EP0959796A1 - Determining the position of a moving object - Google Patents

Determining the position of a moving object

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Publication number
EP0959796A1
EP0959796A1 EP97923934A EP97923934A EP0959796A1 EP 0959796 A1 EP0959796 A1 EP 0959796A1 EP 97923934 A EP97923934 A EP 97923934A EP 97923934 A EP97923934 A EP 97923934A EP 0959796 A1 EP0959796 A1 EP 0959796A1
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EP
European Patent Office
Prior art keywords
microscope
image data
computer
image
field
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP97923934A
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German (de)
French (fr)
Inventor
Roger Spink
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leica Microsystems Schweiz AG
Original Assignee
Leica Mikroskopie Systeme AG
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Publication of EP0959796A1 publication Critical patent/EP0959796A1/en
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/20—Surgical microscopes characterised by non-optical aspects

Definitions

  • the invention relates to an arrangement for determining the position of a point viewed by a microscope on a medium.
  • the medium to be examined does not necessarily have to be a stationary object, but can also be a moving medium for this invention
  • the invention can be used not only in medicine, but also in other areas where microscopic examinations are carried out
  • the position determination of a microscope and thus of the operating field seen through the microscope according to the current state of the art is carried out, for example, by means of an infrared positioning system.
  • Three infrared transmitters with coded transmission signals are arranged on the microscope, the signals of which are detected by infrared receivers arranged in the room
  • Joints have measuring elements (similar to a robot arm), which continuously monitor the change in position of the microscope and determine the position via a microprocessor, and on the other hand determine the position by means of ultrasonic transmitters and sensors, which are arranged on the microscope
  • Marking diodes of the microscope are attached in the room. This means that interference can arise between the transmitter and the receiver. This can be caused, for example, by a person who brings himself or an object into the area of the signal exchange
  • the object of the invention is therefore to create a microscope with a position determination system that does not allow any external influences that influence the position determination and being able to falsify You should know exactly where the microscope is oriented without having to look through the microscope as a user
  • the task is solved by the use according to the invention of at least one image acquisition unit on the microscope and at least one test specimen, which is used for calibrating the system and for measuring
  • the specimen should be firmly connectable to the object to be viewed, both when microscoping and before using other imaging techniques such as MRI, X-ray, PE, etc
  • the position is determined by means of image recognition by an image acquisition unit which is rigidly connected to the microscope or is integrated into it.
  • this image acquisition unit looks at a known object, calibration can take place. If the microscope with the image capturing device then looks at a foreign object, which is, however, rigidly and visibly connected to the known object, the position or location of the foreign object can be determined therefrom by means of image processing. If necessary, the originally foreign object can then, possibly only temporarily as a known - or calibration object.
  • the image capture unit is turned at a known angle, e.g. attached parallel to the beam path of the microscope.
  • Both the sensor information for certain settings of the microscope and the image acquisition unit can be fed into a computer, which uses the data supplied to calculate the exact position of the operating field relative to the microscope.
  • the image seen through the microscope can then be superimposed with other image data (e.g. MRI image data or the like) in the correct position by means of displays and insertion elements.
  • the field of view thus obtained can be displayed on the computer screen or another connected monitor.
  • the image capturing device has a field of view that is enlarged compared to the microscope. Even if the image capturing device is not connected to the microscope outside it, but is possibly integrated into it and possibly even looks through the main objective itself, it should have an enlarged field of view - for example due to a different magnification - compared to the microscopic beam path, by one to ensure a good sphere of influence of position determination.
  • the following information can be important: the direction of view of the microscope or its main objective; the position of the main lens relative to the operating field, which after knowing the direction e.g. via the z-distance, which is additionally determined using a separate measuring device, or can also be calculated from the image information by the test specimen or specimens after knowledge of the setting data of the image capturing device.
  • Comparison body contains points (e.g. corners, depressions) of which all information is known when it is in a positioned position. With this information, which is stored in the computer as comparison values, the position determination system is set.
  • the reference body is pre-positioned under the microscope in the field of view of the image acquisition unit.
  • the microscope is now positioned on the known points.
