CN201524056U - Large-viewing field color perspective type helmet display used in navigation system of surgical operations - Google Patents

Abstract

A large-viewing field color perspective type helmet display used in the navigation system of surgical operations comprises a microdisplay (1) positioned on the focal plane of a display system. A wedge mirror (2), a front end focusing lens set (3), a pupil set (4) and a rear end collimating lens set (5) are sequentially arranged in the follow-up optical path of the light rays emitted by the microdisplay (1), and at last the light rays are slantly projected onto a tread coupler (7); the light rays enter eyes (6) of a user after being reflected by the tread coupler (7) to form parallel light rays; and a binary diffractive surface is adopted in the pupil set of the relay lens system to correct primary and secondary chromatic differences and balance high-level aberration. The imagery optical system of the helmet display provided by the utility model adopts a middle-imaging structure and adopts the combination of a non-axisymmetric binary diffractive surface and a refractive element for aberration correction, so that the helmet display has large viewing field, good image quality, and smaller size and weight, and is an ideal large-viewing field color perspective type helmet display used in the navigation system of surgical operations.

Description

Surgical navigation systems is with big visual field colored perspective type Helmet Mounted Display

Technical field

This utility model belongs to the medical visualization apparatus field, relate to a kind of compact conformation that uses at surgical navigation systems, in light weight, the visual field big, colored perspective type Helmet Mounted Display.

Background technology

Based on the surgical navigation systems of augmented reality, the operation auxiliary information that provides by computer when being performed the operation, the surgeon is provided, and what help performing the operation finishes smoothly.At present the augmented reality technology is introduced the mode of surgical navigation systems, had operating microscope, half-mirror to make monitor and Clairvoyant type Helmet Mounted Display etc.Concerning the surgeon, operating microscope has the easy reception of skilled operation but owing to move inconvenience, only is used for neurosurgery up to now; Utilize half-mirror to browse the computerized information operation that undergos surgery simultaneously as monitor, the maximum difficult point of system is to surgeon's sight line location, in case and back, location probe-shift can cause demonstration information and operative site to misplace; The Clairvoyant type Helmet Mounted Display can realize more easily that augmented reality shows, but wearing Helmet Mounted Display increases surgical cervical region burden inevitably.Therefore the Clairvoyant type Helmet Mounted Display will become optimum selection, need when satisfying display performance volume and weight be reduced.

The Clairvoyant type Helmet Mounted Display generally adopts centered optical system at present, semi-transparent semi-reflecting dull and stereotyped coupling type and two kinds of structures of two coupling types are arranged: first kind as shown in Figure 1, image among the micro-display 4a is after lens 3a amplifies, project on the semi-transparent semi-reflecting dull and stereotyped coupling mirror 2a, reflexed to human eye 1a by 2a then; Extraneous scene enters human eye behind semi-transparent semi-reflecting flat reflective mirror 2a simultaneously, realizes that augmented reality shows.This structure is only applicable to the visual field and requires smaller occasion, and the physical dimension of optical system and weight increase proportional increase with the visual field.Second kind is as shown in Figure 2, and the image scioptics 2b among the micro-display 4b projects on the beam splitter 3b, through beam splitter 3b reflection, and the semi-transparent semi-reflecting sphere coupling mirror of directive 5b, the light that is reflected by coupling mirror 5b sees through beam splitter 3b again, enters human eye 1b at last; Extraneous scene enters human eye behind semi-transparent semi-reflecting sphere coupling mirror 5b and beam splitter 3b simultaneously, realizes that augmented reality shows.The major defect of this structure is that transmissivity of optical system is too low, and the brightness that the micro-display display image enters human eye only is 1/8 of original image, and extraneous scene enters the brightness of human eye only for 1/4 of scene, causes the visual field dimness.

Development direction of the present utility model, promptly be under the prerequisite that does not increase Clairvoyant type Helmet Mounted Display weight and volume, realize increasing the demonstration visual field and improve brightness of image, guarantee the image quality of product simultaneously, make corresponding surgical navigation systems have good man-machine effect.

Summary of the invention

This utility model technical issues that need to address are, at the commercial Clairvoyant type Helmet Mounted Display that adopts in the present surgical navigation systems, have or the defective of the little or institute's view picture dimness in visual field, designed surgical navigation systems with big visual field colored perspective type Helmet Mounted Display, in the hope of satisfying the requirement of surgical navigation systems at aspects such as high display brightness and big visual fields, satisfy visible spectrum simultaneously, and can not influence the image quality of product and increase volume and weight.

The technical solution of the utility model is as follows:

This utility model be a kind of catadioptric formula based on diffraction optical lens from the axle projection display system, bonder adopts tyre surface type reflecting mirror, can effectively reduce the astigmatic image error that optical system is introduced from axle.Its X-axis and Y-axis radius of curvature ratio can be determined by Ke Dingdun equation (Coington ' s Equation).For reflecting mirror, the Ke Dingdun equation can be expressed as:

In the meridian plane: $\frac{1}{T^{\′}}+\frac{1}{T}=\frac{2}{R_y\cos i};$ In the sagittal surface: $\frac{1}{S^{\′}}+\frac{1}{S}=\frac{2\cos i}{R_x}---\left(1\right)$ T, T ' and S, S ' represent object distance and image distance in meridian and the sagittal surface respectively in the formula, and i represents the angle of reflecting mirror and optical axis.In order to simplify calculating, establish thing at infinity, then 1/T and 1/S are zero in (1) formula, in addition, have so consider the reflecting mirror astigmatism that disappears:

$\frac{1}{T^{\′}}=\frac{1}{S^{\′}}---\left(2\right)$

Equation (1) substitution formula (2) is solved:

R _x＝R _y(cosi) ² (3)

If R _x=Rcosi, R _y=R/cosi, wherein R is the radius of curvature of tyre surface reflecting mirror.When designing helmet display optical system, we can determine the value of R according to design parameter.

