. The optical adapter 5 is connected to the spectral interface 1296 of the image intensifier device 12, and the mobile terminal is fixed to the optical adapter 5 via a frame 6. The image in the field of view of the surgical microscope 1 is dispersed by the dispersing structure (i.e., the beam splitter group) of the image enhancement device 12, and a portion of the dispersed image enters the optical adapter 5. At this time, the mobile terminal can capture the image using a camera module. The mobile terminal can transmit the captured image to its display device and display it. This allows the image in the field of view of the surgical microscope 1 to be displayed at any time. The image in the field of view of the surgical microscope 1 includes an image of the target lesion 8 and an image of the marker 2.

[0032] In step S5, the second media signal processing device 4 recognizes the marker 2 to form a three-dimensional space that corresponds to the image in the field of view of the surgical microscope 1. Before performing this step, the second media signal processing device 4 needs to calibrate the marker 2 to eliminate errors between the image received by the second media signal processing device 4 and the actual image. That is, it is necessary to improve the accuracy of the position in the three-dimensional object space by eliminating errors when a real image of an object is sent to the surgical microscope 1 and the surgical microscope 1 transmits the image to a mobile phone. Calibrating the marker 2 includes the following steps: At T1, as shown in FIG. 12, the second media signal processing device 4 uses a camera module to capture multiple images in the field of view of the surgical microscope 1. At T2, feature points are detected in the images, and a homography is calculated based on the position information of the feature points and their coordinates in the images. At T3, internal parameters and external parameters are calculated using an analytical estimation method. At T4, a target is designed and optimized using a maximum likelihood estimation method, and parameter optimization is performed to obtain optimal parameters. After calibration of the marker 2 is completed, the second media signal processing device 4 determines the attitude of the marker 2 by constantly tracking the calibration pattern 23 on the marker 2. In an example using an Aruco pattern, the second media signal processing device 4 detects the ID information of the Aruco code in the Aruco pattern information and forms a world coordinate system according to the ID information of the Aruco code.Next, the posture of the marker 2 within the field of view of the surgical microscope 1 is determined based on the correspondence between the image corner points in the corner point coordinates and the world corner points in the world coordinate system, and a three-dimensional space is formed to accommodate it.

[0033] In step S6, the image enhancement device 12 superimposes a navigation path image 7 of a predetermined coordinate on the image in the field of view of the surgical microscope 1 in the three-dimensional space, thereby achieving real-time navigation. After forming a three-dimensional space corresponding to the image in the field of view of the surgical microscope 1, the relative position of the target lesion 8 in the three-dimensional space is determined based on the position coordinates of the target lesion 8 and the markers 2 acquired in step S2 in the three-dimensional coordinate system, and the navigation path image 7 of the corresponding coordinates is loaded. Next, the second media signal processing device 4 merges the navigation path image 7 with the real image in the field of view of the surgical microscope 1, and registers the world coordinate system, screen coordinate system, and three-dimensional coordinate system using, for example, an AR kit development library. Next, data of the predetermined navigation path image 7 in the three-dimensional space is sent to a projection module 121, such as a display device, of the image enhancement device 12. The projection module 121 converts the navigation path data into an optical image and positions a superimposing lens group within the field of view of the surgical microscope 1 to form a superimposed image, thereby realizing real-time navigation. The operator can control the movement path of the surgical instrument 9 using the navigation path, thereby precisely treating the target lesion 8. As shown in Figure 13, the three positioning components 22 and the entry point located within the field of view of the surgical microscope 1 can be displayed with bright light spots to assist the operator's observation.

[0034] The image superimposed on the image in the field of view of the surgical microscope 1 is not limited to the navigation path image 7, but can also be a three-dimensional digital structure image obtained by radiography. For example, as shown in Figure 14, when the side of the marker 2 is attached to the tooth, the second media signal processing device 4 recognizes the orientation of the marker 2 and transmits the corresponding CBCT three-dimensional digital structure image to the projection module 121. Finally, the CBCT three-dimensional digital structure image is positioned within the field of view of the surgical microscope 1. By using the CBCT superimposed image, the operator can accurately determine the location of the dental pulp and perform the resection surgery well.

