WO2009080791A1 - Procédé de détection et/ou de suivi de la position de composants caractéristiques de l'oeil - Google Patents

Procédé de détection et/ou de suivi de la position de composants caractéristiques de l'oeil Download PDF

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Publication number
WO2009080791A1
WO2009080791A1 PCT/EP2008/068104 EP2008068104W WO2009080791A1 WO 2009080791 A1 WO2009080791 A1 WO 2009080791A1 EP 2008068104 W EP2008068104 W EP 2008068104W WO 2009080791 A1 WO2009080791 A1 WO 2009080791A1
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WO
WIPO (PCT)
Prior art keywords
image
eye
characteristic
comparison object
tracking
Prior art date
Application number
PCT/EP2008/068104
Other languages
German (de)
English (en)
Inventor
Günter Meckes
Keith Thornton
Thomas Schuhrke
Original Assignee
Carl Zeiss Surgical Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Carl Zeiss Surgical Gmbh filed Critical Carl Zeiss Surgical Gmbh
Priority to JP2010538775A priority Critical patent/JP5379159B2/ja
Publication of WO2009080791A1 publication Critical patent/WO2009080791A1/fr
Priority to US12/801,689 priority patent/US8662667B2/en
Priority to US14/147,046 priority patent/US9089283B2/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/113—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for determining or recording eye movement

