KR101083398B1 - A system and method for stereoscopic video recording of stereoscopic microscope - Google Patents

Abstract

Stereoscopic images of stereomicroscopes not only to display stereoscopic images acquired using stereoscopic microscopes, but also to output optimized images by automatically adjusting the focus in real time to minimize the eyestrain of the observer. An image storage system and method thereof are provided. The present invention as described above is an image input unit for inputting the left and right images of the sample in real time through a stereo microscope; A signal converter configured to binarize the left and right images; An image change detector configured to detect an image change amount by comparing a difference value between a current frame and a previous frame with a threshold; When detecting the amount of change in the image, the parallax information between the left and right images of the current frame input through the image input unit is calculated, and the separation distance from the previously stored sample surface to the sample is obtained in response to the calculated parallax information. A central processor configured to store the left and right images in which the focus is corrected by adjusting the height axis of the stereo microscope in consideration of this; And a storage unit for storing left and right images under the control of the central processing unit.

Stereo microscopes, CCDs, displays, focusing, and stereoscopic imaging

Description

Stereoscopic image storage system and method for stereomicroscopes {A system and method for stereoscopic video recording of stereoscopic microscope}

The present invention relates to a stereoscopic image storage system and method of the stereoscopic microscope, and more particularly, to not only display a stereoscopic image obtained using the stereoscopic microscope, but also to minimize the eye fatigue of the observer in real time The present invention relates to a stereoscopic image storage system and method of a stereoscopic microscope for outputting an optimized image by automatically adjusting the focus and automatically storing the image.

Recently, as the microsurgical operation is performed in various fields of surgery, a stereoscopic imaging system using a stereoscopic microscope is widely used so that depth perception and real sense of operation and education can be performed.

In general, stereomicroscopes allow two human eyes to simultaneously observe one observation from a different angle, so that the images of the observations from that angle are lifted into the human eye and merged into one image in the brain. It is a device that can observe the observation with a three-dimensional image.

Observation of the observation through the stereoscopic microscope, the observer can observe the observation in a three-dimensional image, it is possible to observe a more precise and realistic image.

In addition, by changing the optical path input to the observer's eyes through a stereo microscope to be input to the attached Charge Coupled Device (CCD) camera, and transmitted to the monitor, several people are simultaneously transmitted to the monitor The images of the observations can be observed.

Unlike the stereoscopic imaging system, which is performed by contacting two eyes with the eyepiece of the stereoscopic microscope, the observer has less eye fatigue than the prior art as the shape of the observation observed through the CD camera is output to the display device. I felt it.

On the other hand, the demonstration surgery for the purpose of medical education, can be largely divided into on-site lessons for the real-time education and education through the content, where the on-site lessons for the real-time education, to obtain an appropriate image when the disparity changes The process of changing the magnification is required.

In other words, when an obstruction such as a hand working on a focal plane of a microscope, a surgical instrument or a surgical instrument, etc. is positioned under an objective lens, the observer who observes it corrects the eye fatigue due to the sense of depth. Will continue to change focus.

As such, when attempting to adjust the magnification of the microscope, there is a problem that an observer or a viewer feels extreme eye fatigue as the viewer views an image of all processes of parallax change.

In addition, there is a problem that a large amount of time is required in the process of producing medical content, such as the image synchronization of the input left image and the right image, and editing of the video scene to make sense of unity.

Therefore, there is a need for a new method for reducing the eyestrain of an observer and reducing the editing time when storing and displaying stereoscopic images using a stereoscopic microscope.

The technical problem to be achieved by the present invention is not only to display a stereoscopic image obtained by using a stereomicroscope, but also to output an optimized image by adjusting the focus in real time to minimize the eyestrain of the observer, It is to provide a stereoscopic image storage system and a method of the stereoscopic microscope to automatically store.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a stereoscopic image storage system of a stereoscopic microscope according to an embodiment of the present invention comprises an image input unit for inputting the left and right images of the sample in real time through the stereoscopic microscope; A signal converter configured to binarize the left and right images; An image change detector configured to detect an image change amount by comparing a difference value between a current frame and a previous frame with a threshold; When detecting the amount of change in the image, the parallax information between the left and right images of the current frame input through the image input unit is calculated, and the separation distance from the previously stored sample surface to the sample is obtained in response to the calculated parallax information. A central processing unit for adjusting the height axis of the stereoscopic microscope to store the left and right images corrected in focus; And a storage unit which stores left and right images under the control of the central processor.