  • the comparison values of the points stored in the computer enable arithmetic calibration adjustment. From the information that the computer receives through this process, any other position considered can now be calculated and its coordinates can be displayed, for example on a screen.
  • the image acquisition unit is not directed in the same direction as the microscope, but in another, for example on the ceiling of an operating room, in order to enable the position to be determined there using markings.
  • test specimen can have different contours. Any systems, e.g. CCD cameras. How the connections between microscope - computer and image acquisition unit - computer look depends on the devices used and the interface of the computer.
  • FIG. 1 shows a basic illustration of the microscope according to the invention with the image acquisition unit, the connected computer and the comparison body.
  • Fig. 1 illustrates a principle of the invention.
  • the illustration shows a microscope 1 with its optical axis 2, in which the comparison body 5 lies.
  • the image acquisition unit 3 is mounted parallel to the optical axis 2, and the comparison body 5 is also located in the field of view 4 thereof.
  • the exact viewing position is calculated using the object distance 8 obtained via the microscope magnification and the data from the image acquisition unit 3, which are transferred to the computer 6 via the connections 9.
  • Other image data 10 e.g. X-ray, CT, or MRI image data
  • the observation field thus obtained can be displayed on the computer screen 7a and / or on an external monitor 7b.
  • Variants with more than one camera are also within the scope of the invention. When using only one camera, several orientation points on a known object are advantageous, while when using two or more cameras a single marking point is also sufficient
  • Source for other image data e.g. X-ray, CT, PE, MRI image data or the like

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

The position locating system using infra-red (i/r) transmitters entailed the problem that there is a longer distance between the i/r light-emitting diodes on the microscope and the i/r receivers in the room. Outside influences produced by people or other causes on this distance can lead to interference in the system. It is the aim of the invention to prevent these interfering influences. The structure of the invention is therefore very compact. The position locating system consists of a microscope (1) and an imaging unit (3) secured directly to it. This eliminates distances which could lead to interference. The system is calibrated by means of a comparison body (5) to adjust it for use in the best possible way. Other image data (10) (e.g. MRI image data) may be superimposed on the microscope beam path by means of a computer (6). The field of observation thus obtained may be displayed on either the computer screen (7a) or an external monitor (7b).

Description

POSITIONSBESTIMMUNG EINES BEWEGLICHEN OBJEKTES DETERMINING THE POSITION OF A MOVABLE OBJECT
Die Erfindung betrifft eine Anordnung zur Positionsbestimmung eines durch ein Mikroskop betrachteten Punktes an einem Medium Das zu untersuchende Medium muss nicht zwingend ein ruhendes Objekt sein, sondern kann für diese Erfindung auch ein bewegtes Medium seinThe invention relates to an arrangement for determining the position of a point viewed by a microscope on a medium. The medium to be examined does not necessarily have to be a stationary object, but can also be a moving medium for this invention
Vor allem in der Medizin ist es von grösser Wichtigkeit, dass bei gleichzeitiger Kenntnis der Position des Patienten und der Einstellungsdaten des Mikroskopes auf den genauen Betrachtungsort (Operationsfeld) geschlossen werden kann Dies wird in der modernen Mikrochirurgie immer wichtiger Dem Operateur wird ermöglicht, eine Operation mit grösser Sicherheit an der richtigen Stelle durchzufuhren Die Bedeutung solcher Kenntnisse steigt mit der fortschreiten¬ den Technik, unterschiedliche Bilddaten, z B Rontgen-,CT-, PE-, MRI-Bilddaten o dgl in einem Mikroskopstrahlengang sichtbar zu machen, bzw dem gesehenen Bild zu überlagern, so dass der Operateur ortsmassig richtig dargestellte Vergleichsinformationen über das Operationsfeld erhaltIn medicine in particular, it is of great importance that, while simultaneously knowing the position of the patient and the setting data of the microscope, it is possible to deduce the exact viewing location (surgical field). This is becoming increasingly important in modern microsurgery. The surgeon is able to perform an operation with to be carried out in the right place with greater security The importance of such knowledge increases with the progressive technology of making different image data, for example X-ray, CT, PE, MRI image data or the like visible in a microscope beam path, or the image seen overlay, so that the surgeon receives correctly presented comparative information about the operating field
