• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a stereomicroscope for use in microsurgical procedures and a method for controlling the stereomicroscope comprising a stand (106) pivotally connected via a joint with a robot arm. Two optical imaging units (113) connectable to the tripod for capturing a stereoscopic image of the engaging area (117) to be imaged on the patient and defining an imaging plane (110) through the two optical axes (107) of the imaging units (113). A video goggle comprising two optical image display units each having an optical axis and a display for displaying an image which together define an image plane, the optical image display units being arranged to produce a stereoscopic image impression to a user wearing the video goggle and through the two optical axes of the optical image display units Defining image rendering level. A detection device for determining the spatial orientation of the image reproduction plane, image plane and the image acquisition plane, a control unit configured to provide a control signal for pivoting the tripod so that the cut lines in the image reproduction plane of the image plane and the image pickup plane can be brought parallel.
    公开号:AT521076A1
    申请号:T81/2018
    申请日:2018-03-26
    公开日:2019-10-15
    发明作者:Santek Michael；Burger Gregor；Capelli Mark；Friedrich Hütter Markus
    申请人:Bhs Tech Gmbh；
    IPC主号:
    专利说明:

    SUMMARY
    The invention relates to a stereomicroscope for use in microsurgical procedures and a method for controlling the stereomicroscope comprising a tripod pivotally connected via a joint with a robot arm. Two optical imaging units connectable to the tripod for capturing a stereoscopic image of the surgical region to be imaged on the patient during use, and defining an imaging plane through the two optical axes of the imaging units. A video goggle comprising two optical image display units each having an optical axis and a display for displaying an image which together define an image plane, the optical image display units being arranged to generate a stereoscopic image impression to a user wearing the video goggle and through the two optical axes of the optical image display units Defining image rendering level. A detection device for determining the spatial orientation of the image reproduction plane, image plane and the image acquisition plane, a control unit configured to provide a control signal for pivoting the tripod so that the cut lines in the image reproduction plane of the image plane and the image pickup plane can be brought parallel.
    This fax was sent to GFI FAXmaker fa: 1/32 more information, visit: http: /www.gfi com
    26/03/2018 12:44 No .: R719 L1
    P.019 / 029
    From: +4357788 Το: 0153424535 Page: 2/29
    Date: 26.03.201812: 28: 29
    BHS-0001
    TITLE
    Stereomicroscope for use in microsurgical procedures on the patient and method for controlling the stereomicroscope
    TECHNICAL FIELD The present invention relates to a stereomicroscope for use in microsurgical procedures on a patient and to a method of controlling the stereomicroscope.
    BACKGROUND OF THE INVENTION In the field of surgery on the smallest structures, for example in neurosurgery or operations on the ossicles in the middle ear, as well as in implantation surgery, the microscope-assisted surgical operation is known. In this case, the point to be treated, referred to in the following engagement region, on the patient on which the microsurgical procedure has to be carried out by means of a microscope enlarged the surgeon represented.
    From US8005571B2 is known in robotic system for use in surgical procedures. The robot system includes a stereomicroscope. In this system, the surgeon sits away from the patient in front of a computer that controls the robotic system and stereomicroscope. The robotic system comprises the surgical tools and arms to be used for the procedure with which these tools can be moved. Thus, the stereomicroscope is firmly connected to the arms guiding the surgical tool. In this way, the surgeon can always be presented with an image of the engagement area in which the arms move from a predetermined direction, mostly from below, into the displayed image area. A disadvantage of such a system is that the surgeon is far away from the patient and thus experiences only a limited overall impression of the procedure. Also disadvantageous in this system is that the arms of the robotic system do not allow as precise guidance of the surgical tools as the hands of the surgeon are able to do.
    From US20120190965 is another stereomicroscopic system for
    This fax was sent with GF! FAXmaker ί
    26/03/2018 12:32 / 32 ormore Information, visit: http://vwiw.gfi.com
    No .: R719 L1
    P.002 / 029
    From: +4357788 Το: 0153424535 Page: 3/29 Date: 26.03.2018 12:28:30
    BHS-0001
    Use in microsurgical procedures known. The system is structurally comparable to the system known from US8005571B2 and has the same disadvantages. Again, the fixed connection of the stereomicroscope with the surgical tool leading arms, it is not necessary to establish eye-hand coordination. It is also disadvantageous here that the arms with the surgical tools can approach the engagement area only from one side.
    It is therefore an object of the present invention disclosure
    Stereomicroscope 101 to provide the user 103, ie the surgeon z 'not only a stereoscopic image of the engaging portion 117, but also that the user 103 can move freely and it is constantly ensured that the eye-hand coordination stereoscopically corresponds to the natural feeling. The user 103 can thereby perform the engagement on the enlarged engagement portion 117 safely and accurately, and advantageously guide the surgical tool by hand from each side.
    SUMMARY OF THE INVENTION This object is achieved with the stereomicroscope according to the invention by the features of claim 1. Advantageous further connections are specified in the dependent claims. Claim 15 also specifies the inventive method for controlling the stereomicroscope according to the invention.
    An inventive stereomicroscope for use in microsurgical procedures comprises a tripod pivotally connected via a joint with a robot arm, two connectable to the tripod optical image sensing units to capture a stereoscopic image of the to be imaged during use engagement area on the patient and by the two optical axes of the image capture units defining an image capture plane, a video eyeglass comprising two optical image display units each having an optical axis and a display for reproducing an image which together define an image plane, the optical image rendering units being arranged to produce a stereoscopic image impression to a user wearing the video eyeglasses and through the two optical axes of the optical image display units
    This fax was sent to GFI FAXmaker f 3 / 32or more information, visit: http: //www.gfi .com
    26/03/2018 12:32 No .: R719 L1
    P.003 / 029
    From: +4357788 Το: 0153424535 Page: 4/29 Date: 26.03.2018 12:28:30
    BHS-0001 ...............
    Defining an image reproduction plane, a detection device for determining the spatial orientation of the image reproduction plane, image plane and image acquisition plane, a control unit configured to provide a control signal for pivoting the tripod so that the cut lines in the image reproduction plane of the image plane and the image pickup plane can be brought in parallel.
