WO2022062383A1 - 一种显微手术辅助装置 - Google Patents

一种显微手术辅助装置 Download PDF

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Publication number
WO2022062383A1
WO2022062383A1 PCT/CN2021/089570 CN2021089570W WO2022062383A1 WO 2022062383 A1 WO2022062383 A1 WO 2022062383A1 CN 2021089570 W CN2021089570 W CN 2021089570W WO 2022062383 A1 WO2022062383 A1 WO 2022062383A1
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WIPO (PCT)
Prior art keywords
lens group
display
auxiliary device
eye
naked
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PCT/CN2021/089570
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English (en)
French (fr)
Inventor
王吉龙
何进
李剑月
杜雷
朱诚杰
Original Assignee
苏州速迈医学科技股份有限公司
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Application filed by 苏州速迈医学科技股份有限公司 filed Critical 苏州速迈医学科技股份有限公司
Priority to US18/027,646 priority Critical patent/US20230372048A1/en
Priority to EP21870772.7A priority patent/EP4212124A4/en
Priority to JP2023518807A priority patent/JP2023542384A/ja
Publication of WO2022062383A1 publication Critical patent/WO2022062383A1/zh

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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
    • A61B90/20—Surgical microscopes characterised by non-optical aspects
    • A61B90/25—Supports therefor
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/0004—Microscopes specially adapted for specific applications
    • G02B21/0012—Surgical microscopes
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/06—Means for illuminating specimens
    • G02B21/08—Condensers
    • G02B21/082—Condensers for incident illumination only
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B21/00—Microscopes
    • G02B21/18—Arrangements with more than one light path, e.g. for comparing two specimens
    • G02B21/20—Binocular arrangements
    • G02B21/22—Stereoscopic arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/309—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using white LEDs
    • 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

Definitions

  • the invention relates to the technical field of medical equipment, in particular to an auxiliary device for microsurgery.
  • Microsurgery is a delicate operation with the help of magnifying equipment.
  • the tissue is enlarged, which not only can see the small tissue that cannot be seen with the naked eye during the operation, but also has a three-dimensional sense, which is beneficial to the surgeon. Precisely dissect, cut and suture various tissues.
  • surgeons who are very experienced in suturing blood vessels with the naked eye if they do not have special training, are still very unaccustomed to microsurgery at the beginning, and often have hand-eye incoordination, which affects the operation under the microscope. Therefore, it is necessary to Skillfully operating under the operating microscope requires a period of training and adaptation.
  • the exit pupil position of the eyepiece of the surgical microscope is fixed, and the diameter of the exit pupil is generally only about 2mm, in order to observe the complete field of view of the object surface, the operator needs to keep the pupil of the eye at the exit pupil position of the eyepiece for a long time, even if the design of the microscope conforms to the Ergonomic, holding the same posture for a long time is also easy to fatigue the operator. For some special affected areas, it is necessary to tilt the operating microscope greatly for observation. At this time, the operator still needs to follow the eyepiece to adjust his position. Although some operating microscopes are equipped with compensation structures, the compensation range is mostly limited, and operation and adjust.
  • the lens needs an adjustment process when the human eye observes objects with large differences in distance, the eyes need to be re-adjusted when the operator's line of sight leaves the monitor that is far away to observe and adjust the parameters of the microscope or other auxiliary equipment that is close in distance. focus, which will adversely affect the continuity of observation.
  • the loss of light energy caused by polarization will also reduce the subjective brightness of the human eye, which may easily cause visual fatigue.
  • CN109147913A discloses a display system and method for dual-channel synchronous miniature images of an operating microscope.
  • the system includes an operating microscope, a processing device, a naked-eye 3D display device and a projection screen.
  • the processing device includes two output ends and a processing module; the processing module receives the surgical image , perform spatial transformation according to the three-dimensional vertex coordinates of the primitives to obtain a rendered image, obtain a single depth image according to the rendered image, synthesize a multi-viewpoint image according to the single depth image, and output the multi-viewpoint image to the naked eye synchronously through two output terminals 3D display devices and projection screens.
  • This technical solution can improve the learning and communication effect of surgery based on an operating microscope, but it requires data transformation and processing of the collected images, which greatly increases the image delay. It can only be used for learning and communication, and cannot be applied to actual microsurgery operations.
  • CN111045202A discloses a surgical microscope, which includes an illumination system, an imaging system and an image processing system. Simultaneous imaging using multiple optical imaging subsystems, different optical imaging systems correspond to different imaging functions, and two large depth-of-field, high-resolution left and right eye views are obtained through multi-optical multi-function image fusion calculation.
  • the resulting 3D image of the object is 3D interlaced, the depth of the final 3D image is significantly reduced, the clarity is effectively improved, and it has the characteristics of large depth of field and high resolution. Physician's application needs.
  • This solution also requires complex data processing of the acquired images, which is difficult to meet the low-latency requirements of microsurgery.
  • an eight-light path imaging system is required, which has a complex structure and extremely high manufacturing costs.
  • the purpose of the present invention is to provide an auxiliary device for microsurgery, the observer can directly perform surgical operations by observing the naked-eye 3D display, the overall structure of the device is simple, the system delay is small, the fixing method of the naked-eye 3D display can be selected according to the field needs, and the fixing structure Simple and reliable, if necessary, additional observation parts can be used to realize traditional visual observation.
  • the present invention provides an auxiliary device for microsurgery, which includes a mirror body and a naked-eye 3D display, the mirror body is provided with an imaging unit, and the imaging unit includes a large objective lens group,
  • the variable magnification lens group, the first lens barrel objective lens and the photosensitive element, the large objective lens group, the variable magnification lens group, the first lens barrel objective lens and the photosensitive element are sequentially in the same observation optical path, and the large objective lens group includes at least one positive lens group and at least one negative lens group, the positive lens group and the negative lens group are arranged on the same optical axis, the distance between the positive lens group and the negative lens group can be adjusted and set, the naked-eye 3D display is connected with the photosensitive element,
  • the distance between the naked-eye 3D display and the observer is between 400 and 1200 mm, and the viewing angle range of the naked-eye 3D display is not less than 120 degrees.