Aber nicht nur in der Medizin, auch in anderen Bereichen wo mikroskopische Untersuchungen durchgeführt werden, kann die Erfindung nutzbringend eingesetzt werdenHowever, the invention can be used not only in medicine, but also in other areas where microscopic examinations are carried out
Die Positionsbestimmung eines Mikroskopes und damit des durch das Mikroskop gesehenen Operationsfeldes nach dem heutigen Stand der Technik erfolgt beispielsweise mittels eines Infrarotpositioniersystems Am Mikroskop sind drei Infrarotsender mit kodierten Sendesignalen angeordnet, deren Signale von im Raum angeordneten Infrarotempfangern detektiert werdenThe position determination of a microscope and thus of the operating field seen through the microscope according to the current state of the art is carried out, for example, by means of an infrared positioning system. Three infrared transmitters with coded transmission signals are arranged on the microscope, the signals of which are detected by infrared receivers arranged in the room
Etwas altere, aber noch verwendete Verfahren zur Positionsbestimmung sind Einerseits die Verwendung eines Mikroskoptragergestelles, das an denSomewhat older, but still used methods for determining the position are, on the one hand, the use of a microscope carrier frame that is attached to the
Gelenken über Messelemente verfugt (ähnlich einem Roboterarm), welche die Lageanderung des Mikroskopes laufend mitverfolgen und über einen Mikro¬ prozessor die Position bestimmen, andererseits das Ermitteln der Position mittels Ultraschallsendern und -sensoren, welche am Mikroskop angeordnetJoints have measuring elements (similar to a robot arm), which continuously monitor the change in position of the microscope and determine the position via a microprocessor, and on the other hand determine the position by means of ultrasonic transmitters and sensors, which are arranged on the microscope
Bei allen bisher bekannten Verfahren zur Positionsbestimmung treten trotz grundsätzlicher Funktionstuchtigkeit Probleme auf Bei den alteren Verfahren ist zu beachten, dass der Patient durch die Positionsbestimmung nicht beeinflusst werden sollte, ebenso sollten allfalhge Messergebnisse im betrachteten Bereich (z B Operationssteile) durch das Positionsbestimmungsverfahren nicht beeinflusst werden Diese zwei Probleme sind bei der Verwendung des Infrarotpositioniersystems gelost Hier stellt sich aber das Problem, dass die Infrarotempfanger in einem Abstand von den IR-Dioden bzwIn all previously known methods for determining the position, problems occur despite the basic functionality. With the older methods, it should be noted that the patient should not be influenced by the position determination, and any measurement results in the area under consideration (e.g. surgical parts) should not be influenced by the position determination method These two problems have been solved when using the infrared positioning system. Here, however, there is the problem that the infrared receivers are at a distance from the IR diodes or
Markierungsdioden des Mikroskopes im Raum angebracht sind Dies bringt mit sich, dass zwischen Sender und Empfanger ein Storeinfluss entstehen kann Dieser kann z B durch einen Menschen verursacht werden, der sich selber oder der einen Gegenstand in den Bereich des Signalaustausches bringtMarking diodes of the microscope are attached in the room. This means that interference can arise between the transmitter and the receiver. This can be caused, for example, by a person who brings himself or an object into the area of the signal exchange