[0035] In an embodiment of the present invention, there is further provided an image navigation system using the image navigation method for a surgical microscope. The image navigation system includes a surgical microscope 1, a media signal processing device, and a marker 2. As shown in Figures 10, 11, and 15, the surgical microscope 1 includes a microscope tube 11 and an image enhancement device 12, and the image enhancement device 12 is mounted on the microscope tube 11. The image enhancement device 12 includes a casing 129, a projection module 121 mounted in the casing 129, and a spectroscopic structure, and the spectroscopic structure is a beam splitter group. When the image enhancement device 12 is mounted on the microscope tube 11, the beam splitter group is mounted on the main optical path (Main Optics Star) of the microscope tube 11. A spectral aperture 1296 is formed on the casing 129. An image within the field of view of the surgical microscope 1 is split by a beam splitter group within the image enhancer 12, with a portion of the image entering the binocular tubes 13 and the other portion exiting the spectral aperture 1296. The beam splitter group is responsible for splitting the light, and the incident images can be superimposed by using the beam splitter group as a superimposing lens group. The light emitted from the image enhancer 12 undergoes optical path shaping before entering a superimposing lens group. The light entering the superimposing lens group is superimposed on the main optical path of the microscope tube 11 to form a superimposed image. For the specific principles of the image enhancer 12, please refer to the previously filed patent application bearing application number 202121362228.7. It should be noted that while the patent application describes superimposing images using a single optical path, the image enhancer 12 of this embodiment uses two beam splitter groups as superimposing lens groups. 16, a beam splitter group and a reflecting mirror group are further installed in the optical path to split the light emitted by the image enhancing device 12 into two parts, and then the two parts of light are superimposed on the two main optical paths of the microscope tube 11, respectively. When the operator observes the image within the field of view of the surgical microscope 1 through the binocular tube 13, both eyes of the operator can see the superimposed image. It is preferable that the spectral aperture 1296 of the image enhancing device 12 is installed corresponding to the beam splitter group that superimposes the images.This ensures that the image emitted from the spectral aperture 1296 is a superimposed image. Hereinafter, the image enhancing device 12 in which two optical paths are superimposed will be described with reference to Figs. 15 to 22. The specific contents are as follows.

[0036] 16, the image enhancement device 12 includes a projection module 121, a first lens group 122, a first reflecting mirror group 123, a second lens group 124, a beam splitter group 125, a second reflecting mirror group 126, a first overlapping lens group 127, and a double-folding lens group 128. The projection module 121, the first lens group 122, the first reflecting mirror group 123, the second lens group 124, the beam splitter group 125, the second reflecting mirror group 126, the first overlapping lens group 127, and the double-folding lens group 128 are all housed in a casing 129. The first lens group 122, the first reflecting mirror group 123, the second lens group 124, the beam splitter group 125, and the second reflecting mirror group 126 are respectively mounted in the casing 129 by lens supports 132. Preferably, the first reflecting mirror group 123 and the second reflecting mirror group 126 are right-angle prisms. The beam splitter group 125, the first convolving lens group 127 and the double convolving lens group 128 are preferably all splitting prisms.

[0037] The projection module 121, the first lens group 122, and the first reflecting mirror group 123 are sequentially mounted on a single optical path. The first reflecting mirror group 123 and the second lens group 124 are mounted on the optical path on the incident side of the beam splitter group 125. The second reflecting mirror group 126 is mounted on the first output optical path of the beam splitter group 125, and the first overlapping lens group 127 and the double-folding lens group 128 are mounted on a single optical path. The double-folding lens group 128 is mounted on the second output optical path of the beam splitter group 125. When the image enhancing device 12 is mounted on the microscope tube 11, as shown in FIG. 15 , the first overlapping lens group 127 is located on the first main optical path of the microscope tube 11, and the double-folding lens group 128 is located on the second main optical path of the microscope tube 11. 17 , light emitted from the projection module 121 passes through the first lens group 122 and is rotated 90 degrees by the first reflecting mirror group 123. Next, the light passes through the second lens group 124 and enters the beam splitter group 125. The beam splitter group 125 splits a portion of the light and directs it to the second reflecting mirror group 126, which then rotates the light 90 degrees and directs it to the first superimposing lens group 127. The light entering the first superimposing lens group 127 is then superimposed on the first main optical path of the microscope barrel 11 to form a composite optical image. The beam splitter group 125 splits the other light and directs it to the superimposing lens group 128, which then superimposes the light entering the superimposing lens group 128 on the second main optical path of the microscope barrel 11 to form a composite optical image. When the operator observes an image through the binocular tube 13 of the surgical microscope 2, the operator can observe a superimposed image formed by the images projected by each of the projection modules 121.

