CN115236869A - Three-dimensional display device for surgical robot and three-dimensional display control method - Google Patents
Three-dimensional display device for surgical robot and three-dimensional display control method Download PDFInfo
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- CN115236869A CN115236869A CN202210741786.7A CN202210741786A CN115236869A CN 115236869 A CN115236869 A CN 115236869A CN 202210741786 A CN202210741786 A CN 202210741786A CN 115236869 A CN115236869 A CN 115236869A
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- 230000010287 polarization Effects 0.000 claims description 27
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000007654 immersion Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 abstract description 5
- 230000035939 shock Effects 0.000 abstract description 5
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- 230000000694 effects Effects 0.000 description 4
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- 238000001356 surgical procedure Methods 0.000 description 3
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B30/00—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
- G02B30/20—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes
- G02B30/22—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the stereoscopic type
- G02B30/25—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images by providing first and second parallax images to an observer's left and right eyes of the stereoscopic type using polarisation techniques
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Abstract
The invention discloses a three-dimensional display device and a three-dimensional display control method for a surgical robot, wherein the three-dimensional display device comprises a polarized three-dimensional display screen, a reflecting device and an observation eyepiece; the polarized three-dimensional display screen is used for receiving three-dimensional video image content from the surgical robot and displaying the three-dimensional video image content in a polarized three-dimensional mode; the reflecting device is used for carrying out mirror reflection on the picture content of the polarized three-dimensional display screen according to a preset angle; the observation ocular lens is respectively provided with a polarized lens at the left eye position and the right eye position, and the polarized lens is matched with the polarized three-dimensional display screen. The three-dimensional display device and the three-dimensional display control method for the surgical robot, provided by the invention, can simplify the light path design of the surgical robot, reduce the complexity of a system and reduce the requirements on the processing precision, the assembly precision and the shock resistance of system components.
Description
Technical Field
The invention belongs to the technical field of three-dimensional display, relates to a three-dimensional display device, and particularly relates to a three-dimensional display device for a surgical robot and a three-dimensional display control method.
Background
In 2000, the da vinci Surgical robot developed by the american intensive surgery gained FDA approval in the united states and went into clinical use, from which it formally entered into the medical field and had great success. The surgical robot enables top doctors to complete surgery more quickly and better, prolongs the professional life of the top doctors, and enables young doctors to greatly improve the surgery quality.
At present, in the design of a display system, a surgical robot represented by da vinci basically adopts a system design with mutually independent left and right eyes and a multi-reflection optical path design, the system complexity is very high, the requirements on the processing precision, the assembly precision, the shock resistance and the like of system components are very high, and the technical research and development threshold is very high.
In view of the above, there is a need to design a new three-dimensional (3D) display system for a surgical robot, so as to reduce the design complexity of the surgical robot, lower the industry threshold, and accelerate the development of the domestic surgical robot industry.
Disclosure of Invention
The invention provides a three-dimensional display device and a three-dimensional display control method for a surgical robot, which can simplify the light path design of the surgical robot, reduce the complexity of a system and reduce the requirements on the processing precision, the assembly precision and the shock resistance of system components.
In order to solve the technical problem, according to one aspect of the present invention, the following technical solutions are adopted:
a three-dimensional display device for a surgical robot, the three-dimensional display device comprising: the device comprises a polarized three-dimensional display screen, a reflecting device and an observation eyepiece;
the polarization three-dimensional display screen is used for receiving the three-dimensional video image content from the surgical robot and displaying the three-dimensional video image content in a polarization three-dimensional mode;
the reflecting device is used for carrying out mirror reflection on the picture content of the polarized three-dimensional display screen according to a preset angle;
the observation ocular lens is respectively provided with a polarized lens at the left eye position and the right eye position, and the polarized lens is matched with the polarized three-dimensional display screen.