Das letztgenannte Problem ist für etliche Anwendungen nicht zufriedenstellend gelost Die Lageposition des Patienten relativ zum Mikroskop ist jedoch eine wichtige Information Der Erfindung liegt daher die Aufgabe zugrunde, ein Mikro¬ skop mit einem Positionsermittlungssystem zu schaffen, das keine ausseren Storeinflusse zulasst, welche die Positionsbestimmung beeinflussen und verfalschen können Man soll also wissen, wohin das Mikroskop genau orientiert ist, ohne dabei bzw dazu als Anwender durch das Mikroskop blicken zu müssenThe last-mentioned problem has not been solved satisfactorily for a number of applications. The position of the patient relative to the microscope is, however, important information. The object of the invention is therefore to create a microscope with a position determination system that does not allow any external influences that influence the position determination and being able to falsify You should know exactly where the microscope is oriented without having to look through the microscope as a user
Weiters sollen dem betrachteten Bild andere Bilddaten (z B Röntgen-, CT- oder MRI-Bilddaten) positionsrichtig überlagert werden könnenFurthermore, it should be possible to superimpose other image data (eg X-ray, CT or MRI image data) in the correct position on the viewed image
Gelost wird die Aufgabe durch das erfmdungsgemasse Verwenden von wenigstens einer Bilderfassungseinheit am Mikroskop und wenigstens einem Probekorper, der zum Eichen des Systems und zum Messen dient DerThe task is solved by the use according to the invention of at least one image acquisition unit on the microscope and at least one test specimen, which is used for calibrating the system and for measuring
Probekorper soll dabei fest mit dem zu betrachtenden Objekt verbindbar sein und zwar sowohl beim Mikroskopieren, als auch vorher bei anderen Aufnahmetechniken, wie z B MRI, Röntgen, PE usw Die Positionsbestimmung erfolgt erfindungsgemäss über Bilderkennung durch eine Bilderfassungseinheit, die starr mit dem Mikroskop verbunden, oder in dieses integriert ist. Beim Blick dieser Bilderfassungseinheit auf ein bekanntes Objekt kann eine Eichung erfolgen. Blickt das Mikroskop mit der Bilderfassungseinrichtung sodann auf ein fremdes Objekt, das jedoch mit dem bekannten Objekt starr und sichtbar verbunden ist, kann daraus die Position oder Lage des fremden Objektes über Bildverarbeitung bestimmt werden Gegebenenfalls kann dann - eventuell auch nur vorübergehend - das ursprünglich fremde Objekt als bekanntes - oder Eich-Objekt abgespeichert werden.The specimen should be firmly connectable to the object to be viewed, both when microscoping and before using other imaging techniques such as MRI, X-ray, PE, etc According to the invention, the position is determined by means of image recognition by an image acquisition unit which is rigidly connected to the microscope or is integrated into it. When this image acquisition unit looks at a known object, calibration can take place. If the microscope with the image capturing device then looks at a foreign object, which is, however, rigidly and visibly connected to the known object, the position or location of the foreign object can be determined therefrom by means of image processing. If necessary, the originally foreign object can then, possibly only temporarily as a known - or calibration object.
Die Bilderfassungseinheit wird in einem bekannten Winkel, z.B. parallel zum Strahlengang des Mikroskopes angebracht. Sowohl die Sensorangaben bei bestimmten Einstellungen des Mikroskops, als auch die Bilderfassungseinheit können in einen Computer eingespeist werden, der aus den gelieferten Daten die genaue Position des Operationsfeldes relativ zum Mikroskop berechnet. Dem durch das Mikroskop gesehenen Bild können sodann mittels Displays und Einblendelementen andere Bilddaten (z.B. MRI-Bilddaten o.dgl.) positionsrichtig überlagert werden. Das so erhaltene Betrachtungsfeld kann auf dem Computerschirm oder einem anderen angeschlossenen Monitor dargestellt werden.The image capture unit is turned at a known angle, e.g. attached parallel to the beam path of the microscope. Both the sensor information for certain settings of the microscope and the image acquisition unit can be fed into a computer, which uses the data supplied to calculate the exact position of the operating field relative to the microscope. The image seen through the microscope can then be superimposed with other image data (e.g. MRI image data or the like) in the correct position by means of displays and insertion elements. The field of view thus obtained can be displayed on the computer screen or another connected monitor.