[0038] An aperture 19 is formed between the first reflecting mirror group 123 and the second lens group 124, allowing for the blocking and opening of the optical path and the display and turning off of the superimposed image. Specifically, as shown in FIG. 16 , a gap adjustment device 131 is mounted within the casing 129, and the gap 19 can be moved between a blocking position and an opening position by driving the gap adjustment device 131. When the gap 19 is in the blocking position, the gap 19, the first reflecting mirror group 123, and the second lens group 124 are located on the same optical path. In this case, the gap 19 blocks light that passes through the first reflecting mirror group 123 and then enters the second lens group 124. The gap 19 can be adjusted by moving the gap 19 horizontally or by rotating the gap 19. Either method may be used as long as it can ensure that the gap 19 blocks and opens the optical path, and both methods are within the scope of the present invention.

[0039] The projection module 121 is preferably a DMD projection module. As shown in FIGS. 16 and 17, the DMD projection module includes a DMD mirror surface 1211, a filter lens 1212, a prism group 1213, and a projection correction lens 1214. The brightness of the DMD projection module is provided by a plurality of LED light sources of different colors. Light provided by the plurality of LED light sources is reflected by the DMD mirror surface 1211, passes through the filter lens 1212, the prism group 1213, and the projection correction lens 1214 in order, and finally enters the first lens group 122. In this case, the light is shaped along its optical path to form a projected image. Due to the different illumination principle, the brightness of the DMD projection module can reach more than 100 times that of an OLED screen projection method.

[0040] 17 , the first lens group 122 includes a first lens set 1221 and a second lens set 1222, and the second lens group 124 includes a third lens set 1241. The first lens set 1221 is a cemented doublet lens set with negative focal power, and includes a first lens 12211 and a second lens 12212. The first lens group 122 includes a third lens set 1241 with positive focal power. The first lens 12211 is attached to one side of the second lens 12212 facing the projection correction lens 1214, and the third lens is attached to one side of the second lens 12212 away from the first lens 12211. The third lens set 1241 is a cemented doublet lens set with positive focal power, and includes a fourth lens 12411 and a fifth lens 12412. The fourth lens 12411 is attached to one side of the fifth lens 12412 facing the first reflecting mirror group 123. The first lens group 122 and the second lens group 124 satisfy the following formula:

[0041] JPEG2026507261000002.jpg27170

[0042] JPEG2026507261000003.jpg33170

[0043] JPEG2026507261000004.jpg27170

[0044] As shown in the table below. JPEG2026507261000005.jpg100170

[0045] The radius is the radius of curvature of the mirror surface, the thickness is the distance in the optical path from the center of one mirror surface to the center of the next mirror surface, Nd is the refractive index of d light (wavelength 589.3 nm) in the optical glass, Vd is the Abbe number, and the half aperture is half the effective aperture of the mirror surface. Some of the parameters in the table will be explained below with reference to Figure 17.

[0046] Surface 1 is the DMD mirror surface 1211 , and the thickness is the distance from the center of the DMD mirror surface 1211 to the center of the upper mirror surface of the filter lens 1212 .

[0047] Surface 2 is the upper mirror surface of filter lens 1212, and the thickness is the distance from the center of the upper mirror surface of filter lens 1212 to the center of the lower mirror surface of filter lens 1212.

[0048] Surface 3 is the lower mirror surface of filter lens 1212, and the thickness is the distance from the center of the lower mirror surface of filter lens 1212 to the center of the upper mirror surface of prism combination 103.

[0049] Surface 4 is the upper mirror surface of prism assembly 103, and the thickness is the distance from the center of the upper mirror surface of prism assembly 103 to the center of the lower mirror surface of prism assembly 103.

[0050] Surface 5 is the lower mirror surface of prism assembly 103, and the thickness is the distance from the center of the lower mirror surface of prism assembly 103 to the center of the upper mirror surface of projection correction lens 1214.

[0051] Surface 6 is the upper mirror surface of projection correction lens 1214, and the thickness is the distance from the center of the upper mirror surface of projection correction lens 1214 to the center of the lower mirror surface of projection correction lens 1214.