    The control signal can be optically faded in at least one image display unit and is suitable for the user to indicate the manual pivoting of the tripod around the joint. In a further embodiment, the stand can be pivotable about the joint with a motor unit and the control signal is designed to drive the motor unit. In a further embodiment, the two image display units may comprise a common display, the display area of which is divided in half so as to be able to display one image at a time of one eye of the user wearing the video glasses.
    In an advantageous development, the detection unit for determining the spatial orientation comprises an optical object detection system or connectable to the video glasses orientation sensor is preferably selected from the group position sensor, position sensor, acceleration sensor or an inertial measuring. The stereomicroscope according to the invention may additionally have a
    Communication unit configured to have in real time to transfer the stereoscopically captured images from the image acquisition units to the image display units for stereoscopic display. Advantageously, the time offset in the real-time communication is less than 50 milliseconds. The transmission can take place via wireless communication.
    In an advantageous development, the tripod may include a quick release plate with which the image display units are connectable. In a further advantageous embodiment, the image acquisition units can be movable relative to each other in order to set the stereoscopic image of the engagement region as a function of the magnification and / or the distance of the image acquisition units from the engagement region and / or the eye relief of the user. The image capture units
    This fax is sent with GFI FAXmaker4 / 32 ; ormore information, visit: http://www.gfi.com
    26/03/2018 12:33
    No .: R719 L1
    P.004 / 029
    From: +4357788 Το: 0153424535
    Page: 5/29
    BHS-0001
    Date: 26.03.201812: 28: 31 • You can rotate them in the image-recording layers to do this such that the optical axes subtend an angle of less than 180 °. Or set the distance of the two image acquisition units to one another depending on the distance of the image acquisition units from the engagement region.
    The method according to the invention for controlling a stereomicroscope according to the invention comprises a control unit which is set up to carry out the following steps: detection of the orientation of the image reproduction plane and image plane; Acquisition of the orientation of the image acquisition level; Determining a first intersection line from the image plane in the image rendering plane; Determining a second cut line from the image capture plane in the image rendering plane; determined and output of the determined control signal for pivoting the tripod, so that the first and second cutting line can be brought in parallel.
    BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a microsurgical stereomicroscope in a preferred embodiment according to the invention.
    Figure 2 shows a preferred embodiment of the stand for the stereomicroscope according to the invention.
    Figure 3 shows a video glasses in a preferred embodiment of the stereomicroscope according to the invention.
    Figure 4 shows a flow chart for controlling the stereomicroscope according to the invention.
    Figure 5 shows schematically the display of a picture display unit with the cross-fading by an exemplary control signal to indicate the user manual pivoting of the tripod.
    DESCRIPTION OF THE PREFERRED EMBODIMENTS ON THE BASIS OF FIGURES fi 5/32, r
    This fax was sent to GFI FAXmaker for more information, visit: http: Zfoiww.gfi .com
    26/03/2018 12:34 No .: R719 L1
    P.005 / 029
    From: +4357788 Το: 0153424535 Page: 6/29 Date: 26.03.2018 12:28:31 · • • •·· • • • • • • • • • • • • • • • • • • • • • • • • • • •·········· ················································
    BHS-0001 '* * ** ....... * In the following, preferred embodiments of the stereomicroscope 100 according to the invention for use in microsurgical procedures and a method for controlling the stereomicroscope according to the invention will be described with reference to the accompanying drawings.
    Figure 1 shows schematically the structure of a fiction, contemporary stereomicroscope 100 in plan view for use in microsurgical procedures. The stereomicroscope 100 comprises a stand 106 which can be connected pivotably via a joint 112 to a robot arm 111. The robot arm 111 can be fixed by a holding device 120 stably on the floor of the operating room to avoid vibrations as far as possible. Two optical image acquisition units 113 are connectable to the tripod 106 in such a way as to be able to capture a stereoscopic image of the engagement region 117 to be imaged on the patient during use and to define an image acquisition plane 110 through the two optical axes 107 of the image acquisition units 113. The image capture units 113 are set up to allow up to 100 times optical magnification. In an advantageous embodiment, the image acquisition units 113 can additionally be set up to enable optical reduction. This is particularly advantageous for the user 103 because he can get an overview of the engagement area 117 and beyond. Also, it helps the user 103 to orient himself as he approaches the engagement area 117 with the surgical tools in his hands.
    The two optical imaging units 113 may be formed in an exemplary embodiment of two lenses, each with a digital imaging system, such as a CCD camera. Such image acquisition units 113 are known from the prior art and each have, in a known manner, an optical axis 107 extending along the objective and through the rotationally symmetric center of the objective lens. The two optical axes 107 extend into the image plane in FIG. 1 and the engagement region 117 (not shown in plan view) is located below the two image acquisition units 113. The two optical axes 107 lie in one plane, the image acquisition plane 110, which is perpendicular to the image plane in FIG 1 and is shown as a line, the intersection of the image pickup plane 110 with the image plane of Figure 1. The of the
    This fax which sent with FAXmaker fi 6/32, r mO re information, visit: httpTJWww.gfi .com
    26/03/2018 12:35 No .: R719 L1
    P.006 / 029
    From: +4357788
    To: 0153424535 Page: 7/29
    BHS-0001
    Date: 26.03.201812: 28: 31 • ······································································································· a video glasses 105 comprising two optical image display units 115 each having an optical axis 108 and a display for reproducing an image, which together define an image plane 109, transmitted to a user 103 carrying the video glasses 105 and displayed. One image display unit 115 each provides an image for one eye of the user 103. The captured image of one of the two image capture units 107 is thus displayed by one of the two image rendering units 115. This ensures that the stereoscopically recorded image of the engagement region 117 can be displayed for each eye of the user wearing the video glasses 105 and the user 103 can be given a stereoscopic image impression of the engagement region 117. A major advantage of the stereomicroscope 100 of the present invention over that of the prior art is that the user 103 is free to move and engage from any direction and head posture with microsurgical tools guided by the user's hands 103 at the area of engagement 117 can make. However, binocular vision of humans is far more complex and it is not sufficient to provide only a stereoscopic image impression, especially if the stereoscopic image impression a natural eye-hand coordination of the user 103 should be additionally made possible. For microsurgical procedures, a correct implementation of the eye-hand coordination is inevitable, because a very slight misguided leadership of guided with the hands of the user 103 surgical tools can lead to serious injuries in the intervention area 117 and subsequently complications to the patient.