Im bereits veröffentlichten "VISLAN-Verfahren bzw. -Projekt" ist zwar bekanntgeworden, über Bildverarbeitung mittels Kamera ein Objekt im Raum zu identifizieren, das mit sogenannten FIDUCIALs markiert war, jedoch erlaubt diese Technologie alleine nicht, zu definieren, auf welches Detailgebiet im Gesichtsfeld bzw. im Operationsfeld ein Mikroskop orientiert ist, es sei denn, man würde auch das Mikroskop mit vergleichbaren Fiducials versehen und dann zwischen der Bildinformation der einen Fiducials und der Bildinformation bei den vergleichbaren Fiducials geometrisch berechnen, wohin das Mikroskop blickt. Abgesehen von diesem hohen Rechenaufwand tritt dabei wieder das erwähnte Problem der möglichen Störung durch Personen oder Teile auf, die zwischen die Fiducials und die Kamera geraten, so dass eine Ortung der einen oder anderen Fiducials verunmöglicht wird. Dieser Nachteil fällt bei der Erfindung weg, wobei es besonders günstig ist, wenn das Bilderfassungsgerät ein gegenüber dem Mikroskop vergrössertes Gesichtsfeld hat. Auch wenn die Bilderfassungseinrichtung nicht ausserhalb des Mikroskopes mit diesem verbunden ist, sondern gegebenenfalls in dieses integriert ist und eventuell sogar durch das Hauptobjektiv selbst blickt, sollte diese ein vergrössertes Blickfeld - z.B. durch eine unterschiedliche Ver- grösserung - gegenüber dem mikroskopischen Strahlengang aufweisen, um einen guten Wirkungskreis der Positionsbestimmung zu gewährleisten.In the already published "VISLAN procedure or project" it has become known to identify an object in space using image processing using a camera, which was marked with so-called FIDUCIALs, but this technology alone does not allow defining the detail area in the field of vision or a microscope is oriented in the operating field, unless one would also provide the microscope with comparable fiducials and then calculate geometrically between the image information of the one fiducials and the image information for the comparable fiducials, wherever the microscope is looking. Apart from this high computing effort, the mentioned problem of possible interference by people or parts that get between the fiducials and the camera occurs again, so that a location of one or the other fiducials is impossible. This disadvantage is eliminated in the case of the invention, it being particularly favorable if the image capturing device has a field of view that is enlarged compared to the microscope. Even if the image capturing device is not connected to the microscope outside it, but is possibly integrated into it and possibly even looks through the main objective itself, it should have an enlarged field of view - for example due to a different magnification - compared to the microscopic beam path, by one to ensure a good sphere of influence of position determination.
Dabei können folgende Angaben wichtig sein: Die Blickrichtung des Mikroskops bzw. seines Hauptobjektivs; die Lage des Hauptobjektivs relativ zum Operationsfeld, die nach Kenntnis der Richtung z.B. über den z-Abstand, der über eine separate Messeinrichtung zusätzlich ermittelt, oder auch aus der Bildinformation durch den oder die Probekörper nach Kenntnis der Einstelldaten der Bilderfassungseinrichtung errechnet werden kann.The following information can be important: the direction of view of the microscope or its main objective; the position of the main lens relative to the operating field, which after knowing the direction e.g. via the z-distance, which is additionally determined using a separate measuring device, or can also be calculated from the image information by the test specimen or specimens after knowledge of the setting data of the image capturing device.
Von Interesse ist aber auch, wo der Betrachtungspunkt in der horizontalen Betrachtungsebene liegt. Um diese Information liefern zu können, wird das System vor jedem Gebrauch mit einem Vergleichskörper geeicht. DerBut it is also of interest where the point of view lies in the horizontal plane of observation. In order to be able to supply this information, the system is calibrated with a reference block before each use. The
Vergleichskörper enthält Punkte (z.B. Ecken, Vertiefungen) von denen alle Angaben bekannt sind, wenn er sich in positionierter Lage befindet. Mit diesen Angaben, die als Vergleichswerte im Computer gespeichert sind, wird das Positionsbestimmungssystem eingestellt.Comparison body contains points (e.g. corners, depressions) of which all information is known when it is in a positioned position. With this information, which is stored in the computer as comparison values, the position determination system is set.