Definitions

  • the invention relates to a method for determining and / or tracking the position of characteristic eye components according to the preamble of claim 1 and a corresponding device according to the preamble of claim 15.
  • Such methods are known, for example, in the field of ophthalmic surgery.
  • Another example of this is a cataract surgery in which a natural lens of the human eye, which has become clouded, is replaced by an artificial lens.
  • the surgeon performs such an intervention under a surgical microscope. After a circular opening of the front capsule leaf usually the lens is smashed and sucked. Subsequently, an artificial lens is inserted into the empty capsular bag.
  • a surgical microscope for eye surgery which superimposes a pattern on the eye to be operated on.
  • the pattern may aid in setting the cutting position, but it may also serve as a guide in the placement of toric intraocular lenses, or may assist in the insertion of a suture in a corneal transplant.
  • To position the pattern in the right place it is necessary to determine the position of the pupil or iris on the eye to be treated. Ideally, the position will also be during The operation again and again determined or tracked, as it may come during the procedure to movements of the entire eye or the pupil.
  • the invention has for its object to develop a method for detecting and / or tracking the position of characteristic eye components, which is robust against interference and works independently of the individual design of the Au s reliable and fast.
  • the object is achieved according to the invention by a method for determining and / or tracking the position of characteristic ocular components with the features of claim 1 and a corresponding device having the features of claim 15.
  • an annular comparison object predefined, preferably independent of image content size, preferably with a fixed radius an annular HeII dark transition corresponding size in the recording determined to a measure of the match between the comparison object and to get the picture.
  • the comparison object is defined independently of the image content of the current image and preferably stored.
  • the correlation preferably takes place with variation of the location, so that the correlation function is a function of the location variable.
  • the values of the pixels of the image are compared with the values of the pixels of the comparison object, while the comparison object is moved over the image, ie preferably the center of the comparison object comes to lie on each pixel of the image.
  • the comparison object or the filter is pushed over the image and for each position (x ⁇ , y ⁇ ) of the center of the comparison object or the filter, preferably for which the comparison object or filter does not extend beyond the image edge, the result R (x0, y0) is calculated.
  • the result R (x0, y0) is calculated.
  • the position of the comparison object in which the maximum value of the match results is selected as the position of the characteristic eye component.
  • a position is chosen whose value of coincidence does not deviate by more than 20%, preferably less than 10%, ideally less than 5% from the maximum of the match.
  • it may be advantageous to consult further criteria such as, for example, the color of the characteristic ocular component, the slope of the increase in density or the like in order to thereby prefer a determination of the characteristic ocular component based on additional features.
  • the invention is based on the finding that characteristic eye components such as the limbus or the pupil edge represent annular transitional objects of density transitions in the images of the eye recorded during eye treatment and that these are based on comparison with a corresponding comparison object or on the convolution with a corresponding annular filter are particularly easy to find and especially reliable difference.
  • the search for an annular transition object is extremely robust to impairments that image-dominating features may corrupt the image during the operation. For example, when instruments partially obscure the eye, more severe edges emerge, which can cause great difficulties for any edge detection method, as these are detected instead of the limbus or the pupil edges.
  • the radius of the comparison object is determined in an initialization step in that the image detail to be analyzed is correlated in each case with annular comparison objects of different radii.
  • the best match for the comparison object is determined in each case and based on the comparison of the values of best match determines the absolute best match among all and thus the comparison object with the best adapted to the object to be examined size. This is done advantageously in that the respective maximum response of the correlation function, which results in the correlation with the image section, is plotted against the radius of the comparison object, resulting in a function that always forms a maximum when the radius is good matches the radius of a corresponding object in the image section to be examined.
  • the maximum that results at the largest radius associated with a maximum value corresponds to the radius of the largest annular object in the image detail and thus the limbus radius, which was detected in the course of this method.
  • This radius determined in this way is selected as a defined radius for a comparison object which is suitable for tracking the limbus and thus also the limbus center during the eye examination or else treatment, ie during the evaluation of the following images of the same object.
  • This initialization step requires a significantly greater computational effort and thus time factor than the subsequent tracking or tracking of the already known object with a comparison object of defined size. However, since it occurs only once at the beginning of the examination or treatment, this is acceptable.
  • the annular object is constructed from two concentrically arranged annular components. Because the comparison object has at least two components, it is possible to place one component each on the eye area outside the density transition, for example in the area of the eye. B. the Sclera and the second component of the lying within the density transition eye area, z. As the iris to adapt. By means of these two components, the density transition can thus be strengthened to a certain extent via a correlation with the comparison object. The optimal match with the comparison object results when the inner ring of the comparison object z. B. on the iris, the outer z. B. is located on the sclera, and thus the transition region is thus comprised in this case, the limbus edge of the two annular components.
  • the limbus center comes into coincidence with the center of the comparison object.
  • the shape feature that is, the ring-shaped or circular appearance of the limbus / pupil, but also the surface feature, the density transition
  • the two components of the comparison object are two narrow annular components which are spaced so far that none of the components comes to lie in the transition region of the density increase, but one in the region of lower density, the other in the region of high density. This allows a clear identification of the object.
  • the distance between the two annular components should preferably be selected so that the outer ring is safely outside, the inner safe within the edge of the transition object, ie the limbus or the pupil edge.
  • a suitable distance can be found empirically in this embodiment by examining a wider selection of typical images taken in such eye examinations or treatments.
  • a distance between one and five pixels, preferably two pixels was determined to be suitable.
  • a difference of the annular components of the comparison object or the correlated with these areas within the recorded eye detail takes place within the context of the correlation of the comparison object with the recording, a difference of the annular components of the comparison object or the correlated with these areas within the recorded eye detail.
  • the correlation it is preferable to provide one annular component of the comparison object with positive sign and the other with negative sign.
  • the comparison object is preferably formed, or the correlation function is chosen such that, when correlated with a gray area, that is to say a surface without a formed density transition, a neutral result, for example the value zero, is achieved. Only with a trained density transition, on which the comparison object comes to lie, results in an increased value of the correlation function.
  • the comparison object is realized by a filter with which the image is folded.
  • the annular filter is configured to yield a maximum filter response whenever the annular filter encounters an annular density transition such as the limbus or pupil edge. This maximum of the filter response is the more clearly formed, the better the agreement of the filter radius with the radius of the sought object. Therefore, according to the previously explained method, the radius of the filter is preferably determined in an initialization step before the eye tracking with a defined filter radius accompanying the examination or treatment takes place.