In one embodiment of the present invention, the polarization modes of the polarized three-dimensional display screen and the polarized glasses on the observation eyepiece are linear polarization, circular polarization or elliptical polarization.
As an embodiment of the present invention, the polarized glasses of the left and right eyes disposed on the observation eyepiece divide the polarized three-dimensional image content into images, separate the views corresponding to the left and right eyes, and then enter the two eyes of the user, so that the user can see the three-dimensional image content.
As an embodiment of the present invention, the light reflected from the middle region of the observation eyepiece through the middle region of the reflection device is reflected to the middle region of the polarized three-dimensional display screen, and the reflected light reflected to the middle region of the polarized three-dimensional display screen is perpendicular to the polarized three-dimensional display screen.
As one embodiment of the invention, the light reflected by the center of the reflecting device from the center of the observation eyepiece is reflected to the center of the polarized three-dimensional display screen, and the reflected light reflected to the center of the polarized three-dimensional display screen is perpendicular to the polarized three-dimensional display screen.
As an embodiment of the present invention, the polarized three-dimensional display screen and the reflecting device are assembled at a pre-designed angle to ensure that the user's sight line through the observation eyepiece is exactly perpendicular to the surface of the polarized three-dimensional display screen after being reflected by the reflecting device and reaching the surface of the polarized three-dimensional display screen, so as to ensure that the content seen by the user is not deformed.
As an embodiment of the present invention, the angle α, the angle β, and the angle
The following condition is satisfied such that the angle θ is 90 degrees;
wherein, the angle alpha is the included angle between the polarized three-dimensional display screen and the first plane, the angle beta is the included angle between the reflecting surface of the reflecting device and the first plane, and the angle
Is the reflecting surface and the reflected light/incident light of the reflecting deviceAnd the included angle of the incident light ray is the included angle between the incident light ray/reflected light ray and the surface of the polarized three-dimensional display screen.
As an embodiment of the present invention, through an optical design, a horizontal field angle and a vertical field angle formed by the observation eyepiece and the reflection device together coincide with a visible area of the polarized three-dimensional display screen, so that a complete screen picture can be seen just in a user field of view, so as to achieve an optimal immersion feeling.
According to another aspect of the invention, the following technical scheme is adopted: a three-dimensional display control method for a surgical robot, the three-dimensional display control method comprising:
the polarized three-dimensional display screen receives the three-dimensional video image content from the surgical robot and displays the three-dimensional video image content in a polarized three-dimensional mode;
the reflecting device performs mirror reflection on the picture content of the polarized three-dimensional display screen according to a preset angle;
the three-dimensional image content after reflection reaches an observation eyepiece, the observation eyepiece is respectively provided with a polarized lens at the left eye position and the right eye position, and the polarized lenses are matched with the polarized three-dimensional display screen; the polarized three-dimensional image content is subjected to image splitting by the polarized lenses of the left eye and the right eye on the observation eyepieces, views corresponding to the left eye and the right eye are separated, and then the views enter two eyes of a user respectively, so that the user can see the three-dimensional image content.
The invention has the beneficial effects that: the three-dimensional display device and the three-dimensional display control method for the surgical robot, provided by the invention, can simplify the light path design of the surgical robot, reduce the complexity of a system and reduce the requirements on the processing precision, the assembly precision and the shock resistance of system components.
Drawings
Fig. 1 is a schematic diagram of a three-dimensional display device according to an embodiment of the invention.
Fig. 2 is a schematic diagram of a three-dimensional display device according to an embodiment of the invention.
Fig. 3 is a schematic structural diagram of a three-dimensional display device according to an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a three-dimensional display device according to an embodiment of the invention.
Fig. 5 is a schematic structural diagram of a three-dimensional display device according to an embodiment of the invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
For a further understanding of the invention, reference will now be made to the preferred embodiments of the invention by way of example, and it is to be understood that the description is intended to further illustrate features and advantages of the invention, and not to limit the scope of the claims.