    For this purpose, the stereomicroscope 100 according to the invention additionally comprises a detection device 104 for determining the spatial orientation of the image reproduction plane 114, image plane 109 and the image acquisition plane 110. The control unit 101 is set up to provide a control signal for pivoting the tripod 106, so that the intersection lines in the image reproduction plane 114 can be brought in parallel from the image plane 109 and the image pickup plane 110. Thereby, it is possible not only to provide the user 103 with a stereoscopic image of the engaging portion 117, the user 103 can move freely, and it is also constantly ensured that the eye-hand coordination also becomes stereoscopic
    This fax sent what with GFIFAXmakerfi 7/32, rmore information VISIE: http: // www gfi.com
    26/03/2018 12:36 No .: R719 L1
    P.007 / 029
    From: +4357788
    Date: 26.03.2018 12:28:32
    BHS-0001
    To: 0153424535 Page: 8/29 • · • • «· · · • • • • • • • • • · · · · · · · · · · · · · · · · · · · · ·. • • • • • • · · · · perception. The user 103 can thereby safely and accurately perform the engagement on the enlarged engagement portion 117.
    As Eifassungseinrichtung 104 each known from the prior art device is suitable, which can determine the spatial orientation and position of objects. In a preferred embodiment, the detection device 104 comprises an optical system that, for example, initially determines the spatial orientation of the video glasses 105 by markings attached to previously known points of the video glasses 105. The markers may be, for example, colored or in the infrared region reflective points, lines or other recognizable by image recognition symbols.
    The spatial orientation of the image reproduction plane 114 and the image plane 109, the position of which is previously known relative to the video glasses 105, can then be determined by means of conventional linear transformation matrices from the spatial orientation of the video glasses 105. This functionality of the detection device 104 may be part of the control unit 101, which in this case is set up to determine the spatial orientation of the image reproduction plane 114 from the spatial orientation of the video glasses 105. For this purpose, initially the detected spatial orientation of the video glasses 105 is transmitted to the control unit 101 in real time. The transmission can with the
    Communication unit 102 take place or another communication unit, not shown in Figure 1 done. In a preferred embodiment, the communication with radio, which has the advantage that to the detection unit 104 no cable must be laid in the operating room. The spatial orientation of the image recording plane 110 can be determined via the position information of the robot arm 111 and the relative orientation of the stand 106 to the robot arm 111. The relative orientation of the stand 106 can be determined, for example, with a rotary encoder in joint 112. In analogous manner to previously, the spatial orientation of the image acquisition plane 110 can be determined from the orientation information of robot arm 111 and tripod 106 by means of linear transformation matrices. As previously, this functionality of the detection device 104 can be part of the control unit 101, which in this case is set up to determine the spatial orientation of the image acquisition plane 110 from the position of the robot arm 111 and of the tripod 106. In an alternative embodiment, the optical system of the detection device 104 can by markings attached to the stand 106, the% 8/32, r
    This fax was sent to GFI FAXmakerf «more information, visit: http://www.gfi.com
    26/03/2018 12:36 No .: R719 L1
    P.008 / 029
    From: +4357788 Το: 0153424535
    Page: 9/29 Date: 26.03.2018 12:28:32
    BHS-0001
    Determine the orientation of the image acquisition level 110.
    Figure 2 shows a preferred embodiment of the stand 106 for the stereomicroscope 100 according to the invention. The mutually parallel offset imaging units 113, the associated optical axes 107 are also parallel to each other. This makes it possible to observe the underlying engaging region 117 to be imaged on the patient 116 from two different directions 118 with the image acquisition units 113. This image capture, modeled on human binocular vision, makes it possible to produce a stereoscopic image impression, with which in addition depth information can be made available to the user 103. This additional information is essential in microsurgery and allows much safer microsurgical procedures than would otherwise be possible with a binocular microscope. The two optical axes 107 are shown in parallel in FIG. 1, but this is not necessary for the stereomicroscope 100 according to the invention. Each position of the image acquisition units 113 and thus of the optical axes 107 relative to one another is possible as long as the optical axes 107 form an image recording plane 110. In a preferred embodiment, the optical axes 107 are inclined relative to one another at an angle in the image recording plane 110. This advantageously allows a greater depth of field to be achieved than with parallel optical axes 107.
    In a further advantageous embodiment, the optical axes 107 can be adapted to the eye relief of the user 103. For this purpose, the stand 106 is provided with guide rails along the longitudinal axis 119 of the stand 106. The two image capture units 113 are displaceable relative to each other along the guide rail. In an advantageous embodiment of the stereomicroscope 100 according to the invention, the image acquisition units 113 are displaceable on the stand 106 along the guide rail such that each of the two image acquisition units 113 is at the same distance from the center along the longitudinal axis of the guide rail at all times. This has the advantage that the stereoscopically acquired image of the engagement region 117 does not migrate when the image acquisition units 113 are moved, only the viewing angle and thus the depth information changes with respect to the user 103. In a further advantageous embodiment, the two
    This fax was sent by GFI
    FAXmaker9 / 32-ormore Information, visil http://www.gfi.com
    26/03/2018 12:37 No .: R719 L1
    P.009 / 029
    From: +4357788
    To: 0153424535 Page: 10/29 Date: 26.03.2018 12:28:32
    BHS-0001 ► · · 4 • · · 4 »· · 4 ► · · 4 * ·« ·
    Image sensing units 113 connected to the guide rail movable racks, wherein the racks are arranged such that the teeth engage in a located in the center of the guide rail gear and move in rotation of the gear in opposite directions. As a result, it is advantageously achieved that both image acquisition units 115 can be moved relative to one another simultaneously with only one motor connected to the gear, and thus the distance of the image acquisition units 113 can be changed. In a further advantageous embodiment, the image capture units 113 can be rotatable in the image acquisition plane 110. The two movements of the image acquisition units 115, i. the movement along the guide rail and the rotational movement in the
    Image capture level 110, can also be combined. For this purpose, the image acquisition units 113 are advantageously connected to one another in such a way with the stand 106 in order to adjust the stereoscopic image of the engagement region 117 depending on the magnification and / or the distance of the image acquisition units 113 from the engagement region 117 and / or the eye relief of the user 103.