  • a filter is selected which has two concentrically arranged components, so that a maximum filter response can be achieved if one component completely in the range less, the other comes to rest completely in the range of higher density and thereby to be identified Transition area, such as the limbus, is included by the two components.
  • the distance between the two annular components is chosen so large that no component is in the transition region but both clearly in a density region, but at the same time so small that a very accurate determination of the radius is possible.
  • any change in the device settings which affects the size of the recorded eye segment is in the size of the annular Or the filter radius adjusted accordingly. This ensures that the radius of the reference object is automatically adapted to the recording conditions and in fact only has to be determined once in advance. For this purpose it is necessary to provide an interface between the device which alters the device parameter, for example the microscope and the device at which the correlation with the comparison object takes place.
  • the comparison object may as well be composed of annular segments. Essential for the process is only that the overall annular character of the object to be compared is preserved. In particular, it is even more reliable to use only ring segments in the edge region of the image. In the case of these ring segments, it is preferable to expose the region which lies at the edge to which the comparison object approaches in the correlation and thus also the limbus in the image. In the correlation, the comparison object thus better corresponds to the object to be found, which, as soon as it reaches the edge of the image, is partially cut off.
  • the red-extraction of the image is always used for the correlation with the comparison object. Surprisingly, it has been shown that this is the least affected by disturbances during eye treatment, since in this color separation, the red of the hemorrhages and veins with the white of the sclera forms a homogeneous surface. This makes it possible to achieve a more reliable result in this color channel than in other color separations.
  • the fact that always the red channel is used as a gray scale image so can achieve a high accuracy and the method over the use of a multicolor image or Accelerate the everlasting selection of the currently most contrasting color channel.
  • this step can also be omitted. Further, it is advantageous to homogenize the image to eliminate small, unimportant contrast transitions that would distort the result.
  • both the instructions derived from the position of the pupil or the limbus for the surgeon and also an indication of the reliability of the determined variable are superimposed on the view of the eye detail viewed by the surgeon.
  • this provides the surgeon with assistance for the operation, on the other hand, he can also directly assess the extent to which this assistance is reliable and thereby decide for himself whether to use it or whether he would rather rely on his experience.
  • Fig. 1 shows schematically an apparatus for carrying out the inventive
  • FIG. 2 an example of an advantageous ring filter superimposed on a picture of an eye-opening
  • Fig. 5 shows an eye detail and this associated examples of ring filter, which are exposed in the edge region.
  • Fig. 1 shows a schematic representation of the basic structure, as it is typical in an eye treatment in which the inventive method can be used particularly advantageous.
  • the patient's eye 1 to be treated which is illuminated by a light source (not shown), is observed firstly by means of an eyepiece 2 and secondly by means of a video camera 3, whereby the observation beam path is split by a beam splitter 4 into two observation beam paths for the observing instruments becomes.
  • the data recorded on the video camera 3 are transferred to a computing unit 5, where the data is stored and analyzed.
  • the pattern generating unit 6 can be embodied, for example, as a projector with an annular LED display which superimposes a pattern on the beam splitter 4 into the eye.
  • the eye 1 is continuously recorded digitally in very short time sequences with the camera 3 or analog recorded data is converted to digital and the digital data of the recording of the eye detail, as shown for example in Fig. 2 (to illustrate the comparison object with superimposed ring filter ) is transmitted to the computing unit 5.
  • the eye center is determined according to the method according to the invention, so that the optimal cutting position for the cut, for removing the clouded and for insertion of the artificial lens, can be determined.
  • the optimal cutting position for the cut for removing the clouded and for insertion of the artificial lens
  • the radius and the center of the limbus are determined on the basis of the start image in a very precise but relatively time-consuming initialization process.
  • Such a method is described in the patent application "Method for Determining Characteristic Properties and / or the Position of Characteristic Au”, filed at the same time by the same Applicant. The method is described in detail in the text which follows, in which a ring filter 8, as shown schematically in FIG.
  • the ring filter 8 is composed of two annular components, an outer ring 9 and an inner ring 10, which are symmetrically placed around the examined limbus 1 1 when the radius of the ring filter 8 is adapted to the limbus is normalized such that the outer ring 9 gives positive contributions to the filter response, while the inner ring 10 gives negative contributions
  • the ring filter 8 is normalized so that the filter response when convolving with a gray area is zero. This means that the two rings 9 and 10 weighted according to their filter components in the image si nd.
  • the limbus 11 is maintained, it can always, at least as long as the recording mode is not changed on the microscope, the same ring filter 8 are used.
  • This ring filter 8 is now folded with the image detail. That is, the filter response is determined at each point of the image.
  • the result of a folding with the ring filter 8 is shown by way of example in FIG.
  • the maximum filter response which is seen here as a bright area.
  • the center of this bright region or the position of the absolute maximum of the filter response corresponds to the midpoint of the limbus, which is transferred to the pattern generation unit 6.
  • the image of the filter response shown in Fig. 3 is converted into a binary image by thresholding as shown in Fig. 4.
  • the threshold used for this purpose is not determined in advance but determined from the image itself.
  • a threshold of at least 90% of the maximum value of the filter response has been found to be useful.
  • the value 90% was used as a threshold value for the illustration shown in FIG. From this, visible in Fig. 4, small white area, the center of gravity is determined.
  • This center of gravity corresponds to the sought-after limbus center, which is transferred to the pattern generation unit 6 becomes.
  • the current limbus center can be determined extremely quickly and reliably with the previously determined, suitable ring filter 8 for each further recording of the eye detail, in a manner of real time, according to this method.
  • the radius of the largest of these round objects in the image section corresponds to the radius of the limbus 11, so that the maximum in the curve or its filter radius corresponding to the largest radius of the correlated ring filter 8 corresponds to the radius of the limbus 11.
  • This is used in the following as the radius of the ring filter 8 in order to be used in all further recordings which were taken in the same examination or treatment of the same eye opening.
  • the filter also marked with I instead of the fully continuous ring filter which is marked V in the image and in the middle region of the image used is used.
  • the filter used in each case also corresponds significantly better to the limbus circle cut off in this area, even in the edge region of the eye detail. This measure significantly increases the safety of the process.
  • the surgeon still has to decide for himself whether he will follow the help he has received or rely on his feeling or experience and continue to work without the help.
  • the surgeon In order to be able to make this decision, it is extremely helpful for the surgeon if, in addition to the assistance, he is provided with information about the reliability of the displayed assistance.
  • the reliability of the method can be particularly easily derived in the method described here.
  • the value of the maximum in the image of the filter response can be used as an absolute measure of the safety of the determination of the limbus center. The higher this value, the better the correspondence of the radius of the limbus 11 and the corresponding ring filter 8, and thus the more reliable the result.
  • This security or reliability of the determined center can be represented for example in the form of a bar chart or in the form of an identification of the displayed assistance, for example as a solid, dashed or dotted object. LIST OF REFERENCE NUMBERS