Preferably, the image input unit, the left and right images of the sample corresponding to the height of the stereo microscope that is changed by the linear motor for adjusting the distance between the image input unit and the sample is input.

Preferably, the apparatus further includes a display device for outputting a stereoscopic image whose focus is corrected by adjusting the height axis of the stereo microscope.

Preferably, the control unit further comprises a storage unit for storing the parallax information corresponding to the separation distance from the sample surface to the sample under the control of the central processing unit.

Preferably, the central processing unit calculates the disparity information between the left and right images of the current frame in consideration of this by calculating the distance between the left and right CD (CCD) of the image input unit in which the left and right images are input by Equation 1 below, The separation distance is obtained by Equation 2 below.

(Equation 1)

(Equation 2)

Where s is the distance between the left and right CDs, p is the distance from the left and right CDs to the sample, a is the half angle formed by the left and right CDs, dl is the time difference with respect to the left CD, and k is the separation distance from the sample surface to the sample. Means the final amount of movement of the microscope along the focal plane.

According to another aspect of the present invention, there is provided a method of storing a stereoscopic image of a stereoscopic microscope, wherein the left and right images of a sample are input in real time through a stereoscopic microscope; An image conversion detection step of detecting the amount of image change by binarizing the left and right images and comparing a difference value between a current frame and a previous frame with a threshold; When detecting the amount of change in the image, the parallax information is calculated between the left and right images of the current frame to be input, and after obtaining the separation distance from the previously stored sample surface to the sample corresponding to the calculated disparity information, the distance of the stereoscopic microscope is considered. An adjusting step of adjusting the height axis; And a storing step of storing the image whose focus is corrected by the height axis.

Preferably, the method further includes a display step of outputting a stereoscopic image whose focus is corrected by adjusting the height axis of the stereo microscope.

Preferably, the method further includes a storing step of pre-stored parallax information corresponding to the separation distance from the sample surface to the sample as a look-up table.

Preferably, the adjusting step calculates the time difference information between the left and right images of the current frame in consideration of this by calculating the distance between the left and right CDD (CCD) to which the left and right images are input by Equation 3 below, Obtain the separation distance by.

(Equation 3)

(Equation 4)

Where s is the distance between the left and right CDs, p is the distance from the left and right CDs to the sample, a is the half angle formed by the left and right CDs, dl is the time difference with respect to the left CD, and k is the separation distance from the sample surface to the sample. (The final amount of movement of the microscope along the focal plane).

According to the stereoscopic image storage system and the method of the stereoscopic microscope of the present invention as described above, the operation or procedure using the stereo microscope can be confirmed in real time through the three-dimensional stereoscopic image monitor, and may also occur during the operation or procedure The advantage is that the focus change can be automatically adjusted to the focal plane with less eye strain.

In addition, the present invention may further reduce the time required for image editing as the stereoscopic image input through the stereo microscope is stored as an optimized image through real-time focusing.

In addition, by limiting the final movement amount (k) of the microscope according to the focal plane that can be changed in the maximum for the obstruction object such as tweezers or surgical needle in the micro work, it is possible to adjust the height of the unnecessary stereo microscope to respond to the optimum focus. There is an effect that can obtain a stereoscopic image.

In the following description, specific details of the stereoscopic image storage system and method of the stereoscopic microscope of the present invention are presented to provide a more general understanding of the present invention, and the present invention may be readily made without these specific details and by their modifications. It will be apparent to those skilled in the art that the present invention may be practiced.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be embodied in various different forms, and the present embodiments merely make the disclosure of the present invention complete, and are common in the art to which the present invention pertains. It is provided to inform those skilled in the art to the fullest extent of the invention, the invention being defined only by the scope of the claims. Like reference numerals refer to like elements throughout.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a stereoscopic image storage system of a stereoscopic microscope according to an embodiment of the present invention.

As shown in FIG. 1, the stereoscopic image storage system 100 of a stereoscopic microscope according to an exemplary embodiment of the present invention includes a stereo microscope 10, an image input unit 110, a signal converter 120, and an image change detector. 130, a driving unit 140, a storage unit 150, a central processing unit 160, a display unit 170, and the like.