The description in this section is for several exemplary embodiments only, and the present invention is not limited only to the scope of the embodiments described. It is within the scope of the present disclosure and claims to replace some of the features of the prior art with others that are the same or similar.
The steps in the embodiments in the specification are only expressed for convenience of description, and the implementation manner of the present application is not limited by the order of implementation of the steps.
The term "connected" in the specification includes both direct connection and indirect connection.
The invention discloses a three-dimensional display device for a surgical robot, and the principle and the structure of the three-dimensional display device in one embodiment of the invention are disclosed in fig. 1 to 5; referring to fig. 1 to 5, the three-dimensional display device includes: a polarized three-dimensional display screen 1, a reflecting device 2 and an observation eyepiece 3.
The polarized three-dimensional display screen 1 is used for receiving three-dimensional video image contents from the surgical robot and displaying the three-dimensional video image contents in a polarized three-dimensional mode.
The reflecting device 2 is used for performing mirror reflection on the picture content of the polarized three-dimensional display screen according to a preset angle. The reflecting device aims to improve the three-dimensional display effect, particularly the presence and immersion, in a mirror reflection mode; in addition, the use distance of the polarized three-dimensional display screen is ensured to be met, and meanwhile, the assembly volume of the whole equipment is reduced as much as possible.
The observation ocular lens 3 is an observation device provided with polarized lens at the left and right eye positions respectively, and the polarized lens is matched with the polarized three-dimensional display screen. The three-dimensional image content after reflection reaches the observation eyepiece 3, the polarized three-dimensional image content is subjected to image splitting by the polarized lenses of the left eye and the right eye on the observation eyepiece 3, views corresponding to the left eye and the right eye are separated, and then the views respectively enter the two eyes of a user, so that the user can see the three-dimensional image content. In one embodiment, the polarization modes of the polarized three-dimensional display screen 1 and the polarized lens on the observation eyepiece 3 are linear polarization, circular polarization or elliptical polarization.
The polarized three-dimensional display screen 1 and the reflecting device 2 can be assembled according to a pre-designed angle so as to ensure that the sight of a user passing through the observation eyepiece 3 is accurately perpendicular to the surface of the polarized three-dimensional display screen 1 after being reflected by the reflecting device 2 and when reaching the surface of the polarized three-dimensional display screen, so as to ensure that the content seen by the user is not deformed.
As shown in fig. 1, if the above requirement is satisfied, the angle θ is ensured to be 90 degrees. According to the reflection principle of light, the angle alpha, the angle beta and the angle can be known through calculation
The following condition is satisfied such that the angle θ is 90 degrees;
wherein, the angle alpha is the included angle between the polarized three-dimensional display screen and the first plane, the angle beta is the included angle between the reflecting surface of the reflecting device and the first plane, and the angle
The included angle between the reflecting surface of the reflecting device and the reflected light ray/incident light ray is shown, and the angle theta is the included angle between the incident light ray/reflected light ray and the surface of the polarized three-dimensional display screen.
Through optical design, a horizontal field angle and a vertical field angle formed by the observation eyepiece 3 and the reflecting device 2 are overlapped with a visual area of the polarized three-dimensional display screen, so that a complete screen picture can be just seen in the visual field of a user, and the optimal immersion feeling is achieved.
In an embodiment of the present invention, the light reflected from the middle region of the observation eyepiece 3 through the middle region of the reflection device 2 is reflected to the middle region of the polarized three-dimensional display screen 1, and the reflected light reflected to the middle region of the polarized three-dimensional display screen 1 is perpendicular to the polarized three-dimensional display screen 1. In one embodiment, the light reflected by the center of the reflecting device 2 from the center of the observation eyepiece 3 is reflected to the center of the polarized three-dimensional display screen 1, and the reflected light reflected to the center of the polarized three-dimensional display screen 1 is perpendicular to the polarized three-dimensional display screen 1.