    Thereby, for each operating position, i. Magnification, distance of
    Image capture units 113 from the engagement region 117, eye relief of the user 103, illumination and enlargement / reduction the optimal depth of field and thus depth information in the stereoscopic image acquisition are guaranteed. The movable image capturing units 113 can be moved manually with a control signal suitably provided by the control unit 101 to the user 103, for example by means of information displayed in the video eyeglass 105. This embodiment will be described in more detail below with reference to Figure 5. Alternatively, the control unit 101 provides a control signal for driving a motor unit so that the image sensing units 113 can be automatically moved and aligned.
    The stand 106 is connected via a hinge 112 pivotally connected to a robot arm 111. As a result, the tripod 106 with its sensitive image acquisition units 113 can be separated from the heavy and unwieldy robot arm 111 for transport. The robot arm 111 may be attached to a fixture 120 for transport. In a further preferred embodiment, the holding device may comprise a carriage which, prior to the operation, is attached to the operating table 201 and as close as possible to the engaging region 117 on the patient 116/32 / rmoreinformation.visitttp: //www.gfi.com
    No .: R719 L1
    This fax was sent with GFI FAXmake
    26/03/2018 12:38
    P.010 / 029
    From: +4357788
    BHS-0001
    To: 0153424535 Page: 11/29 Date: 26.03.2018 12:28:33 · · · · · · ····················································· « ·································································. The thus positioned carriage can be additionally supported with fold-out or retractable feet. In an alternative embodiment, the car can also be lowered so that the car floor surface comes to rest flatly stable on the floor of the operating room. Other equivalent and known embodiments are also possible. In a further embodiment, the holder device C-shaped clamps for hanging and fixing on the side along the operating table 201 extending fastening strips 202 have. By positioning close to the engagement region 117, short arm lengths of the robot arm 111 can be realized, with the particular advantage of increased fatigue strength. The robot arm 111 may be a conventional industrial robot arm modified so that the high positioning accuracy and vibration resistance requirements can be met. In particular, the fatigue strength is an essential criterion, because even the smallest oscillating movements appear enlarged in the enlarged image of the engagement region 117 and lead to useless blurred images for the user 103. To achieve a particularly high stability and fatigue strength is in a preferred embodiment, the weight ratio from holding device 120 to robot arm 111 together with joint 112, tripod 106 and image acquisition units 113 greater than 2 to 1.
    Figure 3 shows a video glasses 300 with support device 301 for holding the video glasses 300 at the head of the user 103. The image display units 115 are connected via joint 304 to the support device 301. The video glasses 300 additionally comprise a cable 304 with which the image reproduction unit 115 with the hinge upwards is pivotable in such a way to be led out of the field of vision of the user wearing the video glasses 103. This video glasses 300 is the subject of another pending Austrian national patent application of the inventors with the application number 1A A50240 / 2017-l, 2, filed on 24th March 2017 and can be used in an advantageous embodiment with the described stereomicroscope 100 according to the invention. Hereinafter, the video glasses 300 will be described only insofar as necessary for the understanding of the present invention, and any prior art video glasses 300 having the following features or features equivalent thereto may be used for the
    ThisfaxwaterwithGFIFAXmakll / 32 ormoreinformation . visit http://www.gfi.com
    26/03/2018 12:39 No .: R719 L1
    P.011 / 029
    From: +4357788
    To: 0153424535 Page: 12/29 Date: 26.03.2018 12:28:33
    BHS-0001 be used. Each image display unit 115 comprises a display 302 and a condenser lens 303. The two image display devices 302 of the two image display units are arranged in a plane forming the image plane 109 and can either be a single display, wherein the image output on the display for each image display unit 115 is divided, or be formed as two separate displays. The converging lens 303 is spaced from the image plane 109 in the direction of the optical axis 108 approximately at the focal length d of the converging lens 303. This is in a known manner, a picture in the human eye possible when the eye is relaxed and focused on infinity. In one embodiment, the image rendering unit 115 is configured to be adaptable to the interpupillary distance of the user 103 by matching the optical axes 108 with the optical axes of the eyes of the user 103 as the user 103 straightens and focuses the eyes at infinity ,
    In one embodiment, the image rendering units 115, which are movable relative to one another, are achieved. In a further advantageous embodiment, this is realized without further mechanical elements in the video lens 300 in that the image output of the image display units 115 in the image plane 109 is shifted relative to one another. This is done e.g. in that the image output by the display and the image to be output is shifted by one or more pixels. Further advantageous developments which may comprise a video glasses 300 for use with the stereomicroscope 100 according to the invention are set forth in the pending national Austrian patent application of the inventors with the application number 1A A50240 / 2017-l, 2 filed on March 24, 2017 by the inventor.