[0052] Surface 7 is the lower mirror surface of projection correction lens 1214, and the thickness is the distance from the center of the lower mirror surface of projection correction lens 1214 to the center of the upper mirror surface of first lens group 1221.

[0053] Surface 8 is the upper mirror surface of the first lens group 1221 , and the thickness is the distance from the center of the upper mirror surface of the first lens group 1221 to the center of the bonding surface between the first lens 12211 and the second lens 12212 .

[0054] Surface 9 is the bonding surface between the first lens 12211 and the second lens 12212, and the thickness is the distance from the center of the bonding surface to the center of the lower mirror surface of the first lens group 1221.

[0055] Surface 10 is the lower mirror surface of the first lens group 1221, and the thickness is the distance from the center of the lower mirror surface of the first lens group 1221 to the center of the upper mirror surface of the second lens group 1222.

[0056] Surface 11 is the upper mirror surface of the second lens group 1222, and the thickness is the distance from the center of the upper mirror surface of the second lens group 1222 to the center of the lower mirror surface of the second lens group 1222.

[0057] Surface 12 is the lower mirror surface of the second lens group 1222 , and the thickness is the distance from the center of the lower mirror surface of the second lens group 1222 to the center of the upper mirror surface of the first reflecting mirror group 123 .

[0058] Surface 13 is the upper mirror surface of the first reflecting mirror group 123, and the thickness is the distance from the center position of the upper mirror surface of the first reflecting mirror group 123 to the center position of the reflecting surface of the first reflecting mirror group 123 and the distance from the center position of the reflecting surface of the first reflecting mirror group 123 to the center position of the right mirror surface of the first reflecting mirror group 123.

[0059] Surface 14 is the right mirror surface of the first reflecting mirror group 123 , and the thickness is the distance from the center position of the right mirror surface of the first reflecting mirror group 123 to the center position of the left mirror surface of the third lens group 1241 .

[0060] Surface 15 is the left mirror surface of the third lens group 1241 , and the thickness is the distance from the center of the left mirror surface of the third lens group 1241 to the center of the adhesive surface between the fourth lens 12411 and the fifth lens 12412 .

[0061] Surface 16 is the adhesive surface between the fourth lens 12411 and the fifth lens 12412, and the thickness is the distance from the center of this adhesive surface to the center of the right mirror surface of the third lens group 1241.

[0062] Surface 17 is the right mirror surface of the third lens set 1241.

[0063] In an embodiment of the present invention, a spectral aperture 1296 corresponding to the first superimposing lens group 127 or the double superimposing lens group 128 is formed on one side of the casing 129. For example, the spectral aperture 1296 can be formed on the spectral side of the first superimposing lens group 127. In this case, a portion of the light of the superimposed image formed by superimposing the first main optical path of the microscope barrel 11 of the surgical microscope 2 is emitted to the outside through the spectral aperture 1296. In FIG. 18 , the light on the left is light incident on the projection module 121, the light on the bottom is light incident on the first main optical path of the microscope barrel 11, the light on the top is light that forms a portion of the superimposed image that is spectrally dispersed from the first superimposing lens group 127 toward the microscope barrel 11, and the light on the right is light that forms the other portion of the superimposed image that is spectrally dispersed from the first superimposing lens group 127 toward the spectral aperture 1296. By connecting a mobile device with a camera module, such as a mobile phone or tablet, to the spectral aperture 1296, an image within the field of view of the surgical microscope 2 can be received and stored.

[0064] 19 to 21 , the casing 129 includes a case 1291 and a back plate 1292, and components such as a power socket 1293, a power switch 1294, and a connection connector 1295 are attached to the back plate 1292. The power socket 1293, the power switch 1294, and the connection connector 1295 are each electrically connected to the projection module 121. The power socket 1293 supplies electricity to the projection module 121, and the power switch 1294 controls the opening and closing of the projection module 121. For example, when the connection connector 1295 is a TYPE-C connector 12951, a mobile terminal such as a mobile phone or a tablet or other digital device can be charged by electrically connecting the TYPE-C connector 12951. When the connecting connector 1295 is an HDMI® type connector 12952 , data information can be transmitted to the projection module 121 by electrically connecting the projection module 121 to the HDMI type connector 12952 .