The stereo microscope 10 focuses the tube lens and the objective lens to observe the sample.

The image input unit 110 converts the left and right images input through the stereo microscope 10 into electrical image signals. The image input unit 110 may be left and right CD cameras (not shown). Accordingly, the image input unit 110 includes two CDs (CCD; Charge) mounted by changing an optical path input to both eyes of an observer so that several people can simultaneously observe the shape of the sample observed through the stereo microscope 10. Coupled Device) It is configured to be input to the camera. In addition, the image input unit 110 is input to the left and right images of the sample corresponding to the height of the stereo microscope 10 is changed by the linear motor for adjusting the distance between the image input unit 110 and the sample.

In this case, it may be preferable to set the left CCD camera as a reference, and install the right CCD camera to enable fine tilt through X-Y ASSY, but the present invention is not necessarily limited thereto.

As such, the images input to the observer's left and right eyes through the set optical path are respectively input to the two CCD cameras, and the image input by the CCD elements attached to the two CCD cameras forms an electrical image signal. Can be converted to

The signal converter 120 receives an image signal obtained from the image input unit 110 and converts the image signal into a digital image signal. That is, since the output video signal of the video input unit 110 is an analog video signal, it is converted into a digital video signal.

The image change detector 130 detects an amount of image change by comparing a difference between a current frame and a previous frame of an input image with a threshold.

The driving unit 140 is for adjusting the height axis of the stereo microscope, and may be configured as a linear motor.

The storage unit 150 stores left and right images under the control of the central processing unit 160. In addition, the storage unit 150 stores the parallax information corresponding to the separation distance (the final movement amount of the microscope along the focal plane) from the sample surface to the sample as a look-up table.

The central processing unit 160 calculates disparity information between the left and right images of the current frame input through the image input unit 110 and detects the amount of change in the image, and the separation distance from the previously stored sample surface to the sample corresponding to the calculated disparity information. After acquiring the control, the height axis of the stereo microscope 10 is adjusted in consideration of the separation distance to control to store the corrected image. Detailed operations and actions for adjusting the height axis of the central processing unit 160 will be described later.

The display unit 170 displays a stereoscopic image whose focus is corrected by adjusting the height axis of the stereo microscope 10.

FIG. 2 is an exemplary diagram for explaining the structure of a stereo microscope in FIG. 1. FIG.

As shown in FIG. 2, the left and right CCDs 111 and 113 receive an image in which the left and right images of the sample A are focused by the objective lenses 11 and 12 and the tube lenses 15 and 16. .

A technique for obtaining a stereoscopic image by adjusting the focus of the left and right images on the sample A will be described in detail with reference to the accompanying drawings.

3 and 4 are exemplary views for explaining a technique for adjusting the height axis of the stereo microscope for acquiring a stereoscopic image of the stereo microscope according to an embodiment of the present invention.

As shown in Figure 3 and 4, for the geometrical analysis of the stereoscopic microscope according to the present invention is defined as follows.

f1 represents the focal length of the objective lenses 11 and 12, f2 represents the focal length of the tube lenses 15 and 16, and a represents the half angle formed by the two CCDs 111 and 113. l means infinity length, p means the distance from the CCD (111, 113) to the sample, k means the separation distance (final displacement amount of the stereo microscope along the focal plane) from the sample surface to the sample.

According to the above-described definition, the central processing unit 160 describes an operation of correcting the focus by adjusting the height axis of the stereo microscope as follows.

First, if the focal point of the stereo microscope is exactly on the sample surface, p can be obtained. However, if the microscopic work using the stereo microscope (10), the position where the focus is on the sample (A) is different depending on the situation.

Therefore, in order to extract parallax information in this case, as shown in FIG. 4, the parallax between the left and right CCDs 111 and 113 with respect to the shift value k from the sample plane to the original focal length must be obtained.

Since the k value may vary depending on the specifications of the objective lenses 11 and 12, the parallax of the left and right CCDs 111 and 113 should be determined using a change in the a value and the k value which are generally given.

At this time, the central processing unit 160 calculates the distance between the left and right CCDs 111 and 113 by using Equation 1 below, and calculates the parallax information between the left and right images of the current frame in consideration of this.