    Figure 4 shows a flow chart for controlling the stereomicroscope 100 of the invention. To start up the stereomicroscope 100, the stereomicroscope 100 is first brought to the operating table 201 with the car and parked stable on the operating room floor with the above-described facilities. Subsequently, the stand 106 is positioned with the two image acquisition units 113 over the engagement region 117 to be observed with the robot arm 111. For this purpose, the robot arm 111 is controlled by the control unit 101. The communication unit 102 communicates the images of the engagement region 117 acquired by the two image capturing units 113 in real time to the image reproduction units 115,
    This fax was sent to GFI FAXmakei / 32 rmore Information, visit: http: //www.gfi com
    26/03/2018 12:40 No .: R719 L1
    P.012 / 029
    From: +4357788 Το: 0153424535 Page: 13/29 Date: 26.03.2018 12:28:34 * · · · ······· ♦ * ··········································································· ····· · · · · · · · · · · · · · · · · · · · ·
    BHS-0001 ··· * '·· · * * * * * * · stereoscopic display. In this case, the captured image is transmitted from one of the two image capture units 113 to one of the two image rendering units 115 for display. It is thereby achieved that the stereoscopically recorded image of the engagement region 117 is displayed for each eye of the user wearing the video glasses 105 and the user 103 can be shown a stereoscopic image impression of the engagement region 117.
    For controlling the stereomicroscope 100 according to the invention, the control unit 101 is set up to execute the steps which will be explained in more detail below with reference to FIG. In step 401, the orientation of the image rendering plane 114 and the image plane 109 is detected. This can be done with the previously described methods and devices, for example by means of the detection device 104 and provided to the control unit 101 for further processing. The orientation of the image rendering plane 114 may then be represented, for example, by a plane equation of the form El: x = d r with the three-dimensional vectors a t and x, as well as the scalar and the vectorial scalar product. The thus detected orientation by detection device 104 can be transmitted to the control unit 101, for example with communication unit 102. In the same way, image plane 109 can be represented by the plane equation E. ax = d. In step 402, the detection of the orientation of the image acquisition plane 119 takes place. As before, the plane equation can be represented by E2 a 2 - x = d 2 . In step 403, the control unit 101 determines a first cut line from the image plane 109 in the image rendering plane 114. For this purpose, the control unit 101 calculates, for example, the vector product of 01: a t x a. It is not necessary the vectorial
    Completely calculate cutting line equation, the calculated by the vector product direction vector 01 is sufficient. In step 404, the control unit 101 determines a second intersection line from the image acquisition plane 110 in the image rendering plane 114. This can be calculated in the control unit 101 in the same way as before, for example, by forming the vector product of 02: a 2 xa. Again, it suffices to compute the direction vector 02, a complete computation of the
    Line equation is not necessary. Finally, in step 405 of control unit 101, the control signal for pivoting the stand 106 can be determined and provided so that the first and second cutting lines can be brought in parallel. The Z
    This fax was sent to GFI FAXmaker / 32r more information, visit: http: //www.gfi .com
    26/03/2018 12:41 No .: R719 L1
    P.013 / 029
    From: +4357788 Το: 0153424535 Page: 14/29 Date: 26.03.2018 12:28:34
    BHS-0001 '· ··· ·
    Control signal could be, for example, an angle information a and a plane of rotation D. The rotation angle α could be calculated by the control unit 101, for example, by forming the scalar product from the previously determined directional vectors Ol and O 2: a = arccosCt ! · O 2 / (IOJ | O 2 1)). The plane of rotation D can calculate control unit 101, for example, from the vector product of the previously determined direction vectors 01 and 02:
    D: (Oj x O 2 ) x = (θ! X 0 2 ) OP, where OP denotes the coordinates of the pivot point in the joint 112 around which the stand 106 can be pivoted. The control signal calculated in this way can, as described above, be performed by control unit 101 in such a way by fading into at least one image reproduction unit 115 in order to indicate to the user 103 the manual pivoting of the stand 106. In a further preferred embodiment, the control signal may be provided so as to drive a motor unit to pivot the stand 106 in the calculated plane of rotation D by the rotation angle α. To execute steps 401 to 405, control unit 101 may be implemented as a computer.
    Figure 5 shows schematically the display 302 of an image display unit 115 with the transition through an exemplary control signal to indicate the user manual pivoting of the tripod. The visual display of the control signal 500 blends, for example, in the upper left corner of the image area. It comprises an axis 503 shown horizontally in FIG. 5 and a vertical axis 504 which are perpendicular to one another and form a cross. Point 501 indicates the current relative orientation of the tripod 106. If point 501 is below horizontal axis 503, the user is thus indicated that rotation about the longitudinal axis (X-axis) of tripod 106 is to be performed as with the double arrow on horizontal axis 503 until point 501 on the horizontal axis 503 horizontal axis 503 comes to rest, then tripod 106 along the longitudinal axis, indicated by axis 503 aligned. If point 503 is above axis 503, the rotation about the longitudinal axis (X-axis) is to be executed in the opposite direction by user 103. Analogously, tripod 106 can be aligned along axis 504, in which case a rotation about the transverse axis (Y axis) of tripod 106 is to be carried out. The third rotation angle about the vertical axis (Z-axis) of the stand 106 can be indicated to the user 103 via a rotation of the entire cross formed by the two axes 503 and 504, such as in the middle schematic illustration in Figure 5
    This faxes sent with GFI FAXmaker 14/32 more information, visit: http://www.gfi.com
    26/03/2018 12:42 No .: R719 L1
    P.014 / 029
    From: +4357788 Το: 0153424535 Page: 15/29 Date: 26.03.2018 12:28:34
    BHS-0001 • · • • • • •
    shown. Only when axis 503 appears to the user 103 horizontally, tripod 106 is also aligned according to the vertical axis of the tripod 106. This complete alignment of the tripod 106 is shown in the lower figure represents.
    This faxes sent with GFI FAXmaker f 15/32 more information, visit: http://www.gfi.com
    26/03/2018 12:42 No .: R719 L1
    P.015 / 029
    From: +4357788 Το: 0153424535 Page: 16/29 Date: 26.03.2018 12:28:35
    BHS-0001 ··· ·

    A stereomicroscope (100) for use in microsurgical procedures comprising a tripod (106) pivotally connectable to a robotic arm (111) via a hinge (112), two optical imaging units (113) connectable to the tripod (106) around a stereoscopic image of the engaging region (117) to be imaged on the patient during use, and defining an image pickup plane (110) through the two optical axes (107) of the image acquisition units (113), a video eyeglass (105) comprising two optical image display units (115) each with one optical axis (108) and a display for displaying an image which together define an image plane (109), the optical image display units (115) being arranged to produce a stereoscopic image impression to a user (103) carrying the video glasses (105) and through the two optical axes (108) of the optical image display units (115) form an image reproduction plane (114), a detection device (104) for determining the spatial orientation of the image reproduction plane (114), image plane (109) and the image acquisition plane (110), a control unit (101) configured to provide a Kontroilsignal for pivoting the tripod (106) so that the Cut lines in the image reproduction plane (114) of the image plane (109) and the image pickup plane (110) can be brought in parallel.