Relay lens partly adopts improved Cook three chip architectures, is made of 8 mirrors to be divided into front end focus lens group, pupil group and rear end collimation lens set three parts.Whole imaging optical system as shown in Figure 3.Constitute no burnt telescope by tyre surface type reflecting mirror and rear end collimation lens set emergent pupil is relayed near first lens front surface of pupil group, help reducing system aperture, increase exit pupil diameter; Elementary in order effectively to proofread and correct in the pupil group, secondary aberration and balance senior aberration do not increase the volume and weight of whole system simultaneously, have introduced the binary diffraction face, are positioned at first lens front surface of pupil group; The front end focus lens group provides system main focal power.Moreover system forms the intermediary image of image source near tyre surface type reflecting mirror, helps increasing the visual field, and video image and extraneous scene are merged on the tyre surface reflecting mirror.About 50 grams of this imaging display system weight, length only is 82mm.Help comfort level and safety that user is worn.

The phase function expression formula of binary diffraction face is got preceding 27 during design, but because system requirements x direction symmetry, so the odd item of x does not exist, it is as shown in table 1 to obtain every coefficient after optimizing.

The face shape multinomial coefficient (* 10 of table 1 binary diffraction face ^-6)

$h(x,y)=\mathrm{int}\left(\frac{\mathrm{mod}[\left(\underset{i=1}{\overset{m}{\mathrm{\Σ}}}{A}_i{x}^j{y}^n\right),h_{\max }]}{h_{\max }/L}\right)---\left(4\right)$

Multinomial coefficient substitution (4) formula in will showing can obtain the relief depth of arbitrfary point on the binary diffraction face, as shown in the figure.

The beneficial effects of the utility model are that the Helmet Mounted Display imaging optical system adopts the version of intermediate image, and utilizes non-axial symmetry binary diffraction face and refracting element combination correction aberration.Not only the visual field is big, picture element is good to make Helmet Mounted Display, and volume and weight is all smaller, is a kind of very ideal surgical navigation systems with the colored Helmet Mounted Display in big visual field.

Description of drawings

Fig. 1 is this utility model system schematic.

Fig. 2 is this utility model system binary diffraction edema over the face carving structure chart.

The specific embodiment

Fig. 1 is a structural representation of the present utility model, image in the micro-display 1 projects on the tyre surface type bonder 7 by relay lens system (comprising wedge type mirror 2, front end focus lens group 3, pupil group 4 and rear end collimation lens set 5 etc.), after tyre surface type bonder 7 reflects to form directional light, enter human eye 6; Extraneous scene enters human eye behind tyre surface type bonder 7 simultaneously, realizes that augmented reality shows.Be called the imaging optical system optical axis from micro-display 1 to visual field, tyre surface type bonder 7 center chief ray 8, optical axis 8 characterizes the inclination angle that light incides tyre surface type bonder 7 with the angle of tyre surface type bonder 7 normals 10.This inclination angle affects the angle of tyre surface type bonder 7 and people's an eye line 9, and the selected example angle theta of this paper is 29.5 degree, and the curvature ratio of X-axis and Y-axis is about 0.75.The effective focal length of whole display system is 21.7mm.1 carry out ray tracing by the COEV optical design software from display system emergent pupil 6 to micro-display, trace circular cone visual field 60 degree, no vignetting exit pupil diameter 8mm, eye-point distance 22mm, whole system about YZ in the face of title.All optical elements in the YZ face by eccentric or tilt, with eliminate system from axle distortion and coma etc.When display system under the monochromatic spectrum state, after structure and aberration all are optimized to the acceptable degree, front surface at relay lens system pupil group first lens embeds the binary diffraction face, system is carried out multispectral chromatic aberration correction, optimize repeatedly till structure, monochromatic aberration and aberration reach the best.

Claims (3)

1. a surgical navigation systems is with big visual field colored perspective type Helmet Mounted Display, comprise the micro-display (1) that is positioned on the display system focal plane, it is characterized in that: in the light subsequent optical path that micro-display (1) is sent, be disposed with wedge type mirror (2), front end focus lens group (3), pupil group (4) and rear end collimation lens set (5), last light is tilted and projects on the tyre surface type bonder (7), after tyre surface type bonder (7) reflects to form directional light, enter human eye (6); Bonder (7) adopts tyre surface type reflecting mirror; In the pupil group of relay lens system, introduce the binary diffraction face and proofread and correct elementary, secondary aberration and balance senior aberration.

2. surgical navigation systems according to claim 1 is characterized in that with big visual field colored perspective type Helmet Mounted Display, described tyre surface type bonder (7) and wearer's inclination of sighting line 29.5 degree.

3. surgical navigation systems according to claim 1 is characterized in that with big visual field colored perspective type Helmet Mounted Display described display system has adopted catadioptric formula structure; First lens front surface introducing binary diffraction face formation is rolled over the mixing simple lens that spreads out in the pupil group (4), and its binary diffraction face adopts 8 step embossment structures.

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