  • the positive lens group includes at least two optical lenses of different materials
  • the negative lens group includes at least two optical lenses of different materials
  • the negative lens group is close to the object to be observed
  • the The negative lens group includes an outer side surface and an inner side surface, the outer side surface and the inner side surface are both concave surfaces, and the absolute value of the radius of curvature of the outer side surface is smaller than the absolute value of the radius of curvature of the inner side surface.
  • the adjustment range of the distance between the positive lens group and the negative lens group is not less than 6mm.
  • the lens body is further provided with at least one illumination unit, and the illumination light of each illumination unit can illuminate the object to be observed through the large objective lens group, and enter the large objective lens group.
  • the illumination light direction is parallel to the optical axis direction of the large objective lens group;
  • the illumination unit includes a light source assembly, a condenser lens group, a diaphragm and a projection lens group sequentially in the same illumination light path, and the light source assembly includes at least one LED light source, At least one of the LED light sources in the light source assembly can be driven to switch to the illumination light path to illuminate the object to be observed.
  • the projection lens group includes at least one first lens, and the first lens can be driven to move along its optical axis;
  • the variable magnification lens group is a continuously variable magnification structure, which includes At least two groups of second lenses can be driven to move along respective optical axis directions.
  • it further includes a transmission device, and the projection lens group and the variable magnification lens group are linked by the transmission device.
  • the microsurgery auxiliary device further includes an observation unit, the observation unit includes an eyepiece, a turning lens group and a second lens barrel objective lens, and the imaging unit further includes The beam splitter group, in the same observation optical path, the light passes through the large objective lens group and the variable magnification lens group in turn to reach the beam splitter group, the beam splitter group splits the light into two parts, and a part of the light passes through the first The lens barrel objective lens reaches the photosensitive element, and another part of the light passes through the second lens barrel objective lens, the turning lens group and the eyepiece in sequence.
  • the bracket in a further embodiment, it also includes a bracket, the bracket includes a base, a support rod vertically installed on the base, a large cross arm rotatably installed on the support rod, The small horizontal arm on the large horizontal arm and the balance arm rotatably installed on the small horizontal arm, the mirror body and the observation unit are installed on the balance arm; the naked-eye 3D display is installed on the large horizontal arm arm or support rod; or the microsurgery auxiliary device further includes a base body and a connecting rod mounted on the base body, the naked-eye 3D display is installed at one end of the connecting rod, and the naked-eye 3D display can The seat body and the connecting rod are placed on the ground or suspended from the roof.
  • the other end of the connecting rod is movably mounted on the base, the connecting rod can be driven to move along its axis direction, and/or the connecting rod can be driven to Its axis is the axis of rotation.
  • the size of the naked-eye 3D display is between 12-16 inches;
  • the microsurgery auxiliary device further includes an acquisition device, a processing device and a driving device, and the acquisition device can be configured to acquire The human eye position information of the observer, the processing device is configured to control the action of the driving device according to the collected human eye position information, and adjust the display angle of the naked-eye 3D display.
  • the microsurgery auxiliary device of the present application has one or more of the following beneficial effects:
  • the microsurgery auxiliary device of the present application enables the observer to directly perform surgical operations by observing the naked-eye 3D display, the overall structure of the system is simple, there is no need to perform complex data processing on the image, and the system delay is small;
  • the naked-eye 3D display is set in the range of 400-1200 mm, which is close to the observation distance of the commonly used clinical equipment.
  • the human The eyes do not need to focus repeatedly, saving time and effort; there is no loss of brightness, reducing visual fatigue.
  • the closer viewing distance conforms to the approaching habit of human eyes when distinguishing details; the naked-eye 3D display can choose different fixing methods according to different site conditions and usage habits, and the fixing structure is simple and reliable;
  • microsurgery auxiliary device of the present application which can realize convenient observation of different magnifications for tissue structures of different depths;
  • the large objective lens with variable focal length can easily change the position of the focal plane, that is, the working distance of the operation, covering the required surgical depth, and at the same time, the double optical path zoom lens group realizes different magnifications. Observation, the whole and local observation of the affected area can be carried out;
  • microsurgery auxiliary device of the present application if necessary, a visual observation component can be attached to realize traditional visual observation;
  • the optical axis of the illumination optical path is arranged in parallel with the optical axis of the large objective lens, which can reduce the reflection loss, and can be arranged into a symmetrical double optical path to enhance the illumination intensity, compress the lateral volume of the system, and facilitate the lens balance;
  • the projection lens group and the variable magnification lens group can be linked together, so that the size of the illumination spot can be adjusted at the same time when the magnification is changed for observation, and the possible light damage to the tissue outside the field of view can be reduced.
  • the naked-eye 3D display can also automatically track the eyes of the observer to ensure the best observation angle.
  • FIG. 1 is a schematic structural diagram of a microsurgery auxiliary device provided by an embodiment of the application.
  • FIGS. 2a and 2b are schematic diagrams of the optical path principle of the microsurgery auxiliary device provided by the embodiment of the application in two states when the distance between the positive lens group and the negative lens group is adjusted;
  • FIG. 3 is a schematic diagram of the optical path principle of the microsurgery auxiliary device provided by the embodiment of the present application when an observation unit is provided;
  • FIG. 4 is a schematic structural diagram of the microsurgery auxiliary device provided by the embodiment of the application when an observation unit is provided;
  • FIG. 5 is a schematic diagram of the application state of the microsurgery auxiliary device provided in the embodiment of the application in dental clinic;
  • Fig. 6a and Fig. 6b are schematic diagrams of the optical path principle of the microsurgery auxiliary device provided by the embodiment of the application when dual illumination optical paths are provided;
  • FIG. 7 is a schematic diagram of the optical path principle of the microsurgery auxiliary device provided by the embodiment of the application when the projection lens group and the variable magnification lens group are linked;
  • FIG. 8 is a schematic diagram of the visual angle and distance of the naked-eye 3D display of the microsurgery auxiliary device provided by the embodiment of the present application;
  • 9a-9c are schematic structural diagrams of the microsurgery auxiliary device provided by the embodiment of the application when the naked-eye 3D display is installed on the bracket;
  • 10a and 10b are schematic diagrams of installation of the microsurgery auxiliary device provided by the embodiment of the present application when the naked-eye 3D display is installed outside the bracket.