Where s is the distance between the left and right CCDs, p is the distance from the left and right CCDs to the sample, and a is the half angle formed by the left and right CCDs.

Thereafter, the central processing unit 160 obtains the separation distance (final displacement amount of the stereo microscope along the focal plane) from the sample surface to the sample by the following equation (2).

 Here, dl means the parallax with respect to the left CCD, k means the separation distance (final displacement amount of the microscope along the focal plane) from the sample surface to the sample.

If in the fine work by limiting the k value that can change the maximum for the interference object such as tweezers or surgical needle, it is possible to avoid unnecessary height adjustment of the stereoscopic microscope (10).

Thereafter, the central processing unit 160 makes a lookup table of the parallax values between the left and right CCDs obtained through the above-described process, and extracts two images from the centers of the left and right images obtained through the left and right CCDs 111 and 113. After obtaining parallax information of, k value can finally be obtained from this value by referring to the lookup table, and the position of the focal plane is adjusted by controlling the height axis of the stereo microscope 10 using this.

Thus, the central processing unit 160 stores the input image corrected with the optimized focus by adjusting the height axis of the stereo microscope 10 in the storage unit 150. In addition, the central processing unit 160 outputs an image in which focus correction is completed through the display unit 170.

As described above, the stereoscopic image storage system 100 of the stereoscopic microscope of the present invention reduces eye fatigue by working while viewing a stereoscopic image having a focus control in real time, and overcomes the problem of temporal synchronization of left and right images during editing. This shortens the editing time.

5 is a flowchart illustrating a stereoscopic image storing method of a stereoscopic microscope according to an embodiment of the present invention.

Referring to Figure 5, the stereoscopic image storage method of a stereoscopic microscope according to an embodiment of the present invention

Step S110 of inputting the left and right images of the sample in real time through a stereo microscope; Binarizing the left and right images (S120) and comparing the difference between the current frame and the previous frame with a threshold to detect an image change amount (S130); When detecting the amount of change in the image, the time difference information between the left and right images of the current frame is calculated (S140), and after obtaining a distance from the previously stored sample surface to the sample corresponding to the calculated time difference (S150), the separation Adjusting the height axis of the stereoscopic microscope in consideration of the distance (S160); And storing an image in which focus is corrected by the height axis (S170).

Stereoscopic image storage method of a stereoscopic microscope according to an embodiment of the present invention through the stereo microscope (10) of the sample through the left and right CCD (111, 113) attached by changing the optical path input to the eyes of the observer The image is input in real time (S110).

The central processing unit 160 detects an image change amount through the binarization process (S120) of the input image (S130).

To this end, the central processing unit 160 detects the change amount of the image by comparing the difference between the current frame and the previous frame of the input image with a threshold to determine whether the change amount of the image is detected.

At this time, when the change of the two images exceeds the preset threshold, the central processing unit 160 detects that the image change has occurred and calculates the parallax information between the left and right images of the current frame to be input (S140).

Thereafter, the central processing unit 160 obtains the separation distance from the previously stored sample surface to the sample in response to the calculated parallax information (S150). Here, the information about the separation distance corresponding to the calculated disparity information may be easily obtained by storing the information about the separation distance from the sample plane corresponding to the parallax information to the sample as a look-up table.

The central processing unit 160 adjusts the height axis of the stereo microscope 10 in consideration of the separation distance (S160). Here, in step 150 (S150) to 160 (S160), the height axis of the stereo microscope 10 is adjusted by using Equation 1 and Equation 2 described above.

The central processing unit 160 stores the stereoscopic image in which the focus is corrected by adjusting the height axis of the stereo microscope 10 (S170).

On the other hand, if the amount of change in the image is not detected, the central processing unit 160 stores the corresponding left and right images (S180).

As described above, the present invention adjusts to a focal plane with less eyestrain by automatically adjusting in real time a focus change that may occur during surgery or a procedure using a stereoscopic microscope while viewing a 3D stereoscopic image monitor, and at the same time, the stereoscopic image is automatically Can be stored. Through this, the present invention can shorten the time required for editing when storing the image later.