As shown in fig. 3 to 5, the polarized three-dimensional display screen 1 is fixed by a fixing device at a designed inclination angle, and the polarized three-dimensional display screen 1 faces downward. A reflecting device 2 is arranged below a polarized three-dimensional display screen 1, and the upper surface of the reflecting device 2 is a smooth mirror surface with a certain inclination angle. On the side close to the user, there is a viewing eyepiece 3 provided with polarizing lenses.
The inclination angle of polarization three-dimensional display screen 1, the inclination angle of 2 upper surfaces of reflect meter, polarization three-dimensional display screen all are through the light path design in reflect meter 2's relative position, observation eyepiece 3 to the incident angle of 2 upper surfaces of reflect meter etc. to reach two purposes: firstly, when the sight of a user passes through the observation eyepiece 3 and the reflecting device 2 and finally reaches the surface of the polarized three-dimensional display screen 1, the sight is perpendicular to the surface of the polarized three-dimensional display screen 1; and secondly, the horizontal field angle and the vertical field angle formed by the observation eyepiece 3 and the reflecting device 2 are consistent with the visual area of the polarized three-dimensional display screen 1, so that a complete screen picture can be seen in the visual field of a user, and the optimal immersion feeling is achieved.
The left and right lenses of the observation eyepiece 3 are polarized lenses, and can adopt common polarization modes such as linear polarization, circular polarization, elliptical polarization and the like, and only need to be matched with the polarized three-dimensional display screen 1.
When the system is operated, the polarized three-dimensional display screen 1 receives a three-dimensional (3D) video signal of the surgical robot and then displays the signal in a polarized 3D mode in real time. The display content on the polarized three-dimensional display screen 1 is reflected by the mirror surface of the reflecting device 2 below the polarized three-dimensional display screen and then passes through the observation ocular 3; left and right polarized lenses of the observation eyepiece 3 divide the image of the 3D picture content, so that the left view of the 3D content enters the left eye of a user, the right view enters the right eye of the user, and finally the user sees a 3D effect.
The invention further discloses a three-dimensional display control method for the surgical robot, which comprises the following steps:
the method comprises the following steps that (S1) a polarized three-dimensional display screen receives three-dimensional video image contents from a surgical robot and displays the three-dimensional video image contents in a polarized three-dimensional mode;
step S2, carrying out mirror reflection on the picture content of the polarized three-dimensional display screen according to a preset angle by a reflection device;
step S3, the three-dimensional image content after reflection reaches an observation eyepiece, the observation eyepiece is respectively provided with a polarized lens at the left eye position and the right eye position, and the polarized lenses are matched with the polarized three-dimensional display screen; the polarized three-dimensional image content is subjected to image splitting by the polarized lenses of the left eye and the right eye on the observation eyepieces, views corresponding to the left eye and the right eye are separated, and then the views enter two eyes of a user respectively, so that the user can see the three-dimensional image content.
In summary, the three-dimensional display device and the three-dimensional display control method for the surgical robot provided by the invention can simplify the optical path design of the surgical robot, reduce the system complexity, and reduce the requirements on the processing precision, the assembly precision and the shock resistance of system components.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware; for example, it may be implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In some embodiments, the software programs of the present application may be executed by a processor to implement the above steps or functions. As such, the software programs (including associated data structures) of the present application can be stored in a computer-readable recording medium; such as RAM memory, magnetic or optical drives or diskettes, and the like. In addition, some steps or functions of the present application may be implemented using hardware; for example, as circuitry that cooperates with the processor to perform various steps or functions.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The description and applications of the invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Effects or advantages referred to in the embodiments may not be reflected in the embodiments due to interference of various factors, and the description of the effects or advantages is not intended to limit the embodiments. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.