    2. Stereomicroscope (100) according to claim 1, wherein the control signal is optically faded in at least one image display unit (115) and is adapted to the user (103) the manual pivoting of the tripod (106) to display joint (112).
    3. Stereomicroscope (100) according to claim 1, wherein the stand (106) with a
    Motor unit is pivotable about joint (112) and the control signal is designed to control the motor unit.
    A stereomicroscope (100) according to any one of the preceding claims, wherein the two image display units (115) comprise a common display, the display area of which is divided in half so as to display an image to each eye of the user (103) wearing the video glasses (105) to be able to.
    This fax is sent to GR FAXmaker / 32 more information, visit: http: //www.gfi .com
    26/03/2018 12:43 No .: R719 L1
    P.016 / 029
    From: +4357788 Το: 0153424535 Page: 17/29 Date: 26.03.2018 12:28:35 ·· ···················· · ······· ··········· ····· ····· ··· ·······················
    BHS-0001 ...............
    5. Stereomicroscope (100) according to one of the preceding claims, wherein the detection device (102) for determining the spatial orientation comprises an optical object detection system.
    6. Stereomicroscope (100) according to one of claims 1 to 4, wherein the detection device for determining the spatial orientation of the video glasses (105) comprises a with the video glasses (105) connectable orientation sensor
    7. The stereoscopic microscope (100) according to claim 6, wherein the orientation sensor is a position sensor, a position sensor, an acceleration sensor or an inertial measuring system.
    A stereomicroscope (100) according to any one of the preceding claims, further comprising a communication unit (101) arranged to transmit in real time the stereoscopically captured images from the image capture units (115) to the image rendering units (115) for stereoscopic display.
    9. Stereomicroscope (100) according to claim 8, wherein the time offset in the
    Real-time communication is less than 50 milliseconds.
    10. Stereomicroscope (100) according to any one of claims 8 or 9, wherein the
    Communication unit (101) is set up to be able to transmit the images via wireless communication.
    11. Stereomicroscope (100) according to one of the preceding claims, wherein the stand (106) comprises a quick-release plate with which the image display units (115) are connectable.
    12. Stereomicroscope (100) according to one of the preceding claims, wherein the image acquisition units (113) are movable relative to each other to the stereoscopic image of the engagement region (117) depending on the magnification and / or the distance of the image detection units (113) from the engagement region (117 ) and / or the eye relief of the user (103).
    This fax was sent to GFI FAXmaker / 32 more information, visit http://vwwv.gfi.com
    26/03/2018 12:43 No .: R719 L1
    P.017 / 029
    From: +4357788 Το: 0153424535 Page: 18/29 Date: 26.03.2018 12:28:35
    BHS-0001
    • ·
    13. Stereomicroscope (100) according to claim 12, wherein the image detection units (113) in the image recording plane (110) are rotatable so that the optical axes (107) to each other at an angle smaller than 180 °.
    14. Stereomicroscope (100) according to any one of claims 12 or 13, wherein the distance of the two image detection units (113) to each other depending on the distance of the image detection units (113) from the engagement region (117) is adjusted.
    15. A method for controlling a stereomicroscope (100) according to one of the preceding claims, wherein the control unit (101) is set up to carry out the following steps:
    Detecting the Orientation of the Image Rendering Plane (114) and Image Plane (109)
    Detecting the Orientation of the Image Acquisition Layer (110)
    Determining a first intersection line from the image plane (109) in the image reproduction plane (114)
    Determining a second intersection line from the image acquisition plane (110) in the image reproduction plane (114)
    - Detected and output of the determined control signal for pivoting the tripod (106), so that the first and second cutting line can be brought in parallel.