[0065] The media signal processing device includes a first media signal processing device 3 and a second media signal processing device 4, which are communicatively connected. Preferably, the first media signal processing device 3 is a computer, and the second media signal processing device 4 is a mobile terminal such as a mobile phone or tablet. The projection module 121 and the second media signal processing device 4 are communicatively connected. The marker 2 is attached near the target lesion 8, so that the image within the field of view of the surgical microscope 1 includes an image of the target lesion 8 and an image of the marker 2. The second media signal processing device 4 is preferably connected to the image enhancement device 12 via an optical adapter 5. For details of the optical adapter 5, please refer to the previously filed patent application bearing application number 201720275596.5. The optical adapter 5 is connected to a spectral aperture 1296 of the image enhancement device 12. The image within the field of view of the surgical microscope 1 is dispersed by the spectral structure (i.e., a beam splitter group) of the image enhancement device 12, and a portion of the dispersed image enters the optical adapter 5 through the spectral aperture 1296. At this time, the second media signal processing device 4 can capture the screen using a camera module, and the second media signal processing device 4 can transmit the captured image to a predetermined display device for display, thereby allowing the image within the field of view of the surgical microscope 1 to be displayed at any time.

[0066] After receiving the three-dimensional digital image of the surgical object and the marker 2, the first media signal processing device 3 determines the position of the marker 2 based on the three-dimensional digital image, forms a three-dimensional coordinate system, and acquires the relative position between the target area 8 and the marker 2. The operator uses the first media signal processing device to plot an entry point and path guidance point for the surgical instrument 9 on the three-dimensional digital image, thereby forming a navigation path, and transmits the navigation path data to the second media signal processing device 4. The second media signal processing device 4 recognizes the orientation of the marker 2 and transmits the corresponding navigation path data to the projection module 121 of the image enhancement device 12. The specific principles have been described in the above method and will not be described again here. The projection module 121 converts the received navigation path data into an optical image. The optical image transmitted by the projection module 121 is then superimposed on the main optical path of the surgical microscope 1 using the superimposing lens group to form a superimposed image, thereby realizing real-time navigation.

[0067] The binocular tube 13 is mounted on the microscope tube 11, preferably on the image enhancement device 12. In other words, the binocular tube 13 is preferably mounted on the microscope tube 11 by the image enhancement device 12. As shown in FIG. 19, the light exit hole of the image enhancement device 12 is connected to the tube connection port 1297 of the binocular tube 13. The media signal processing device 4 transmits information data to the projection module 121, and the projection module 121 converts the received information data into an optical image. Next, a superimposed image is formed by superimposing the first superimposing lens group 127 and the double superimposing lens group 128 on the first main optical path and the second main optical path of the microscope tube 11, respectively. In this case, as shown in FIG. 22, an operator can view the superimposed image formed by the images projected by the projection modules 121 by observing the binocular tube 13 with both eyes.

[0068] It should be noted that the terms "comprises," "includes," and the like in this specification are open-ended terms, i.e., an item comprising a set of elements may include not only the elements explicitly listed, but also other elements not listed.

[0069] In this specification, directional terms such as front, rear, top, bottom, etc. are used to define the position of a part in the drawing and the position of a part relative to other parts, and are used to explain the technical matters of the present invention in detail. It should be noted that the use of directional terms in this specification is not intended to limit the scope of the claims of the present invention.

[0070] Where no contradiction arises, embodiments of the present invention or features in embodiments may be combined with ease.

[0071] While the preferred embodiments of the present invention have been described above, the embodiments are merely illustrative of the present invention and the present invention is not limited to the configurations of the above embodiments. Those skilled in the art may make design changes, substitutions, improvements, etc. within the scope of the present invention, and such design changes, substitutions, improvements, etc. are of course included within the scope of the claims of the present invention. [Explanation of symbols]