In this case, since the acquired image is a moving image, a large processing time is required when the image is processed in real time. The processing time can be shortened by transmitting to the linear motor) side.

Although not shown in the drawing, in operation S170 in which an image meeting the storage condition is stored, a display using a screen or a monitor may be simultaneously performed.

Thereafter, when the amount of change between the two images exceeds the threshold again, the above processes are repeated.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention belongs may be embodied in other specific forms without changing the technical spirit or essential features of the present invention. You will understand that. Therefore, the embodiments described above are to be understood in all respects as illustrative and not restrictive.

1 is a block diagram showing a three-dimensional image storage system of a stereoscopic microscope according to an embodiment of the present invention.

FIG. 2 is an exemplary view for explaining the structure of a stereo microscope in FIG. 1. FIG.

3 and 4 are exemplary diagrams for explaining a technique for adjusting the height axis of the stereo microscope for acquiring a stereoscopic image of the stereo microscope according to an embodiment of the present invention.

5 is a flow chart showing a three-dimensional image storage method of a stereoscopic microscope according to an embodiment of the present invention.

Claims (9)

Image input unit for inputting the left and right images of the sample in real time through a stereo microscope; A signal converter configured to binarize the left and right images; An image change detector configured to detect an image change amount by comparing a difference value between a current frame and a previous frame with a threshold; When detecting the amount of change in the image, the parallax information between the left and right images of the current frame input through the image input unit is calculated, and the separation distance from the previously stored sample surface to the sample is obtained in response to the calculated parallax information. A central processor configured to store the left and right images in which the focus is corrected by adjusting the height axis of the stereo microscope in consideration of this; And Under the control of the central processing unit, a stereoscopic image storage system of a stereoscopic microscope, characterized in that it comprises a storage unit for storing the left and right images. delete The stereoscopic image storage system according to claim 1, further comprising a display unit for outputting a stereoscopic image whose focus is corrected by adjusting the height axis of the stereoscopic microscope. The stereoscopic image storage system according to claim 1, further comprising a storage unit which pre-stores disparity information corresponding to a separation distance from a sample surface to a sample under a control of the central processing unit as a look-up table. The method of claim 1, wherein the central processing unit, By calculating the distance between the left and right CD (CCD: Charge Coupled Device) of the image input unit in which the left and right images are input by Equation 1 below, the parallax information is calculated between the left and right images of the current frame in consideration of this. The stereoscopic image storage system of a stereomicroscope, characterized in that to obtain the separation distance by 2. (Equation 1)

(Equation 2)

Where s is the distance between the left and right CDs, p is the distance from the left and right CDs to the sample, a is the half angle formed by the left and right CDs, dl is the time difference with respect to the left CD, and k is the separation distance from the sample surface to the sample. Means the final amount of movement of the microscope along the focal plane. An image input step of inputting the left and right images of the sample in real time through a stereo microscope; An image conversion detection step of detecting the amount of image change by binarizing the left and right images and comparing a difference value between a current frame and a previous frame with a threshold; When detecting the amount of change in the image, the parallax information is calculated between the left and right images of the current frame to be input, and after obtaining the separation distance from the previously stored sample surface to the sample corresponding to the calculated disparity information, the distance of the stereoscopic microscope is considered. An adjusting step of adjusting the height axis; And And a storage step of storing the image whose focus is corrected by the height axis. 7. The stereoscopic image storage method according to claim 6, further comprising a display step of outputting a stereoscopic image whose focus is corrected by adjusting the height axis of the stereoscopic microscope. 7. The stereoscopic image storage method according to claim 6, further comprising a storage step of previously storing disparity information corresponding to the separation distance from the sample surface to the sample in a look-up table. The method of claim 6, wherein the adjusting step, By calculating the distance between the left and right CDD (CCD) to which the left and right images are input by the following equation (3) and calculating the parallax information between the left and right images of the current frame, and obtaining the separation distance by the following equation (4) Stereoscopic image storage method of a stereoscopic microscope, characterized in that. (Equation 3)

(Equation 4)

Where s is the distance between the left and right CDs, p is the distance from the left and right CDs to the sample, a is the half angle formed by the left and right CDs, dl is the time difference with respect to the left CD, and k is the separation distance from the sample surface to the sample. Means the final amount of movement of the microscope along the focal plane.

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