    This fax is sent to GFI FAXmaker 18/32 more information, visit: http://www.gfi.com
    26/03/2018 12:44
    No .: R719 L1
    P.018 / 029
    From: +4357788 Το: 0153424535 Page: 20/29 Date: 26.03.2018 12:28:36
    • · · · · ·
    BHS-0001
    1.5
    illustration 1
    This fax is sent to GFI FAXmaker f | 9/32 ™ re information, visit: http://www.gfi.com
    26/03/2018 12:45 No .: R719 L1
    P.020 / 029
    From: +4357788 Το: 0153424535 Page: 21/29
    Date: 26.03.2018 12:28:37
    202
    Figure 2
    This fax is sent to GFIFAXmakerf20 / 32 ' nore informat ' on · visit: http://www.gfi.com
    26/03/2018 12:45 No .: R719 L1
    P.021 / 029
    From: +4357788
    Το: 0153424535 Page: 22/29 Date: 26.03.2018 12:28:37
    BHS-0001
    3/5 ·· ·· * · · «· · · · · · · · · · · · · · ····
    Figure 3
    This fax would be with GIFIFAXmaker21 / 32 more information, visit: http://www.gfi.com
    26/03/2018 12:46 No .: R719 L1
    P.022 / 029
    From: +4357788
    Το: 0153424535 Page: 23/29 Date: 26.03.2018 12:28:37
    BHS-0001 »· · 4 * · · 1 • ♦ · 4» · · 4 · ♦ ···· «
    ···· ··· +
    4.5
    Figure 4 +
    This fax was sent to GFI FAXmaker / 32 more information, visit: http://www.gfi.com
    26/03/2018 12:46 No .: R719 L1
    P.023 / 029
    From: +4357788 Το: 0153424535
    Page: 24/29 Date: 26.03.2018 12:28:38
    _ J
    Figure 5 +
    This fax was sent to GFI FAXmaker fi23 / 32nore Information, visit http://www.gfi.com
    26/03/2018 12:46 No .: R719 L1
    P .024 / 029
    Search report on A 81/2018 Austrian
    Patent Office
    Classification of the subject of the application according to IPC:A61B 34/20 (2016.01); A61B 90/20 (2016.01); A61B 90/00 (2016.01); H04N 13/296 (2018.01); H04N 13/344 (2018.01) Classification of the subject of the application according to CPC:A61B 34/20 (2016.02); A61B 90/20 (2016.02); A61B 90/361 (2016.02); H04N 13/296 (2018.05);H04N 13/344 (2018.05); A61B 2034/2055 (2016.02); A61B 2090/371 (2016.02) Researched test substance (classification):A61B, H04N Consulted online database:EPODOC, WPI, TXTnn This search report was prepared for claims 1-15 filed on 26/03/2018. Category*) Name of publication:Country code, publication number, document type (applicant), publication date, text or figure as required Concerningclaim AAAA WO 03002011 Al (SURGYVISION LTD) 09. January 2003 (09.01.2003) FIG. 3A and related description, claimsWO 2017192996 A2 (WATSON ROBERT D ET AL.) 09. November 2017 (09.11.2017)Summary, claimsUS 2017007351 Al (YU STEVEN SOUNYOUNG) January 12, 2017 (12/01/2017)Summary, claimsDE 102016113593 A1 (ZEISS CARL MEDITEC AG) 27 July 2017 (27.07.2017)Summary, claims 1.151.151.151.15 Date of completion of the search: ". , Auditors (in):13.09.2018 oeite Ί of Ί KING Helga *> Categories of listed documents: A Publication that defines the general state of the art.X publication of particular importance: the application P document that matters (categories X or Y), but afterSubject matter of this document may not be published as new or on the priority date of the application.innovative activity. E document that is of particular importance (category X), from theY Publication of importance: the subject of the application can not be an "older right" (earlier filing date, howeverBeing regarded as being based on inventive step, if the republished, protection is possible in Austria, novelty would be in questionPublish with one or more other publications).This category is associated with this publication and publication, which is a member of the same patent family.a person skilled in the obvious.
    24/32
    From: +4357788 Tb: $ 1 $ 34 40535 Page: 28/36
    Date: 23.10.2018 14:51:01
    权利要求:
    Claims (15)
    [1]
    1. Stereomikioskop (100) only for use in microsurgical procedures comprising a tripod (106) pivotally connected via a hinge (112) with a robot arm (111), 'two connectable to the stand (106) such optical image sensing units (113) to a stereoscopic To be able to capture an image of the engagement region (117) to be imaged on the patient during use and to define an image acquisition plane (110) by means of the two optical axes (107) of the image acquisition units fl 131; a video eyeglass (105) comprising two optical image reproduction units (115) each with one optical axis (108) and display for reproducing an image which together define an image plane (109), the optical image display units (115) being arranged to produce a stereoscopic image impression to a user (103) carrying the video glasses (105) and through the two optical axes (108) of the optical image display units (115) display an image bene (114) defining a detection device (104) for determining the spatial orientation of the image reproduction plane (114), image plane (109) and the image acquisition plane (110), a. Control unit (101) arranged to provide a control signal for pivoting the tripod (106) so that the cut lines in the image reproduction plane (114) of the image plane (109) and the image pickup plane (110) can be brought in parallel.
    [2]
    2. Stereomicroscope (100) according to claim 1, wherein the control signal is optically faded in at least one image display unit (115) and is adapted to the user (103) the manual pivoting of the tripod (106) to display joint (112).
    [3]
    3. Stereomicroscope (100) according to claim 1, wherein the stand (106) with a motor unit about joint (112) is pivotable and the control signal is formed from the motor unit to drive.
    25/32
    From: +4357788
    Το: 01534240535
    Page: 29/36 ···· ····
    Date: 23.10.201814: 51: 01
    BHS-0001
    [4]
    A stereo microscope (100) according to any one of the preceding claims, wherein the two display units (115) comprise a common display, the display area of which is divided into halves around one eye of the video eyeglass (105) User (103) to view an image.
    [5]
    5. Stereomicroscope (100) according to any one of the preceding claims, wherein the detection means (104) for determining the spatial orientation comprises an optical Objekterfassuhgs system.
    [6]
    6. Stereomicroscope (100) according to one of claims 1 to 4, wherein the
    Detection device (104) for determining the spatial orientation of the video glasses (105) comprises an orientation sensor connectable to the video glasses (105).
    [7]
    7. The stereomicroscope (100) according to claim 6, wherein the orientation sensor is a position sensor, a position sensor, an acceleration sensor or an inertial measurement system.
    [8]
    A stereomicroscope (100) according to any one of the preceding claims, further comprising a communication unit (102) arranged to transmit in real time the stereoscopically captured images from the image capture units (113) to the image rendering units (115) for stereoscopic display.
    [9]
    9. Stereomicroscope (100) according to claim 8, wherein the time offset in the
    Real-time communication is less than 50 milliseconds.
    [10]
    10. Stereomicroscope (100) according to any one of claims 8 or 9, wherein the
    Communication unit (102) is set up to be able to transmit the images via wireless communication.
    [11]
    11. Stereomicroscope (100) according to one of the preceding claims, wherein the stand (106) comprises a quick-release plate with which the image display units (115) are connectable.
    26/32
    Foreign: + 43577W ßHS ; OWM reg «: 30/36 Date: 23.10.2018 14:51:02. · * ·. "· · *. · · · · · · · · · * '· · · · * ·. · · · ** ·' ··· ··· ··· · · · · ·, ...., ΛΑ · · ······ · · ". · · ·. ·. · '. · · · · · · · · · ·. · · · · · · · · · · · · · · 3
    [12]
    12. Stereomicroscope (100) ηφΐι one of the preceding claims, wherein the Bildfassüngseinheiten (113) are movable relative to each other to the stereoscopic image of the engagement region (117) depending on the magnification and / or the distance of the Bildufaugseinheiten (113) from the engagement region (117 ) and / or the eye relief of the user (103).