  • FIG. 1 is a schematic structural diagram of the microsurgery auxiliary device provided by the embodiment of the application
  • FIGS. 2a and 2b are the adjustment of the positive lens group and the negative Schematic diagram of the optical path principle in two states when the distance between the lens groups is
  • FIG. 5 is a schematic diagram of the application state of the microsurgical auxiliary device provided by the embodiment of the application in the dental clinic
  • FIG. 1 is a schematic structural diagram of the microsurgery auxiliary device provided by the embodiment of the application
  • FIGS. 2a and 2b are the adjustment of the positive lens group and the negative Schematic diagram of the optical path principle in two states when the distance between the lens groups is
  • FIG. 5 is a schematic diagram of the application state of the microsurgical auxiliary device provided by the
  • FIG. 7 is a schematic diagram of the optical path principle of the microsurgery auxiliary device provided by the embodiment of the application when the projection lens group and the variable magnification lens group are linked together;
  • FIG. 8 is the application Schematic diagrams of the viewing angle and distance of the naked-eye 3D display of the microsurgery auxiliary device provided by the embodiment;
  • the present application provides an auxiliary device for microsurgery, which includes a lens body 1 and a naked-eye 3D display 2 .
  • the lens body 1 is provided with an imaging unit 10.
  • the imaging unit 10 includes a large objective lens group 11, a variable magnification lens group 12, a first lens barrel objective lens 13 and a photosensitive element 14.
  • the group 12 , the first lens barrel objective lens 13 and the photosensitive element 14 are sequentially located in the same observation optical path 15 , as shown in FIG. 1 or FIG. 2 a and FIG. 2 b .
  • the large objective lens group 11 includes at least one positive lens group 111 and at least one negative lens group 112 , the positive lens group 111 and the negative lens group 112 are arranged on the same optical axis, and between the positive lens group 111 and the negative lens group 112 The distance can be adjusted, and the adjustment range of the distance between the positive lens group 111 and the negative lens group 112 is not less than 6 mm.
  • the large objective lens with variable focal length can easily change the position of the focal plane, that is, the working distance of the operation, covering the required surgical depth.
  • the implementation method is to change the distance between the positive lens group 111 and the negative lens group 112, and the adjustment range of the working distance is proportional to the distance range between the positive lens group 111 and the negative lens group 112, as shown in Figures 2a and 2b.
  • the positive lens group 111 includes at least two optical lenses of different materials
  • the negative lens group 112 includes at least two optical lenses of different materials
  • the negative lens group 112 is close to the object to be observed
  • the negative lens group 112 includes
  • the outer side surface 1121 and the inner side surface 1122 are both concave surfaces, and the absolute value of the radius of curvature of the outer side surface 1121 is smaller than the absolute value of the radius of curvature of the inner side surface 1122 .
  • the present application preferably adopts the design of binocular observation optical paths 15 .
  • Each observation optical path 15 is provided with a variable magnification lens group 12 , a first lens barrel objective lens 13 and a photosensitive element 14 , and the two observation optical paths 15 share a large objective lens group 11 .
  • the double optical path variable magnification lens group 12 realizes observation of different magnifications, and can observe the whole and part of the affected area.
  • the variable magnification lens group 12 is preferably an afocal Galilean structure, which can be variable magnification in steps or continuously.
  • the variable magnification lens group 12 is a continuous variable magnification structure, it includes at least two groups of second lenses 121 , and the second lenses 121 can be driven to move along respective optical axis directions.
  • the combination of the variable magnification lens group 12 and the variable focal length objective lens enables the microsurgery auxiliary device of the present application to realize convenient observation of different magnifications for tissue structures at different depths.
  • the microsurgery auxiliary device of the present application further includes a bracket 6 .
  • the bracket 6 includes a base 61 , a support rod 62 vertically mounted on the base 61 , and a large transverse arm 63 rotatably mounted on the support rod 62 .
  • the small cross arm 64 rotatably installed on the large cross arm 63 and the balance arm 65 rotatably installed on the small cross arm 64
  • the mirror body 1 is installed on the balance arm 65, as shown in the figure 4 or as shown in Figures 9a-9c.
  • the naked-eye 3D display 2 is connected to the photosensitive element 14 .
  • the size of the naked-eye 3D display 2 is between 12-16 inches.
  • the visual distance between the naked-eye 3D display and the observer 5 is between 400 mm and 1200 mm, and the viewing angle of the naked-eye 3D display is not less than 120 degrees, preferably, the viewing angle is not less than 90 degrees.
  • the naked eye 3D display can choose different fixing methods according to different site conditions and usage habits, and the fixing structure is simple and reliable.
  • the naked-eye 3D display can be installed on the upper surface of the large horizontal arm 63 and located above the support rod 62, as shown in FIG.
  • the naked-eye 3D display can be either rotatably installed, fixed installation, or detachable or movable installation.
  • the naked-eye 3D display 2 may not be installed on the bracket 6 of the auxiliary device, but can also be placed on the ground through the base 21 and the connecting rod 22, as shown in FIG. 10a, or suspended on the roof, as shown in FIG. 10b shown.
  • the naked-eye 3D display 2 is installed on one end of the connecting rod 22, the other end of the connecting rod 22 is movably installed on the base 21, and the connecting rod 22 can be driven along its axis direction relative to the
  • the base body 21 moves or rotates with its axis as a rotation axis, so that the installation position of the naked-eye 3D display 2 can be adjusted.
  • the naked-eye 3D display is set in the range of 400-1200 mm, which is close to the observation distance of commonly used clinical equipment. When the observer 5 switches sight between the observation display and other equipment, the human eye does not need to adjust the focus repeatedly, saving time and effort. No loss of brightness, reduce visual fatigue. At the same time, the closer viewing distance is in line with the approaching habit of the human eye when recognizing details.
  • the present application adopts a naked-eye 3D display as the naked-eye 3D display 2, so that the observer 5 can directly perform surgical operations by observing the naked-eye 3D display.
  • the overall structure of the device is simple, complex data processing of images is unnecessary, and the system delay is small.