Der Vergleichskörper liegt beim Eichen vorpositioniert unter dem Mikroskop im Betrachtungsfeld der Bilderfassungseinheit. Das Mikroskop wird nun auf die bekannten Punkte positioniert. Die im Computer gespeicherten Vergleichswerte der Punkte ermöglichen einen rechnerischen Eich- Abgleich. Aus den Angaben, die der Computer durch diesen Vorgang erhält, kann nun jede andere betrachtete Position berechnet und können deren Koordinaten, z.B. auf einem Bildschirm, dargestellt werden. Im Rahmen der Erfindung liegt auch eine Variante, bei der die Bilderfassungseinheit nicht in dieselbe Richtung wie das Mikroskop, sondern in eine andere, z.B. an die Decke eines Operationssaales, gerichtet ist, um dort anhand von Markierungen die Positionsbestimmung zu ermöglichen.The reference body is pre-positioned under the microscope in the field of view of the image acquisition unit. The microscope is now positioned on the known points. The comparison values of the points stored in the computer enable arithmetic calibration adjustment. From the information that the computer receives through this process, any other position considered can now be calculated and its coordinates can be displayed, for example on a screen. Also within the scope of the invention is a variant in which the image acquisition unit is not directed in the same direction as the microscope, but in another, for example on the ceiling of an operating room, in order to enable the position to be determined there using markings.
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt. Der Probekörper kann verschiede Konturen aufweisen. Als Bilderfassungseinheit können beliebige Systeme, z.B. CCD-Kameras, gewählt werden. Wie die Verbindungen Mikroskop - Computer und Bilderfassungseinheit - Computer aussehen, hängt von den verwendeten Geräten und der Schnittstelle des Computers ab.An embodiment of the invention is shown in the drawing. The test specimen can have different contours. Any systems, e.g. CCD cameras. How the connections between microscope - computer and image acquisition unit - computer look depends on the devices used and the interface of the computer.
Fig.1 zeigt eine Prinzipdarstellung des erfindungsgemässen Mikroskopes mit der Bilderfassungseinheit, dem angeschlossenen Computer und dem Vergleichskörper.1 shows a basic illustration of the microscope according to the invention with the image acquisition unit, the connected computer and the comparison body.
Fig. 1 verdeutlicht ein Prinzip der Erfindung. Die Darstellung zeigt ein Mikroskop 1 mit seiner optischen Achse 2, in welcher der Vergleichskörper 5 liegt. Parallel zur optischen Achse 2 ist die Bilderfassungseinheit 3 angebracht, in deren Betrachtungsfeld 4 der Vergleichskörper 5 ebenfalls liegt. Mit dem über die Mikroskopvergrösserung erhaltenen Objektabstand 8 und den Daten der Bilderfassungseinheit 3, welche über die Verbindungen 9 auf den Computer 6 transferiert werden, wird die genaue Betrachtungsposition berechnet. Dieser können ebenfalls auf dem Computer 6 andere Bilddaten 10 (z.B. Röntgen-, CT-, oder MRI-Bilddaten) überlagert werden. Das so erhaltene Betrachtungsfeld kann auf dem Computerbildschirm 7a und/oder auf einem externen Monitor 7b dargestellt werden.Fig. 1 illustrates a principle of the invention. The illustration shows a microscope 1 with its optical axis 2, in which the comparison body 5 lies. The image acquisition unit 3 is mounted parallel to the optical axis 2, and the comparison body 5 is also located in the field of view 4 thereof. The exact viewing position is calculated using the object distance 8 obtained via the microscope magnification and the data from the image acquisition unit 3, which are transferred to the computer 6 via the connections 9. Other image data 10 (e.g. X-ray, CT, or MRI image data) can also be superimposed on this on the computer 6. The observation field thus obtained can be displayed on the computer screen 7a and / or on an external monitor 7b.