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Ophthalmology & Optometry (AREA)
  • Biomedical Technology (AREA)
  • Human Computer Interaction (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Image Analysis (AREA)
  • Eye Examination Apparatus (AREA)

Abstract

L'invention est basée sur un procédé de détection et/ou de suivi de la position de composants caractéristiques de l'oeil pendant un examen ou un traitement de l'oeil. Une image numérique d'au moins une partie d'un oeil est enregistrée à l'aide de la caméra. Selon l'invention, cette image est corrélée avec un objet comparatif de forme annulaire de taille définie, la position du composant caractéristique de l'oeil étant déduite des positions de l'objet comparatif et de l'image lorsque la correspondance entre l'image et l'objet comparatif est élevée.
PCT/EP2008/068104 2007-12-21 2008-12-19 Procédé de détection et/ou de suivi de la position de composants caractéristiques de l'oeil WO2009080791A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2010538775A JP5379159B2 (ja) 2007-12-21 2008-12-19 眼の特徴的構成要素の位置を検出および／または追跡する方法
US12/801,689 US8662667B2 (en) 2007-12-21 2010-06-21 Ophthalmologic visualization system
US14/147,046 US9089283B2 (en) 2007-12-21 2014-01-03 Ophthalmologic visualization system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007055922A DE102007055922A1 (de) 2007-12-21 2007-12-21 Verfahren zur Ermittlung von Eigenschaften und/oder der Position charakteristischer Augenbestandteile
DE102007055922.6 2007-12-21

