US20100103247A1 - An imaging device and method - Google Patents

An imaging device and method Download PDF

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Publication number
US20100103247A1
US20100103247A1 US12/526,886 US52688608A US2010103247A1 US 20100103247 A1 US20100103247 A1 US 20100103247A1 US 52688608 A US52688608 A US 52688608A US 2010103247 A1 US2010103247 A1 US 2010103247A1
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United States
Prior art keywords
display
operator
images
image
work site
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Abandoned
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US12/526,886
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English (en)
Inventor
Beng Hai Lim
Timothy Poston
James Kolenchery Rappel
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National University of Singapore
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National University of Singapore
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Priority to US12/526,886 priority Critical patent/US20100103247A1/en
Assigned to NATIONAL UNIVERSITY OF SINGAPORE reassignment NATIONAL UNIVERSITY OF SINGAPORE ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LIM, BENG HAI, RAPPEL, JAMES KOLENCHERY, POSTON, TIMOTHY
Publication of US20100103247A1 publication Critical patent/US20100103247A1/en
Abandoned legal-status Critical Current

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    • 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
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • G02B30/24—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 involving temporal multiplexing, e.g. using sequentially activated left and right shutters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/367—Correlation of different images or relation of image positions in respect to the body creating a 3D dataset from 2D images using position information
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles
    • 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
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Definitions