Nicht dargestellt, aber denkbar sind zusätzlich zur erfindugsgemässen Bilderfassungseinheit 3 Bildsensoren im Mikroskopstrahlengang, die die gesehenen Bilder am Monitor darstellbar machen. Ebenso ist es denkbar, dass die Bildinformationen des Monitors 7 über bekannte Massnahmen in den Okularstrahlengang des Mikroskops 1 eingespiegelt werden. Somit lässt sich der Mikroskopstrahlengang mit den eingefugten anderen Bilddaten auf dem Computerbildschirm (7a) und/oder einem externen Monitor (7b) darstellenNot shown, but conceivable are, in addition to the image acquisition unit according to the invention, 3 image sensors in the microscope beam path, which make the images seen displayable on the monitor. It is also conceivable for the image information of the monitor 7 to be reflected into the eyepiece beam path of the microscope 1 using known measures. So you can represent the microscope beam path with the inserted other image data on the computer screen (7a) and / or an external monitor (7b)
Blickt die Bilderfassungseinnchtung bzw die Kamera durch das Hauptobjektiv, ergibt sich als Vorteil, dass bei der Anwendung eines Drape (sterile Verkleidung des Mikroskopes) keine Sichtprobleme für die Kamera sich ergebenIf the image capturing device or the camera looks through the main lens, there is the advantage that when using a drape (sterile covering of the microscope) there are no visual problems for the camera
Im Rahmen der Erfindung liegen auch Varianten mit mehr als einer Kamera Bei der Anwendung von nur einer Kamera sind mehrere Orientierungspunkte an einem bekannten Objekt von Vorteil, wahrend bei der Anwendung von zwei oder mehr Kameras auch ein einziger Markierungspunkt ausreichtVariants with more than one camera are also within the scope of the invention. When using only one camera, several orientation points on a known object are advantageous, while when using two or more cameras a single marking point is also sufficient
Bei parallel angebrachten Kameras wird berücksichtigt, dass die Achse des Mikroskops parallel sein sollte, um die Bildverarbeitung rechnerisch fehlerfrei durchfuhren zu können In the case of cameras mounted in parallel, it is taken into account that the axis of the microscope should be parallel in order to be able to carry out the image processing without errors
BEZUGSZEICHENLISTEREFERENCE SIGN LIST
1 Mikroskop1 microscope
2 Optische Achse 3 Bilderfassungseinheit2 Optical axis 3 Image acquisition unit
4 Betrachtungsfeld der Bilderfassungseinheit4 Field of view of the image acquisition unit
5 Vergleichskörper5 reference blocks
6 Computer6 computers
7a Computerbildschirm 7b externer Monitor7a computer screen 7b external monitor
8 Objektabstand8 object distance
9 Kabelverbindungen9 cable connections
10 Quelle für andere Bilddaten (z.B. Röntgen-, CT-, PE-, MRI-Bilddaten o.dgl.) 10 Source for other image data (e.g. X-ray, CT, PE, MRI image data or the like)

Claims

PATENTANSPRÜCHEPATENT CLAIMS
1 Anordnung zur Positionsbestimmung eines Mikroskops, dadurch gekennzeichnet, dass am Mikroskop (1), in einem Winkel zur Optischen Achse (2), eine Bilderfassungseinheit (3) zur Erfassung des1 arrangement for determining the position of a microscope, characterized in that on the microscope (1), at an angle to the optical axis (2), an image capturing unit (3) for capturing the
Betrachtungsfeldes angebracht ist, die mit einem Computer (6) verbunden ist, der mit einem Programm und mit Vergleichsdaten zur Positionsbe¬ stimmung ausgerüstet istField of view is attached, which is connected to a computer (6) which is equipped with a program and with comparison data for position determination
2 Verfahren zur Positionierung nach Anspruch 1 , dadurch gekennzeichnet, dass dem System vor der Benutzung zur Eichung ein Vergleichskorper (5) vorgelegt wird, dessen Konturen bekannt sind und im Computer (6) eingespeichert sind bzw werden2 Positioning method according to claim 1, characterized in that the system is presented with a comparator (5) before use, the contours of which are known and are or are stored in the computer (6)
3 Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die Positions¬ und Vergrosserungsdaten des Mikroskopes (1) gewonnen werden und mit diesen mittels Computer (6) modifizierten und anderen Bilddaten (10) (z B Röntgen-, CT- oder MRI- Bilddaten) positionsrichtig überlagert dargestellt werden3. The method according to claim 2, characterized in that the position and magnification data of the microscope (1) are obtained and modified with them by means of computer (6) and other image data (10) (eg X-ray, CT or MRI image data) positionally overlaid
Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass die anderen Bilddaten in den Okularstrahlengang über einen Betrachter sichtbar eingespiegelt werden Method according to claim 3, characterized in that the other image data are visibly reflected into the ocular beam path by a viewer
EP97923934A 1996-06-03 1997-05-17 Determining the position of a moving object Ceased EP0959796A1 (en)

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PCT/EP1997/002544 WO1997046168A1 (en) 1996-06-03 1997-05-17 Determining the position of a moving object

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