  • the use of the naked-eye 3D display makes it unnecessary for the viewing angle of the observer 5 to be directly facing, and the object to be observed can be clearly observed within a certain viewing angle range, and the orientation of the display does not need to be adjusted.
  • the doctor is usually located at the six o'clock position. When the maxillary molars need to be checked or operated temporarily, they may move to the nine o'clock and three o'clock positions. At this time, the angle of the monitor does not need to be adjusted. Observe, as shown in Figure 5.
  • the microsurgery auxiliary device further comprises an acquisition device, a processing device and a driving device
  • the acquisition device can be configured to acquire the human eye position information of the observer 5
  • the processing device is configured It can control the action of the driving device according to the collected human eye position information, and adjust the display angle of the naked-eye 3D display 2, so that the naked-eye 3D display 2 can automatically track the eyes of the observer 5 and rotate accordingly, so as to ensure optimal observation angle.
  • the lens body 1 is also provided with at least one lighting unit 3 , and the lighting light of each lighting unit 3 can illuminate the object to be observed through the large objective lens group 11 , and the lighting light entering the large objective lens group 11
  • the direction is parallel to the optical axis direction of the large objective lens group 11, which can reduce the reflection loss, and can be arranged into a symmetrical double illumination optical path 35 to enhance the illumination intensity, compress the lateral volume of the system, and facilitate the balance of the mirror body, as shown in Figures 6a and 6b .
  • the illumination unit 3 includes a light source assembly 31 , a condenser lens group 32 , a diaphragm 33 and a projection lens group 34 that are sequentially located in the same illumination light path 35 .
  • the light source assembly 31 includes at least one LED light source 311, and at least one of the LED light sources 311 in the light source assembly 31 can be driven to switch to the illumination light path 35 to illuminate the object to be observed.
  • the light source assembly 31 also includes at least one monochromatic light source (for fluorescent mode), which can be switched with the white light source to enter the illumination light path 35 .
  • the projection lens group 34 includes at least one first lens 341, and the first lens 341 can be driven to move along the direction of its optical axis.
  • the microsurgery auxiliary device of the present application may further set a transmission device between the projection lens group 34 and the variable magnification lens group 12 to realize the projection lens group 34 and the variable magnification lens group 12 Linkage, as shown in FIG. 7 , the transmission device is not directly drawn in the figure, and the linkage relationship between the projection mirror group 34 and the variable magnification mirror group 12 is schematically represented by a broken line.