Claims (9)
1. A three-dimensional display device for a surgical robot, the three-dimensional display device comprising: the device comprises a polarized three-dimensional display screen, a reflecting device and an observation eyepiece;
the polarization three-dimensional display screen is used for receiving the three-dimensional video image content from the surgical robot and displaying the three-dimensional video image content in a polarization three-dimensional mode;
the reflecting device is used for carrying out mirror reflection on the picture content of the polarized three-dimensional display screen according to a preset angle;
the observation ocular lens is respectively provided with a polarized lens at the left eye position and the right eye position, and the polarized lens is matched with the polarized three-dimensional display screen.
2. The three-dimensional display device for a surgical robot according to claim 1, characterized in that:
the polarization mode of the polarization three-dimensional display screen and the polarization lens on the observation eyepiece is linear polarization, circular polarization or elliptical polarization.
3. The three-dimensional display device for a surgical robot according to claim 1, characterized in that:
the polarized lenses of the left eye and the right eye arranged on the observation ocular lens divide the polarized three-dimensional image content into images, separate out the views corresponding to the left eye and the right eye, and then respectively enter the two eyes of a user, so that the user can see the three-dimensional image content.
4. The three-dimensional display device for a surgical robot according to claim 1, characterized in that:
and reflecting the light reflected by the middle area of the reflecting device to the middle area of the polarization three-dimensional display screen from the middle area of the observation eyepiece, wherein the reflected light reflected to the middle area of the polarization three-dimensional display screen is perpendicular to the polarization three-dimensional display screen.
5. The three-dimensional display device for a surgical robot according to claim 4, wherein:
and light reflected by the center of the observation eyepiece to the center of the polarized three-dimensional display screen through the center of the reflecting device is reflected to the center of the polarized three-dimensional display screen, and the reflected light reflected to the center of the polarized three-dimensional display screen is perpendicular to the polarized three-dimensional display screen.
6. The three-dimensional display device for a surgical robot of claim 1, wherein:
the polarized three-dimensional display screen and the reflecting device are assembled according to a pre-designed angle so as to ensure that a user passes through the sight of the observation eyepiece, and the sight is accurately perpendicular to the surface of the polarized three-dimensional display screen after being reflected by the reflecting device and reaches the surface of the polarized three-dimensional display screen so as to ensure that the content seen by the user is not deformed.
7. The three-dimensional display device for a surgical robot of claim 5, wherein:
angle alpha, angle beta, angle
The following conditions are satisfied such that the angle θ is 90 degrees;
wherein the angle alpha is the included angle between the polarized three-dimensional display screen and the first plane, the angle beta is the included angle between the reflecting surface of the reflecting device and the first plane, and the angle beta is the included angle between the reflecting surface of the reflecting device and the first plane
The angle between the reflecting surface of the reflecting device and the reflected light ray/incident light ray is shown, and the angle theta is the angle between the incident light ray/reflected light ray and the surface of the polarized three-dimensional display screen.
8. The three-dimensional display device for a surgical robot according to claim 1, characterized in that:
through optical design, a horizontal field angle and a vertical field angle formed by the observation eyepiece and the reflecting device are overlapped with a visual area of the polarized three-dimensional display screen, so that a complete screen picture can be seen in the visual field of a user just, and optimal immersion is achieved.
9. A three-dimensional display control method for a surgical robot, characterized by comprising:
the polarized three-dimensional display screen receives the three-dimensional video image content from the surgical robot and displays the three-dimensional video image content in a polarized three-dimensional mode;
the reflecting device performs mirror reflection on the picture content of the polarized three-dimensional display screen according to a preset angle;
the three-dimensional image content after reflection reaches an observation eyepiece, the observation eyepiece is respectively provided with a polarized lens at the left eye position and the right eye position, and the polarized lenses are matched with the polarized three-dimensional display screen; the polarized lenses of the left eye and the right eye on the observation eyepiece divide the polarized three-dimensional image content into images, separate out views corresponding to the left eye and the right eye, and then respectively enter the two eyes of a user, so that the user can see the three-dimensional image content.
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