Related Parent Applications (1)

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PCT/EP2008/068107 Continuation-In-Part WO2009080792A1 (fr) 2007-12-21 2008-12-19 Procédé pour déterminer des propriétés ou pour déterminer et/ou repérer la position d'une partie caractéristique de l'oeil

Related Child Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/068103 Continuation-In-Part WO2009080790A1 (fr) 2007-12-21 2008-12-19 Procédé pour déterminer le rayon et/ou la position de parties caractéristiques de l'oeil

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WO (1) WO2009080791A1 (fr)

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DE102009030504A1 (de) 2009-06-24 2010-12-30 Carl Zeiss Surgical Gmbh Augenchirurgie-Mikroskopiesystem
US8308298B2 (en) 2009-06-24 2012-11-13 Carl Zeiss Meditec Ag Microscopy system for eye surgery
DE102011082901A1 (de) 2011-09-16 2013-03-21 Carl Zeiss Meditec Ag Bestimmen der azimutalen Orientierung eines Patientenauges
DE102011086666A1 (de) 2011-11-18 2013-05-23 Carl Zeiss Meditec Ag Justieren einer Anzeige für Orientierungsinformation in einer Visualisierungsvorrichtung
US8662667B2 (en) 2007-12-21 2014-03-04 Carl Zeiss Meditec Ag Ophthalmologic visualization system
DE102014201571A1 (de) 2014-01-29 2015-07-30 Carl Zeiss Meditec Ag Modul für die Dateneinspiegelung in einer Visualisierungsvorrichtung
CN113348487A (zh) * 2019-01-29 2021-09-03 埃韦视觉有限公司 眼睛跟踪设备及其方法

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Cited By (10)

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US8662667B2 (en) 2007-12-21 2014-03-04 Carl Zeiss Meditec Ag Ophthalmologic visualization system
US9089283B2 (en) 2007-12-21 2015-07-28 Carl Zeiss Meditec Ag Ophthalmologic visualization system
DE102009030504A1 (de) 2009-06-24 2010-12-30 Carl Zeiss Surgical Gmbh Augenchirurgie-Mikroskopiesystem
US8308298B2 (en) 2009-06-24 2012-11-13 Carl Zeiss Meditec Ag Microscopy system for eye surgery
DE102011082901A1 (de) 2011-09-16 2013-03-21 Carl Zeiss Meditec Ag Bestimmen der azimutalen Orientierung eines Patientenauges
US9560965B2 (en) 2011-09-16 2017-02-07 Carl Zeiss Meditec Ag Method for determining the azimuthal orientation of a patient eye and eye surgical apparatus therefor
DE102011086666A1 (de) 2011-11-18 2013-05-23 Carl Zeiss Meditec Ag Justieren einer Anzeige für Orientierungsinformation in einer Visualisierungsvorrichtung
DE102014201571A1 (de) 2014-01-29 2015-07-30 Carl Zeiss Meditec Ag Modul für die Dateneinspiegelung in einer Visualisierungsvorrichtung
US9820820B2 (en) 2014-01-29 2017-11-21 Carl Zeiss Meditec Ag Module for a visualization apparatus for viewing an object
CN113348487A (zh) * 2019-01-29 2021-09-03 埃韦视觉有限公司 眼睛跟踪设备及其方法

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DE102007055922A1 (de) 2009-06-25
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