[0072] 1. Surgical microscope 11 Microscope tube 12 Image enhancement device 121 Projection Module 1211 DMD mirror surface 1212 Filter Lens 1213 Prism Group 1214 Projection Correction Lens 122 First lens group 1221 First lens set 12211 First lens 12212 Second lens 1222 Second lens set 123 First reflector group 124 Second lens group 1241 Third lens set 12411 Fourth lens 12412 Fifth lens 125 Beam Splitter Group 126 Second reflector group 127 First superposition lens group 128 Double Lens Group 129 Casing 1291 cases 1292 Back plate 1293 power socket 1294 power switch 1295 connector 12951 TYPE-C connector 12952 HDMI type connector 1296 Spectral aperture 1297 Telescope tube connection port 130 Gap 131 Gap adjustment device 132 Lens support 13 Binoculars 2 Markers 21 Base 211 Base 212 Patterned board 22 Positioning parts 23 Calibration Pattern 3. First media signal processing device 4. Second media signal processing device 5 Optical adapter 6 frames 7 Navigation Path Images 8 Target affected area 9 Surgical instruments

Claims

1. Step S1: After fixing the surgical object and the marker (2), obtain a three-dimensional structural digital image by performing radiography on the surgical object and the marker (2); Step S2: determining the position of the marker (2) in the three-dimensional structure digital image to form a three-dimensional coordinate system and obtain the relative position between the target lesion (8) and the marker (2); Step S3: forming a navigation path by plotting an entry point and a path guidance point of the surgical instrument (9) on the three-dimensional structure digital image, and sending the navigation path data to a media signal processing device; Step S4: positioning the target affected area (8) and the marker (2) within the field of view of the surgical microscope (1), and transmitting an image within the field of view of the surgical microscope (1) to the media signal processing device; Step S5, in which the media signal processing device recognizes the markers (2) to form a three-dimensional space to be applied to the image in the field of view of the surgical microscope (1); and a step S6 of realizing real-time navigation by superimposing a navigation path image (7) of predetermined coordinates on an image within the field of view of the surgical microscope (1) in the three-dimensional space using an image enhancement device (12).

2. 2. The image navigation method for a surgical microscope according to claim 1, wherein, before performing step S5, the media signal processing device is calibrated to the marker (2) to eliminate errors between the image received by the media signal processing device and the actual image.

3. Calibrating to the marker (2) The second media signal processing device (4) captures a plurality of images within the field of view of the surgical microscope (1) using a camera module (T1); T2 detects feature points in the image and calculates a homography based on the position information of the feature points and their coordinates in the image; T3, which calculates the intrinsic and extrinsic parameters by analytical estimation methods; The image navigation method for a surgical microscope according to claim 2, further comprising: (T4) designing a target and performing optimization by a maximum likelihood estimation method, and performing parameter optimization to obtain parameter optimization.

4. The marker (2) includes a base (21) and positioning components (22) installed on the base (21), the number of the positioning components (22) is at least three, and a calibration pattern (23) is formed on the base (21); In step S1, the marker (2) is attached near the target affected area (8), 2. The image navigation method for a surgical microscope according to claim 1, wherein in step S2, the three-dimensional structure digital image is opened by the media signal processing device, and a three-dimensional coordinate system is formed by sequentially determining the positions of three positioning components (22).

5. 5. The image navigation method for a surgical microscope according to claim 4, wherein the positioning element (22) is a metal sphere.

6. The image navigation method for a surgical microscope according to claim 4, characterized in that when determining the position of each positioning component (22), the position of the positioning component (22) is determined by simultaneously selecting the center position of the positioning component (22) in three directions.

7. The calibration pattern (23) is an Aruco pattern, In step S5, the media signal processing device detects the ID information of the Aruco code in the Aruco pattern information, and forms a world coordinate system according to the ID information of the Aruco code; then, according to the correspondence relationship between the image corner point in the corner point coordinate and the world corner point in the world coordinate system, determine the posture of the marker (2) within the field of view of the surgical microscope (1), and form an appropriate three-dimensional space; 5. The surgical microscope image navigation method according to claim 4, wherein in step S6, the media signal processing device realizes registration of a world coordinate system, a screen coordinate system, and a three-dimensional coordinate system, and transmits a navigation path image (7) of a predetermined coordinate in the three-dimensional space to an image enhancement device (12) to be superimposed on the image in the field of view of the surgical microscope (1).