  • the transmission device is not directly drawn in the figure, and the linkage relationship between the projection mirror group 34 and the variable magnification mirror group 12 is schematically represented by a broken line.
  • the projection lens group 34 is adjusted accordingly, so that the illumination spot can be reduced accordingly, reducing the risk of light damage to tissues outside the field of view, and at the same time, it is also beneficial to improve the illuminance inside the field of view and compensate for the subjective observation of the human eye during high magnification observation. Decrease in brightness.
  • the microsurgery auxiliary device of the present application can also install an observation unit 4 on the lens body 1 to realize traditional visual observation, as shown in FIG. 4 .
  • the observation unit 4 includes an eyepiece 41 , a turning lens group 42 (or a prism group) and a second lens barrel objective lens 43 .
  • the imaging unit 1 further includes a spectroscope group 16. In the same observation optical path 15, light passes through the large objective lens group 11 and the variable magnification lens group 12 in turn to reach the spectroscope group 16, and the spectroscope group 16 separates the light.
  • the light is split into two parts, one part of the light passes through the first lens barrel objective lens 13 to reach the photosensitive element 14 in sequence, and the other part of the light rays sequentially passes through the second lens barrel objective lens 43 , the turning lens group 42 and the eyepiece 41 .
  • the observer 5 can observe the object to be observed through the naked-eye 3D display 2, and can also observe the object to be observed by using a traditional visual observation method, which greatly enhances the operability and adaptability of the microsurgery auxiliary device sex.

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Abstract

一种显微手术辅助装置，包括镜身（1）和裸眼3D显示器（2），镜身（1）内设有成像单元（10），成像单元（10）包括大物镜组（11）、变倍镜组（12）、第一镜筒物镜（13）和感光元件（14），大物镜组（11）、变倍镜组（12）、第一镜筒物镜（13）和感光元件（14）依次处于同一观察光路，大物镜组（11）包括至少一个正透镜组（111）和至少一个负透镜组（112），正透镜组（111）和负透镜组（112）同光轴，正透镜组（111）和负透镜组（112）间距可调节，裸眼3D显示器（2）与感光元件连接（14），裸眼3D显示器（2）与观察者（5）间距离在400～1200mm，裸眼3D显示器（2）的可视角度范围不小于120度。观察者可通过观察裸眼3D显示器（2）直接进行手术操作，装置整体结构简单，系统延迟小。

Description

一种显微手术辅助装置 技术领域
本发明涉及医用设备技术领域，尤其涉及一种显微手术辅助装置。
背景技术
显微手术是借助放大设备进行的精细手术，在传统光学手术显微镜下做手术，组织被放大，不仅能看清手术时肉眼看不清的细小组织，而且还有立体感，因而有利于外科医生精确地解剖、切开和缝合各种组织。但即使是肉眼缝合血管很有经验的外科医生，如不经过专门训练，在刚开始作显微外科手术时，仍很不习惯，常出现手眼不协调，影响显微镜下的手术操作，因此，要熟练地在手术显微镜下作好手术需要经过一段时期的训练和适应过程。
由于手术显微镜目镜的出瞳位置固定，且出瞳直径一般仅2mm左右，为了观察到完整的物面视场，需要操作者长时间将眼睛的瞳孔保持在目镜出瞳位置，即使显微镜的设计符合人体工学，长时间的保持不变的姿势也容易让操作者疲劳。而对于某些特殊患处，需要大幅度倾斜手术显微镜来进行观察，此时操作者仍需跟随目镜调整自己的位置，尽管有些手术显微镜设置了补偿结构，但补偿范围大都有限，且需要进行操作和调节。
基于以上原因，有技术方案采用显示器来显示视频图像，但普通显示器无法体现深度信息，无法适用于实时手术。
还有技术方案采用基于偏振原理的3D显示器，观察者需要佩戴偏光眼镜才能看到立体影像，对本身佩戴眼镜的操作者不够友好。而且由于FPR光学膜的像素级微结构难以进一步缩小，此方案的显示器尺寸通常较大，其放置位置距离操作者通常需在2米以上且观察者需要几乎正对显示器才能观察到理想的立体影像。由于人眼在观察距离差别较大的物体时，晶状体需要一个调节过程，因此当操作者的视线离开距离较远的显示器，观察和调节距离较近的显微镜参数或其他辅助设备时眼睛需要重新调焦，会对观察的连续性造成不利影响。偏振造成的光能量损失也会降低人眼的主观亮度，易造成视觉疲劳。
