RU2757645C1 - Surgical stereovision system - Google Patents

Abstract

FIELD: medical technology.

SUBSTANCE: invention relates to medical technology, namely to surgical stereovision systems for microsurgical operations, in particular in ophthalmology. The claimed surgical stereo vision system includes a monitor and an optical module with two image acquisition channels. Wherein the monitor and the optical module are installed on a floor structure - a tripod; the optical module is equipped with an electronic control device for motorized movement by means of motors along the OX, OY, OZ axes and is positioned obliquely in the frontal axis relative to the surgeon at an angle of 3° with a fixed distance of 600±10 mm to the operating field; image acquisition channels are rigidly fixed to the optical module case at an angle of 12°.

EFFECT: improvement of ergonomic and technical and operational characteristics.

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Description

The invention relates to medical technology, namely to surgical stereovision systems for microsurgical operations, in particular in ophthalmology.

It is known that the binocular microscopes traditionally used in surgery have been replaced by stereomicroscopes and various systems with 3D visualization, which make it possible to convert an optical image from the operating field into a digital one.

A representative of this kind of stereomicroscopes is LEICA M844 (LEICA M844 microscope https://www.leica-microsystems.com/products/surgical-microscopes/p/leica-m844-f40/) with the ability to display an image on the monitor screen, which is used for observation for the course of the operation by the assisting personnel, as well as for clarity in the training process.

The disadvantage of this microscope is that digital output of a stereoscopic image with 3D visualization is possible only when it is connected to ophthalmic systems such as True Vision 3D Visualization, NGENUITY, etc.

Such digital systems convert the optical image from the operating microscope into a digital one and allow working with 3D glasses or looking at the monitor, which puts much less stress on the neck and eye muscles of the doctor than when working through the eyepieces. When using these systems, the surgeon can look either through the eyepieces of the microscope or at the stereoscopic screen located away from the operating table. The disadvantage of using eyepieces is that they severely limit the surgeon's field of view and only the central part of the image is in focus, and the use of a monitor located on a separate stand away from the operating table for displaying the image causes a number of inconveniences in the surgeon's work associated with anatomically incorrect and fatigue-causing head position, and can also be disorienting in space and cause poor coordination of the surgeon's hands.

A digital stereomicroscope is known from the current state of the art (Patent RU 2687800 C1, 16.05.2019 "Digital stereomicroscope"), which partially solves the disadvantages of the previously mentioned devices.

The absence of eyepieces in a digital stereoscopic microscope allows it to be positioned outside the working area, at a sufficient height from the table, which gives the surgeon additional freedom when manipulating hands and instruments. Also, this location away from the object of observation allows you to obtain a greater depth of field, which is not achievable in traditional microscopes.

However, the operation of the optical module at different distances from the operating field is ensured by the complex precision mechanics of converging channels and focusing, which is why the optical module requires complex alignment, has a large weight and great technological complexity of manufacturing.

The closest in essential features to the claimed device is a surgical stereo vision system, including a monitor and an optical module with two image acquisition channels, described in the patent (US Patent 976641, 09.19.2017 "Surgical stereo vision systems and methods for microsurgery).

This system consists of an optical module with a display installed on one side of it, and on the other - at least one image acquisition channel (video camera), a processing system associated with the optical module, and a flexible arm, on which the module is fixed and which allows it to be manually moved. and set over the area of interest between the operator and his hands and / or tools so that the module is in the line of sight between the operator and the area of interest, with the operator looking at the display of the module with both eyes.

To display a stereo image in the infrared range, the prototype provides for the installation of separate infrared sensing elements on the optical module, and for measuring depth - separate depth measurement cameras.

The prototype has the following disadvantages.

Since the optical module is located in the space where the surgeon manipulates his hands and instruments, the risk of touching the module creates restrictions on the freedom of hand movement, and also there is a possibility of an accidental displacement of the module position, which can lead to a loss of stereo image clarity settings.

With each change in the position of the optical module, the stereoscopic angle changes, which leads to the need for constant adaptation to the stereoscopic image: adjusting the stereoscopic angle and focus, which increases the setup time.

In addition, the presence of elements separately installed on the optical module complicates the design and leads to the lack of autonomy of the system as a whole.

The task of the proposed device is to create a surgical stereovision system, free from these disadvantages.

The technical result of the proposed invention is to improve ergonomic and technical and operational characteristics.

The technical result is achieved due to the fact that in the proposed device containing a monitor, an optical module with two image acquisition channels, the monitor and the optical module are installed on a floor structure - a tripod; the optical module is equipped with an electronic control device for motorized movement using motors along the ΟΧ, ΟΥ, OZ axes and is tilted in the frontal axis relative to the surgeon at an angle of 3 ° with a fixed distance of 600 ± 10 mm to the operating field; image acquisition channels are rigidly fixed to the optical module case at an angle of 12 °.

The significance of the structural differences of the proposed system to achieve the claimed technical result is justified by the following:

The optical module, equipped with an electronic control device for changing its position, avoids manual control, which is difficult because the module is located at a sufficiently high height. Also, the proposed design allows you to adjust the device depending on the anthropometric characteristics of the operating surgeon.

The distance from the optical module to the operating field is fixed at 600 ± 10 mm, which significantly improves the ergonomics of the workplace, giving more freedom to the surgeon's hands, and eliminates complex mechanics inside the optical module, while maintaining good image quality.

The monitor, adjustable in height and tilt, is mounted on a tripod stand at the surgeon's eye level. The sustained distance from the surgeon's eyes to the monitor screen provides improved 3D visualization, as well as benefits in ergonomics, ease of use and reduced surgeon fatigue (Fig. 1).

In the proposed surgical stereovision system, the left and right image acquisition channels are rigidly fixed to the optical module body at an angle of 12 °, which allows one-time adjustment of the optical axes and focusing of both channels. Further focus adjustment and convergence of the optical axes occurs simultaneously due to the motorized movement of the optical module in the vertical plane. The use of photosensitive matrices as receiving devices allows to reduce the backlight power, which reduces the risk of phototoxic damage to the patient's retina.

To eliminate glare, the new device uses the inclination of the optical module in the frontal axis relative to the surgeon at an angle of 3 °, at which reflections from the horizontal sections of the surgical field, giving glare, will not fall into the entrance windows. This angle is calculated by the formula ∝ = atan (R / D), where R is the radius of the entrance window of the optical module, D is the distance from the optical module to the operating field (600 mm).

Figure 2 shows a structural and functional diagram of the proposed surgical system for stereo vision, with the following designations:

1 - a tripod equipped with a system control device that allows you to change the position of the optical module in 3 coordinates, adjust the image by changing the settings for lighting, magnification, color correction, as well as transfer the devices to various preset modes;

2 - optical module;

3 - monitor.

Claims (1)

Surgical stereovision system, including a monitor, an optical module with two image acquisition channels, characterized in that the monitor and the optical module are mounted on a floor structure - a tripod; the optical module is equipped with a device for electronic control of motorized movement using motors along the axes OX, OY, OZ and is tilted in the frontal axis relative to the surgeon at an angle of 3 ° with a fixed distance of 600 ± 10 mm to the operating field; image acquisition channels are rigidly fixed to the optical module case at an angle of 12 °.

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