8. The media signal processing device includes a first media signal processing device (3) and a second media signal processing device (4), the first media signal processing device (3) and the second media signal processing device (4) are communicatively connected, the second media signal processing device (4) is connected to the image enhancement device (12) by an optical adapter (5), and a camera module of the second media signal processing device (4) captures an image within the field of view of the surgical microscope (1) through the optical adapter (5) and transmits the captured image to the second media signal processing device (4) for display; The first media signal processing device (3) receives the three-dimensional structure digital image of the surgical object and the marker (2), and then determines the position of the marker (2) in sequence according to the three-dimensional structure digital image, and forms a three-dimensional coordinate system; 3. The surgical microscope image navigation method according to claim 2, wherein the first media signal processing device (3) forms a navigation path by plotting an entry point and a path guidance point of a surgical instrument (9) on the three-dimensional structure digital image, and transmits the navigation path data to the second media signal processing device (4), and the second media signal processing device (4) transmits the navigation path data to the image enhancement device (12), and the image enhancement device (12) converts the navigation path data into an optical image and superimposes the optical image within the field of view of the surgical microscope (1) to form a superimposed image.

9. 2. The image navigation method for a surgical microscope according to claim 1, wherein step S6 further comprises superimposing a predetermined three-dimensional structure digital image in the field of view of the surgical microscope (1) in the three-dimensional space by the image enhancement device (12).

10. The image navigation method for a surgical microscope according to claim 1, characterized in that the image enhancement device (12) includes a spectroscopic structure, and the image within the field of view of the surgical microscope (1) is dispersed by the spectroscopic structure, thereby transmitting the image within the field of view of the surgical microscope (1) to the media signal processing device at any time and displaying it, and the image within the field of view of the surgical microscope (1) includes an image of the target affected area (8) and an image of a marker (2).

11. a surgical microscope (1), a media signal processing device, and a marker (2), the surgical microscope (1) including a microscope tube (11) and an image enhancing device (12), the image enhancing device (12) being mounted on the microscope tube (11), the image enhancing device (12) including a spectroscopic structure, an image within the field of view of the surgical microscope (1) being dispersed by the spectroscopic structure, and the image within the field of view of the surgical microscope (1) being transmitted to the media signal processing device at any time for display, the image enhancing device (12) being communicably connected to the media signal processing device; The marker (2) is attached near a target affected area (8), and the media signal processing device receives a three-dimensional structural digital image of the surgical object and the marker (2), and determines the position of the marker (2) in the three-dimensional structural digital image to form a three-dimensional coordinate system and obtain the relative position between the target affected area (8) and the marker (2); A surgical microscope image navigation system, characterized in that a navigation path is formed by plotting an entry point and a path guidance point of a surgical instrument (9) on the three-dimensional structure digital image, a media signal processing device transmits navigation path data to the image enhancement device (12), and the image enhancement device (12) converts the navigation path data into an optical image and superimposes the optical image on the main optical path of the microscope tube (11), thereby forming a superimposed image within the field of view of the surgical microscope (1).

12. 12. The surgical microscope image navigation system of claim 11, wherein the image enhancement device (12) includes a projection module (121) and a superimposition lens group, the projection module (121) is communicatively connected to the media signal processing device, the superimposition lens group is attached to the main optical path of the microscope tube (11), the projection module (121) is arranged to receive navigation path data transmitted by the media signal processing device and convert the received navigation path data into an optical image, the superimposition lens group superimposing the optical image transmitted by the projection module (121) onto the main optical path of the microscope tube (11) to form a superimposed image, and the superimposed image can be observed through the binocular tube (13) of the surgical microscope (1).

13. The media signal processing device includes a first media signal processing device (3) and a second media signal processing device (4), the first media signal processing device (3) is communicatively connected to the second media signal processing device (4), the second media signal processing device (4) is connected to the image enhancement device (12) by an optical adapter (5), and a camera module of the second media signal processing device (4) captures an image within the field of view of the surgical microscope (1) through the optical adapter (5) and transmits the captured image to the second media signal processing device (4) for display; The first media signal processing device (3) receives the three-dimensional structure digital image of the surgical object and the marker (2), and then determines the position of the marker (2) in sequence according to the three-dimensional structure digital image, and forms a three-dimensional coordinate system; 13. The surgical microscope image navigation system of claim 12, wherein the first media signal processing device (3) forms a navigation path by plotting an entry point and a path guidance point of a surgical instrument (9) on the three-dimensional structure digital image, and transmits the navigation path data to the second media signal processing device (4), which in turn transmits the navigation path data to the image enhancement device (12).

Images