CN109147913A公开了一种手术显微镜双路同步微型图像的显示系统及方 法，系统包括手术显微镜、处理装置、裸眼3D显示设备以及投影屏幕，处理装置包括两个输出端及处理模块；处理模块接收手术图像，根据图元的三维顶点坐标进行空间变换，以得到渲染图像，根据渲染图像获取单幅深度图像，并根据单幅深度图像合成多视点图像，通过两个输出端将多视点图像同步输出至裸眼3D显示设备和投影屏幕。此技术方案可以提高基于手术显微镜进行手术的学习和交流效果，但需要对采集图像进行数据变换和处理，使影像延迟大大增加，仅能用于学习交流，无法适用于实际显微手术操作。
CN111045202A公开了一种手术显微镜，所述手术显微镜包括照明系统、成像系统以及图像处理系统。采用多路光学成像子系统同时成像，不同光学成像系统对应不同的成像功能，并通过将多光路多功能的图像融合计算获得两幅大景深、高分辨率的左、右眼视图，再对两幅图像进行3D交织，最终获得的物体3D图像纵深感明显减小，清晰度有效提升，具有大景深、高分辨率的特点，同时该显微镜还具有较好的使用舒适性，能很好地满足医生的应用需求。此方案同样需要对采集图像进行复杂的数据处理，难以满足显微手术要求的低延迟要求，另外需要八光路成像系统，结构复杂、制造成本极高。
因此，结合上述存在的技术问题，有必要提出一种新的技术方案。
发明内容
本发明的目的在于提供一种显微手术辅助装置，观察者可通过观察裸眼3D显示器直接进行手术操作，装置整体结构简单，系统延迟小，可根据场需要选择裸眼3D显示器的固定方式，固定结构简单、可靠，必要时还可附加观察部件，实现传统的目视观察。
为实现发明目的，根据本发明的一个方面，本发明提供一种显微手术辅助装置，其包括镜身和裸眼3D显示器，所述镜身内设有成像单元，所述成像单元包括大物镜组、变倍镜组、第一镜筒物镜和感光元件，所述大物镜组、变倍镜组、第一镜筒物镜和感光元件依次处于同一观察光路中，所述大物镜组包括至少一个正透镜组和至少一个负透镜组，所述正透镜组和负透镜组同光轴设置，所述正透镜组和负透镜组之间距离可调节设置，所述裸眼3D显示器与所述感光元件连接，所述裸眼3D显示器与观察者之间的距离在400～1200mm之间，所述裸眼3D显示器的可视角度范围不小于120度。
在一个进一步的实施例中，所述正透镜组包括至少两种不同材质的光学透镜，所述负透镜组包括至少两种不同材质的光学透镜，所述负透镜组靠近待观察对象，所述负透镜组包括外侧面和内侧面，所述外侧面和内侧面均为凹面，所述外侧面曲率半径的绝对值小于所述内侧面曲率半径的绝对值。
在一个进一步的实施例中，所述正透镜组和负透镜组之间距离的调节范围不小于6mm。
在一个进一步的实施例中，所述镜身内还设有至少一个照明单元，每一个所述照明单元的照明光线能够通过所述大物镜组对待观察对象进行照明，且进入所述大物镜组的照明光线方向与所述大物镜组的光轴方向平行；所述照明单元包括依次处于同一照明光路的光源组件、聚光镜组、光阑和投射镜组，所述光源组件包括至少一种LED光源，所述光源组件中至少有一个所述LED光源能够被驱动的切换至照明光路对待观察对象进行照明。
在一个进一步的实施例中，所述投射镜组包括至少一个第一透镜，所述第一透镜能够被驱动的沿其光轴方向移动；所述变倍镜组为连续变倍结构，其包括至少两组第二透镜，所述第二透镜能够被驱动的沿各自光轴方向移动。
在一个进一步的实施例中，其还包括传动装置，所述投射镜组和变倍镜组之间通过所述传动装置联动。
在一个进一步的实施例中，其具有双目观察光路；所述显微手术辅助装置还包括观察单元，所述观察单元包括目镜、转折镜组和第二镜筒物镜，所述成像单元还包括分光镜组，在同一观察光路中，光线依次通过所述大物镜组和变倍镜组到达所述分光镜组，所述分光镜组将光线分光成两部分，一部分光线依次通过所述第一镜筒物镜到达所述感光元件，另一部分光线依次通过第二镜筒物镜、转折镜组和目镜。
在一个进一步的实施例中，其还包括支架，所述支架包括底座、竖直安装在所述底座上的支撑杆、可转动安装在所述支撑杆上的大横臂、可转动安装在所述大横臂上的小横臂及可转动安装在所述小横臂上的平衡臂，所述镜身和观察单元安装在所述平衡臂上；所述裸眼3D显示器安装在所述大横臂或支撑杆上；或所述显微手术辅助装置还包括座体和安装在所述座体上的连接杆，所述裸眼3D显示器安装在所述连接杆的一端，所述裸眼3D显示器能够通过所述座 体和连接杆放置在地面上或悬吊在房顶上。
在一个进一步的实施例中，所述连接杆的另一端活动安装在所述座体上，所述连接杆能够被驱动的沿其轴线方向移动，和/或所述连接杆能够被驱动的以其轴线为转轴转动。
在一个进一步的实施例中，所述裸眼3D显示器的尺寸在12-16英寸之间；所述显微手术辅助装置还包括采集装置、处理装置和驱动装置，所述采集装置能够被配置的采集观察者的人眼位置信息，所述处理装置被配置的能够根据采集的人眼位置信息控制所述驱动装置动作，调节所述裸眼3D显示器的显示角度。
与现有技术相比，本申请的显微手术辅助装置具有如下一个或多个有益效果：
(1)本申请的显微手术辅助装置，其使得观察者可通过观察裸眼3D显示器直接进行手术操作，系统整体结构简单，不必对图像进行复杂的数据处理，系统延迟小；
(2)本申请的显微手术辅助装置，其裸眼3D显示器设置在400～1200mm范围内，与临床常用设备的观测距离接近，当观察者在观察显示器与其他设备之间进行视线切换时，人眼不需要反复调焦，省时省力；光亮度无损失，减轻视觉疲劳。同时，较近的观察距离符合人眼分辨细节时的趋近习惯；裸眼3D显示器可根据不同的场地条件和使用习惯，选择不同的固定方式，固定结构简单、可靠；
(3)本申请的显微手术辅助装置，其可对不同深度的组织结构实现不同放大倍率的便捷观察；
(4)本申请的显微手术辅助装置，其焦距可变的大物镜能够便捷改变焦面位置，即操作的工作距离，覆盖需要的手术深度，同时双光路变倍镜组实现不同放大倍率的观察，可以对患处进行整体和局部观察；
(5)本申请的显微手术辅助装置，其观察角度无需正对，在常用观察角度范围内，不需要调整显示器朝向；
(6)本申请的显微手术辅助装置，其必要时可附加目视观察部件，实现传统的目视观察；
(7)本申请的显微手术辅助装置，其照明光路光轴与大物镜的光轴平行设 置，可降低反射损失，且可布置成对称双光路以加强照明强度，压缩系统横向体积，便于镜头平衡；
(8)本申请的显微手术辅助装置，其投射镜组和变倍镜组之间可联动，能够在更换倍率观察时，同时调节照明光斑大小，降低对视场外组织可能造成的光损伤风险，同时也有利于提高视场内部的光照度，补偿高倍率观察时人眼主观亮度的降低；
(9)本申请的显微手术辅助装置，其裸眼3D显示器还可以自动跟踪观察者的眼睛，保证最佳的观察角度。
附图说明
图1为本申请实施例提供的显微手术辅助装置的结构示意图；
图2a和图2b为本申请实施例提供的显微手术辅助装置在调节正透镜组和负透镜组间距离时两种状态下的光路原理示意图；
图3为本申请实施例提供的显微手术辅助装置在设有观察单元时的光路原理示意图；
图4为本申请实施例提供的显微手术辅助装置在设有观察单元时的结构示意图；
图5为本申请实施例提供的显微手术辅助装置在牙科临床中的应用状态示意图；
图6a和图6b为本申请实施例提供的显微手术辅助装置在设有双照明光路时的光路原理示意图；
图7为本申请实施例提供的显微手术辅助装置在投射镜组和变倍镜组联动时的光路原理示意图；
图8为本申请实施例提供的显微手术辅助装置的裸眼3D显示器可视角度和距离示意图；