  • the present invention relates to the fields of stereo microscopy and digital stereo display.
  • a surgical flap includes underlying tissue, and blood vessels which the surgeon joins to vessels in the target site. Since the vessels involved may be less than 1 mm in diameter, the accurate placement of six small sutures for a join where the blood flow without leaking requires magnification. This means more than merely an enlarged view. Dexterity in suturing requires depth perception, so that the needle can penetrate at a correct angle, including angles away from the viewer. The depth cue of parallax is unavailable through a microscope with a fixed viewpoint, perspective is unhelpful in a view with no straight lines and limited focal depth, and occlusion cannot show how far above the needle is above the tissue.
  • stereopsis It is essential to have the depth cue of stereopsis, with a lens system for each eye delivering views from different angles, to the two eyepieces.
  • a pair of views that permit stereopsis as a stereo view or stereoscopic view, or as one having stereo. If the difference is correctly structured, the user's brain integrates the two views into a single scene with perceived depth, just as for direct vision with two eyes. Much surgery depends critically on this, as does dexterous work in other domains, such as industrial micro-assembly.
  • An alternative to enlarged display though optical lenses is to show on an electronic display the output of a real-time camera, digital or analogue.
  • This technology is available, but in forms that fail to support stereo, that require the user to look away from the hands at a rotated view, or have both these problems. (A view rotated from the natural direction requires the user to handle the fact that “to turn the instrument in the image this way, I must turn my hands that way,” adding to the cognitive difficulty, strain and learning curve of the task.
  • the invention provides an imaging system comprising an image capture apparatus, arranged to capture a stereoscopic image of an operator work site, in communication with a display system; the display system arranged to receive and display said stereoscopic image on a display screen to said operator; wherein said display system is arranged such that the display screen is placed intermediate the operator's eyes and the work site.
  • the invention provides a method for displaying an image, comprising the steps of: capturing a stereoscopic image of an operator work site; communicating said image to a display system; displaying said stereoscopic image on a display screen placed intermediate the operator's eyes and the work site.
  • a panel is placed over the work site, at a height sufficient to allow the insertion of instruments or tools.
  • a fast display LCD or OLED, or other such technologies as they arise, and which will be clear to the skilled person
  • the two distinct images may come from two cameras, or alternatively by suitable mirror arrangements from a single camera.
  • the camera or cameras may be entirely under the panel, or partially protrude from under it.
  • the operators or operators may wear shutter glasses which block out alternate views, leaving visible the view appropriate to each eye.
  • Motions of an operator's head may make small differences in the visually apparent placement in 3-dimensional space of the objects in the work site, natural or inserted, but may still permit effective coordination of manual control of tools and instruments with what is apparent to the visual system.
  • FIG. 1 shows a display panel 100 over a work site 110 , using a rigid support 160 .
  • the display panel 100 may be an LCD panel, and in this case is support by a flexible arm 160 .
  • the arm is sufficiently strong to support the panel 100 , and also flexible enough to be moved so as to position the panel for the convenience of the operator.
  • the work site 110 involves micro 0 -surgery, whereby an artery 140 is undergoing re-attachment.
  • the artery 140 and scalpel 150 are illustrative of the items present on a work site 110 , appearing enlarged as arteries 141 and scalpel tip 151 on the display panel 100 , by an enlargement factor adjustable from 2 to a number on the order of 20. (Human fine motor control limits the useful degree of enlargement. For most practitioners, magnification above 15-fold may display tremor.)
  • the height of the panel 100 above the work site 110 may be adjustable or fixed in a particular implementation, but may vary between 2 cm for high enlargement to 20 cm for smaller magnification factors. Particular implementations may vary the panel size for applications that use particular ranges of magnification, but our initial preferred embodiment uses a panel approximately 15 cm ⁇ 15 cm square at a height of approximately 8 cm above the work site.
  • the stereoscopic effect is achieved by alternating left and right views with synchronized shutter glasses 130 , worn by the operator/surgeon to control which eye sees which view, but a glasses-free ‘autostereo’ solution may also be used if it has sufficient resolution and supports stereo over a wide enough range of head motion for user comfort.
  • a glasses-free ‘autostereo’ solution may also be used if it has sufficient resolution and supports stereo over a wide enough range of head motion for user comfort.
  • real-time holographic cameras and enlarged holographic views become practical, they may be used within the ambit of the present invention.
  • the views shown on the display 100 are taken by one or two cameras 120 .
  • An exemplary two-camera configuration is shown in FIG. 2 .
  • a left-eye camera 220 and a right-eye camera 221 lie under the display panel 200 , pointing at mirrors 250 .
  • Light from the work site 210 travels, via the mirrors 250 , to the cameras 220 and 221 which create images to be shown on the display panel 200 .
  • the dashed lines 260 show paths along which light is reflected to cameras 220 and 221 .
  • the placement of the mirrors creates the disparity of angle between the two views, geometrically analogous to the difference between the viewing directions between two unassisted human eyes, which creates the stereoptic perception of depth when the views are shown on the display 200 and channeled to the appropriate eyes by the shutter glasses 130 , or other stereo display mechanism used in the chosen embodiment.
  • an angle of approximately 6° between the lines 260 matching the angular disparity of views of an object a half-meter distant from eyes at a representative 6 cm separation in the human face, will give a satisfactory experience of depth perception to the user, with an apparent visual position for the center of the work site 210 that is substantially in agreement with the position at which the user experiences it via the hands.
  • the positions and angles of the mirrors 250 may be made user-adjustable, to customize the viewing experience to the preferred head distance and to human variation in eye separation.
  • the apparent depth may also be modified in software, by moving the left and right images in opposite sideways senses across the display, in ways familiar to those skilled in the art.
  • the mirrors 250 are planar, serving only the function of redirecting the view of cameras 220 and 221 , but optionally they may be curved, contributing to the focusing geometry by which the images are created.
  • the images collected by the cameras are precisely those that would be collected by cameras in the locations 370 and 371 , unobstructed by the mirrors 350 or the display panel 300 .
  • the cameras 320 and 321 thus correspond to ‘virtual cameras’ in these positions 370 and 371 .
  • each camera axis should be at right angles to that screen. This is possible for the virtual cameras 470 and 471 , by the use of 45° mirror angles 450 as shown in FIG.
  • a projective transformation in software can adjust the camera views to those that would be acquired by parallel-axis cameras.
  • software must transform the camera image to compensate for the optical view reversal by the mirror, so that the direction of any motion in the displayed image agrees substantially with the direction of the real-world motion to which it corresponds.
  • FIG. 5 shows a configuration to be placed under the display panel 100 , with a horizontal camera 500 directed at a mirror directly over the work site 550 .
  • the mirror has two planar sections 510 and 511 , which are close to the 45° angle previously shown but angled slightly inward.
  • mirror angle depends on the desired placement of the virtual cameras 520 and 521 , which ‘see’ along the virtual rays 561 what the real camera sees along the reflected real rays 560 : the angle may be found by computations (involving also the chosen distances from camera 500 to the mirror sections 510 and 511 , and the distance above the work site to be imaged by both views) which are straightforward to one skilled in the art.
  • This configuration necessarily requires a software adjustment to create the images that would be acquired by parallel cameras, as well as software reversal of the mirror reversal.
  • the display panel 100 It is not essential that the display panel 100 be horizontal. While this is most convenient where (as in certain surgical procedures) a single stereoscopic view is to be shared between two collaborating users, a more comfortable view may in some circumstances be obtained by tilting the display panel toward the viewer, who can then look orthogonally at it from a less forward posture. The precise tilt appropriate is a choice that depends on ergonomic factors such as preferred posture for sustained micro-dexterous work, and requires careful study for each application. It will in some cases be preferable to make the angle adjustable, so that users can adapt it to their own comfort and convenience according to habit and body type.
  • an alternative model would include two display panels tilted like the sides of a roof and meeting along the ridge line, each showing the same stereoscopic view from the same camera or pair of cameras. This is preferred to giving each panel a distinct stereoscopic view, both for reasons of economy and to ensure that each user sees exactly the same view (though slightly differently distorted by individual departures from the reference eye positions for which the system is optimized).
  • Such an identity of stereoscopic view minimizes the risk of miscommunication between surgeons, or between instructor and trainee, as to what a particular utterance refers to: for example, if a scalpel tip is used as a pointer, the same physical point will appear exactly behind it in both views.
  • the views correspond to magnified versions of those seen by a pair of eyes set in a face looking vertically downward.
  • FIG. 1 illustrates, however, the surgeon's eyes are typically not directly above the surgical site. Exactly vertical views would thus create a certain degree of mismatch: for example, an object moved vertically in the physical scene would seem in the virtual scene to rise straight toward the viewer, in disagreement with the user's sense of direction in the control of his or her hands. For a single viewer this may be corrected by simply tilting the display screen, replacing the vertical direction by the straight line from the work site to bridge of the surgeon's eyes.
  • the required frame rate of 240 per second seems unlikely for LCD technology at this time, but is well within the potential capability of OLED displays.
US12/526,886 2007-02-13 2008-02-13 An imaging device and method Abandoned US20100103247A1 (en)

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US12/526,886 US20100103247A1 (en) 2007-02-13 2008-02-13 An imaging device and method
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