    [13]
    13. The stereomicroscope (100) according to claim 12, wherein the image detection units (113) are rotatable in the image recording plane (110), so that the optical axes (107) to each other.
    [14]
    14. Stereomicroscope (100) according to any one of claims 12 or 13, wherein the distance of the two image detection units (113) to each other depending on the distance of the image detection units (113) from the engagement region (117) is adjusted.
    [15]
    15. A method for controlling a stereomicroscope (100) according to one of the preceding claims, wherein the control unit (101) is set up to carry out the following steps:
    > Detection of the orientation of the image rendering plane (114) and image plane (109)
    Detecting the Orientation of the Image Acquisition Layer (110)
    Determining a first intersection line from the image plane (109) in the image reproduction plane (114), determining a second intersection line from the image acquisition plane (110) in the image plane
    Image rendering level (114)
    - Detected and output of the determined control signal for pivoting the tripod (106), so that the first and second cutting line can be brought in parallel.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2937058B1|2020-10-07|Head mounted platform for integration of virtuality into reality
    DE10335644B9|2006-06-01|microscopy system
    EP0825826B1|2002-10-23|Process and device for the parallel capture of visual information
    DE10353961B4|2005-09-22|Microscopy system and method for controlling a microscopy system
    DE10203215B4|2004-09-09|Microscope, in particular surgical microscope
    DE102006010767B4|2008-04-17|microscopy system
    EP0226732A2|1987-07-01|Device for photogrammetrically recording the human head
    DE102011009646B4|2018-02-08|Video centering system and method for determining centering data for spectacle lenses
    DE3433412A1|1985-04-25|DEVICE FOR A PHOTOGRAPHIC CAMERA WITH ADJUSTABLE LENS AND IMAGE CARRIERS
    EP3195052B1|2020-07-08|Method for determining centering data of a test subject with measurement accuracy in order to adapt a pair of eyeglasses to the test subject, and immobile video centering system
    DE10249786A1|2004-05-13|Referencing method for relating robot to workpiece, in medical applications, by relating reference point using x and y position data obtained from at least two images picked up using camera mounted on robot arm
    DE3523639A1|1986-01-09|STEREOMICROSCOPE
    EP0730754B1|2003-10-15|Magnifying glass having a variable focus, variable enlargement ratio and automatic parallax correction
    DE102013008452B4|2018-06-21|Surgical microscope with positioning aid
    AT521076A1|2019-10-15|Stereomicroscope for use in microsurgical procedures on the patient and methods for controlling the stereomicroscope
    DE4004248C2|1996-02-15|Binocular vision aid
    DE102015216573A1|2016-09-29|Digital operation microscope system
    DE102013201773B4|2019-12-24|Head-carried optical instrument and method for adjusting a head-carried optical instrument
    DE102017109202A1|2017-11-02|An observation optical device, an observation optical system and a method of balancing an observation optical system
    DE102012222578A1|2014-06-12|surgical microscope
    DE4133241A1|1993-04-15|Microscope for use in surgery - is mounted on pivoted links to enable it to be moved to and held in the required position
    DE102019134329B4|2021-11-25|Suspension for digital surgical microscope with position correction, optical device and procedure for its operation
    DE102014017835A1|2016-06-09|Laser safety goggles with 3D video overlay
    DE1652171A1|1970-05-27|Device for adjusting the position of an optical glass
    DE102019111238A1|2020-11-05|Method for setting and visualizing parameters for focusing an objective on an object and system for carrying out the method
    同族专利:
    公开号 | 公开日
    US20210014459A1|2021-01-14|
    AT521076B1|2020-11-15|
    WO2019183648A1|2019-10-03|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2003002011A1|2001-06-28|2003-01-09|Surgyvision Ltd.|Stereoscopic video magnification and navigation system|
    US20170007351A1|2015-07-12|2017-01-12|Steven Sounyoung Yu|Head-Worn Image Display Apparatus for Microsurgery and Other Uses|
    WO2017192996A2|2016-05-05|2017-11-09|Watson Robert D|Surgical stereoscopic visualization system with movable head mounted display|
    DE102016113593A1|2016-07-22|2017-07-27|Carl Zeiss Meditec Ag|Digital stereo surgical microscope with variable stereo base|
    DE10204430A1|2002-02-04|2003-08-07|Zeiss Carl|Stereo microscopy method and stereo microscopy system|
    US7155316B2|2002-08-13|2006-12-26|Microbotics Corporation|Microsurgical robot system|
    DE10335644B9|2003-08-04|2006-06-01|Carl Zeiss|microscopy system|
    US20120190965A1|2011-01-24|2012-07-26|Shawn Schaerer|MR Compatible Stereoscopic Viewing Device for use in the Bore of an MR Magnet|
    DE102015218926A1|2015-09-30|2017-03-30|Carl Zeiss Meditec Ag|Method for controlling a surgical microscope system|
    AT519845B1|2017-03-24|2021-09-15|Bhs Tech Gmbh|Visualization device for the transmission of images from a microscope device|CN112426236B|2020-11-30|2021-12-07|刘朝|Microscope for intelligent micro neurosurgery operation|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA81/2018A|AT521076B1|2018-03-26|2018-03-26|Stereo microscope for use in microsurgical interventions on patients and methods for controlling the stereo microscope|ATA81/2018A| AT521076B1|2018-03-26|2018-03-26|Stereo microscope for use in microsurgical interventions on patients and methods for controlling the stereo microscope|
    PCT/AT2019/000005| WO2019183648A1|2018-03-26|2019-03-25|Stereo microscope for use in microsurgical operations on a patient and method for controlling the stereo microscope|
    US17/041,879| US20210014459A1|2018-03-26|2019-03-25|Stereo Microscope for use in Microsurgical Operations on a Patient and Method for Controlling the Stereo Microscope|
    [返回顶部]