图9a-图9c为本申请实施例提供的显微手术辅助装置在裸眼3D显示器安装在支架上时的结构示意图；
图10a和图10b为本申请实施例提供的显微手术辅助装置在裸眼3D显示器安装在支架之外时的安装示意图。
其中，1-镜身，10-成像单元，11-大物镜组，111-正透镜组，112-负透镜组， 1121-外侧面，1122-内侧面，12-变倍镜组，121-第二透镜，13-第一镜筒物镜，14-感光元件，15-观察光路，16-分光镜组，2-裸眼3D显示器，21-座体，22-连接杆，3-照明单元，31-光源组件，311-LED光源，32-聚光镜组，33-光阑，34-投射镜组，341-第一透镜，35-照明光路，4-观察单元，41-目镜，42-转折镜组，43-第二镜筒物镜，5-观察者，6-支架，61-底座，62-支撑杆，63-大横臂，64-小横臂，65-平衡臂。
具体实施方式
为更进一步阐述本发明为达成预定发明目的所采取的技术手段及功效，以下结合附图及较佳实施例，对依据本发明的具体实施方式、结构、特征及其功效，详细说明如下。
请参阅图1至图10，图1为本申请实施例提供的显微手术辅助装置的结构示意图；图2a和图2b为本申请实施例提供的显微手术辅助装置在调节正透镜组和负透镜组间距离时两种状态下的光路原理示意图；图3为本申请实施例提供的显微手术辅助装置在设有观察单元时的光路原理示意图；图4为本申请实施例提供的显微手术辅助装置在设有观察单元时的结构示意图；图5为本申请实施例提供的显微手术辅助装置在牙科临床中的应用状态示意图；图6a和图6b为本申请实施例提供的显微手术辅助装置在设有双照明光路时的光路原理示意图；图7为本申请实施例提供的显微手术辅助装置在投射镜组和变倍镜组联动时的光路原理示意图；图8为本申请实施例提供的显微手术辅助装置的裸眼3D显示器可视角度和距离示意图；图9a-图9c为本申请实施例提供的显微手术辅助装置在裸眼3D显示器安装在支架上时的结构示意图；图10a和图10b为本申请实施例提供的显微手术辅助装置在裸眼3D显示器安装在支架之外时的安装示意图。
实施例
本申请提供一种显微手术辅助装置，其包括镜身1和裸眼3D显示器2。所述镜身1内设有成像单元10，所述成像单元10包括大物镜组11、变倍镜组12、第一镜筒物镜13和感光元件14，所述大物镜组11、变倍镜组12、第一镜筒物镜13和感光元件14依次处于同一观察光路15中，如图1或图2a和图2b所示。
所述大物镜组11包括至少一个正透镜组111和至少一个负透镜组112，所述正透镜组111和负透镜组112同光轴设置，所述正透镜组111和负透镜组112之间距离可调节设置，所述正透镜组111和负透镜组112之间距离的调节范围不小于6mm。焦距可变的大物镜能够便捷改变焦面位置，即操作的工作距离，覆盖需要的手术深度。实现方式为改变正透镜组111和负透镜组112间距离，工作距离的调节范围与正透镜组111和负透镜组112间距离范围成正比，如图2a和2b所示。所述正透镜组111包括至少两种不同材质的光学透镜，所述负透镜组112包括至少两种不同材质的光学透镜，所述负透镜组112靠近待观察对象，所述负透镜组112包括外侧面1121和内侧面1122，所述外侧面1121和内侧面1122均为凹面，所述外侧面1121曲率半径的绝对值小于所述内侧面1122曲率半径的绝对值。
本申请优选采用双目观察光路15设计，每一个观察光路15内均设置一个变倍镜组12、第一镜筒物镜13和感光元件14，两个观察光路15共用一个大物镜组11。双光路变倍镜组12实现不同放大倍率的观察，可以对患处进行整体和局部观察。所述变倍镜组12优选为无焦的伽利略结构，可为分档变倍或连续变倍。所述变倍镜组12为连续变倍结构时，其包括至少两组第二透镜121，所述第二透镜121能够被驱动的沿各自光轴方向移动。所述变倍镜组12与焦距可变大物镜的结合，使得本申请的显微手术辅助装置可对不同深度的组织结构实现不同放大倍率的便捷观察。
本申请的显微手术辅助装置还包括支架6，所述支架6包括底座61、竖直安装在所述底座61上的支撑杆62、可转动安装在所述支撑杆62上的大横臂63、可转动安装在所述大横臂63上的小横臂64及可转动安装在所述小横臂64上的平衡臂65，所述镜身1安装在所述平衡臂65上，如图4或图9a-9c所示。
所述裸眼3D显示器2与所述感光元件14连接。所述裸眼3D显示器2的尺寸在12-16英寸之间。如图8所示，所述裸眼3D显示器与观察者5之间的可视距离在400～1200mm之间，所述裸眼3D显示器的可视角度范围不小于120度，优选观看角度不小于90度。裸眼3D显示器可根据不同的场地条件和使用习惯，选择不同的固定方式，固定结构简单、可靠。比如所述裸眼3D显示器可以安装在所述大横臂63的上表面，且位于支撑杆62的上方，如图9a所示；也 可以悬吊在所述大横臂63的下表面，如图9c所示；也可以直接安装在所述支撑杆62上，如图9b所示。无论是安装在大横臂63还是支撑杆62上，裸眼3D显示器都均既可以是可转动安装，也可以是固定安装，又或是可拆卸或可移动安装。同时，裸眼3D显示器2也可以不安装在辅助装置的支架6上，还可以通过座体21和连接杆22放置在地面上，如图10a所示，或悬吊在房顶上，如图10b所示。所述裸眼3D显示器2安装在所述连接杆22的一端，所述连接杆22的另一端活动安装在所述座体21上，所述连接杆22可以被驱动的沿其轴线方向相对所述座体21移动或以其轴线为转轴转动，从而可以调节所述裸眼3D显示器2的安装位置。裸眼3D显示器设置在400～1200mm范围内，与临床常用设备的观测距离接近，当观察者5在观察显示器与其他设备之间进行视线切换时，人眼不需要反复调焦，省时省力。光亮度无损失，减轻视觉疲劳。同时，较近的观察距离符合人眼分辨细节时的趋近习惯。本申请采用裸眼3D显示器作为裸眼3D显示器2，使得观察者5可通过观察裸眼3D显示器直接进行手术操作，装置整体结构简单，不必对图像进行复杂的数据处理，系统延迟小。另外，裸眼3D显示器的使用，使得观察者5的观察角度无需正对，在可以一定观察角度范围内清楚观察到待观察对象，不需要调整显示器朝向。以牙科临床为例，医生通常位于六点钟位置，当需要暂时对上颌磨牙进行诊查或操作时，有可能移动到九点和三点位置，此时不需要调整显示器朝向的角度也能正常观察，如图5所示。
在一个进一步的实施例中，所述显微手术辅助装置还包括采集装置、处理装置和驱动装置，所述采集装置能够被配置的采集观察者5的人眼位置信息，所述处理装置被配置的能够根据采集的人眼位置信息控制所述驱动装置动作，调节所述裸眼3D显示器2的显示角度，从而实现裸眼3D显示器2自动跟踪观察者5的眼睛，并随之转动，以便保证最佳的观察角度。
所述镜身1内还设有至少一个照明单元3，每一个所述照明单元3的照明光线能够通过所述大物镜组11对待观察对象进行照明，且进入所述大物镜组11的照明光线方向与所述大物镜组11的光轴方向平行，可降低反射损失，且可布置成对称双照明光路35以加强照明强度，压缩系统横向体积，便于镜身平衡，如图6a和6b所示。所述照明单元3包括依次处于同一照明光路35的光源组件31、聚光镜组32、光阑33和投射镜组34。所述光源组件31包括至少一 种LED光源311，所述光源组件31中至少有一个所述LED光源311能够被驱动的切换至照明光路35对待观察对象进行照明。比如所述光源组件31除了白光光源，还包括至少一种单色光源(用于荧光模式)，可与白光光源切换进入照明光路35。所述投射镜组34包括至少一个第一透镜341，所述第一透镜341能够被驱动的沿其光轴方向移动。
在一个进一步的实施例中，本申请的显微手术辅助装置还可以在所述投射镜组34和变倍镜组12之间设置一个传动装置，实现所述投射镜组34和变倍镜组12联动，如图7所示，图中未直接画出传动装置，通过一条折线示意性的表示所述投射镜组34和变倍镜组12联动关系。当低倍率观察时，物面成像的视场直径较大，此时照明光斑需要覆盖整个物面视场，但切换到高倍率时，物面视场直径迅速减小，此时照明光路35的投射镜组34做相应调节，使得照明光斑也能随之减小，降低对视场外组织可能造成的光损伤风险，同时也有利于提高视场内部的光照度，补偿高倍率观察时人眼主观亮度的降低。
在一个进一步的实施例中，必要时，本申请的显微手术辅助装置还可以在所述镜身1上安装一个观察单元4，实现传统的目视观察，如图4所示。如图3所示，所述观察单元4包括目镜41、转折镜组42(或棱镜组)和第二镜筒物镜43。所述成像单元1还包括分光镜组16，在同一观察光路15中，光线依次通过所述大物镜组11和变倍镜组12到达所述分光镜组16，所述分光镜组16将光线分光成两部分，一部分光线依次通过所述第一镜筒物镜13到达所述感光元件14，另一部分光线依次通过第二镜筒物镜43、转折镜组42和目镜41。这样，在使用时，观察者5既可以通过裸眼3D显示器2观察待观察对象，又可以采用传统的目视观察方式来观察待观察对象，大大增强了显微手术辅助装置的可操作性和适应性。
在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，除了包含所列的那些要素，而且还可包含没有明确列出的其他要素。
在本文中，所涉及的前、后、上、下等方位词是以附图中零部件位于图中以及零部件相互之间的位置来定义的，只是为了表达技术方案的清楚及方便。应当理解，所述方位词的使用不应限制本申请请求保护的范围。
在不冲突的情况下，本文中上述实施例及实施例中的特征可以相互结合。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的 精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种显微手术辅助装置，其特征在于，其包括镜身(1)和裸眼3D显示器(2)，所述镜身(1)内设有成像单元(10)，所述成像单元(10)包括大物镜组(11)、变倍镜组(12)、第一镜筒物镜(13)和感光元件(14)，所述大物镜组(11)、变倍镜组(12)、第一镜筒物镜(13)和感光元件(14)依次处于同一观察光路(15)中，所述大物镜组(11)包括至少一个正透镜组(111)和至少一个负透镜组(112)，所述正透镜组(111)和负透镜组(112)同光轴设置，所述正透镜组(111)和负透镜组(112)之间距离可调节设置，所述裸眼3D显示器(2)与所述感光元件(14)连接，所述裸眼3D显示器(2)与观察者(5)之间的距离在400～1200mm之间，所述裸眼3D显示器(2)的可视角度范围不小于120度。
  2. 根据权利要求1所述的显微手术辅助装置，其特征在于，所述正透镜组(111)包括至少两种不同材质的光学透镜，所述负透镜组(112)包括至少两种不同材质的光学透镜，所述负透镜组(112)靠近待观察对象，所述负透镜组(112)包括外侧面(1121)和内侧面(1122)，所述外侧面(1121)和内侧面(1122)均为凹面，所述外侧面(1121)曲率半径的绝对值小于所述内侧面(1122)曲率半径的绝对值。
  3. 根据权利要求1所述的显微手术辅助装置，其特征在于，所述正透镜组(111)和负透镜组(112)之间距离的调节范围不小于6mm。
  4. 根据权利要求1所述的显微手术辅助装置，其特征在于，所述镜身(1)内还设有至少一个照明单元(3)，每一个所述照明单元(3)的照明光线能够通过所述大物镜组(11)对待观察对象进行照明，且进入所述大物镜组(11)的照明光线方向与所述大物镜组(11)的光轴方向平行；
    所述照明单元(3)包括依次处于同一照明光路(35)的光源组件(31)、聚光镜组(32)、光阑(33)和投射镜组(34)，所述光源组件(31)包括至少一种LED光源(311)，所述光源组件(31)中至少有一个所述LED光源(311)能够被驱动的切换至照明光路(35)对待观察对象进行照明。
  5. 根据权利要求4所述的显微手术辅助装置，其特征在于，所述投射镜组(34)包括至少一个第一透镜(341)，所述第一透镜(341)能够被驱动的沿其光轴方向移动；
    所述变倍镜组(12)为连续变倍结构，其包括至少两组第二透镜(121)， 所述第二透镜(121)能够被驱动的沿各自光轴方向移动。
  6. 根据权利要求5所述的显微手术辅助装置，其特征在于，其还包括传动装置，所述投射镜组(34)和变倍镜组(12)之间通过所述传动装置联动。
  7. 根据权利要求1所述的显微手术辅助装置，其特征在于，其具有双目观察光路(15)；
    所述显微手术辅助装置还包括观察单元(4)，所述观察单元(4)包括目镜(41)、转折镜组(42)和第二镜筒物镜(43)，所述成像单元(10)还包括分光镜组(16)，在同一观察光路(15)中，光线依次通过所述大物镜组(11)和变倍镜组(12)到达所述分光镜组(16)，所述分光镜组(16)将光线分光成两部分，一部分光线依次通过所述第一镜筒物镜(13)到达所述感光元件(14)，另一部分光线依次通过第二镜筒物镜(43)、转折镜组(42)和目镜(41)。
  8. 根据权利要求7所述的显微手术辅助装置，其特征在于，其还包括支架(6)，所述支架(6)包括底座(61)、竖直安装在所述底座(61)上的支撑杆(62)、可转动安装在所述支撑杆(62)上的大横臂(63)、可转动安装在所述大横臂(63)上的小横臂(64)及可转动安装在所述小横臂(64)上的平衡臂(65)，所述镜身(1)和观察单元(4)安装在所述平衡臂(65)上；
    所述裸眼3D显示器(2)安装在所述大横臂(63)或支撑杆(62)上；或所述显微手术辅助装置还包括座体(21)和安装在所述座体(21)上的连接杆(22)，所述裸眼3D显示器(2)安装在所述连接杆(22)的一端，所述裸眼3D显示器(2)能够通过所述座体(2)和连接杆(22)放置在地面上或悬吊在房顶上。
  9. 根据权利要求8所述的显微手术辅助装置，其特征在于，所述连接杆(22)的另一端活动安装在所述座体(21)上，所述连接杆(22)能够被驱动的沿其轴线方向移动，和/或所述连接杆(22)能够被驱动的以其轴线为转轴转动。
  10. 根据权利要求1所述的显微手术辅助装置，其特征在于，所述裸眼3D显示器(2)的尺寸在12-16英寸之间；
    所述显微手术辅助装置还包括采集装置、处理装置和驱动装置，所述采集装置能够被配置的采集观察者(5)的人眼位置信息，所述处理装置被配置的能够根据采集的人眼位置信息控制所述驱动装置动作，调节所述裸眼3D显示器(2)的显示角度。
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US20230372048A1 (en) 2023-11-23

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