Based on the medical endoscope control system that Eye-controlling focus controlsTechnical field
The present invention relates to technical field of medical instruments, be specifically related to a kind of medical endoscope control system controlled based on Eye-controlling focus.
Background technology
Along with the progress of science and technology, improving constantly of people's living standard, the individual aspect of broad masses of the people to operation requires also improving constantly, " Wicresoft " this concept has been deep into operating various field, and World Health Organization (WHO) proposes: the medical surgery of 21st century will be Wicresoft and noninvasive surgery.Surgical operation is performed the operation to more hidden endoscopic surgery by incision of skin and is developed, and this operation wound is less, and recover very fast, misery is less, is subject to the welcome of extensive patients, and people call this operation " key hole operation ".
Initial medical endoscope and watch-dog bulky, price costly, connects the existence of wire and brings inconvenience to operation, greatly restriction range of operation and place.
As China Patent No. 200820005178.5 discloses a kind of Medical portable screwdriver type wireless endoscope, it belongs to medical Special surgical instrument, relates to a kind of Medical portable screwdriver type wireless endoscope.Product appearance is only the flat panel monitor of an operator as screwdriver size and a books size.Circuit is made up of miniature pinhole camera lens, CCD imaging system, signal projector, signal receiver, power-supply battery five parts.It is by whole for the device of five parts digitized, microminiaturization, and all concentrate in the shell of a screwdriver size, volume-diminished Radix Achyranthis Bidentatae, and reaches wireless transmission.
And for example, Chinese Patent Application No. is 201410066784.8 disclose a kind of portable endoscope video system, and it relates to medical instruments field, particularly simple, the portable endoscope video system of a kind of structure.Comprise hand-held main frame, wireless video receiver and wireless foot switch, described hand-held main frame is provided with optical interface and display screen, described hand-held main frame is built-in with photographic head, LED cold light source, image processor, display module, wireless data sending module and power supply unit.Its structure is simple, is easy to carry, low in energy consumption, can connect, be applicable to clinical treatment diagnoses and treatment with various medical endoscope.
The wireless endoscope of above-mentioned two patents and the hand-held main frame of portable endoscope video can combine use, utilize the video of hand-held main frame endoscope collection to carry out supervision observation, and then form a kind of medical endoscope surveillance.But, the medical endoscope surveillance technology related in above patent, all mainly focus on the design for handheld device, when not considering that in operation process, user operates endoscope and handheld device simultaneously, switch in sight line and all may there is the situation of having more visitors or business than one can attend in manual operation two.Because the sight line of user is while need the wound situation paying close attention to patient, need again the operational circumstances observing endoscope on one side, also rotary head often to check video display frame on surveillance equipment, to observe the video situation that endoscope gathers, the continuous switching of this sight line, the regular hour can be caused to incur loss through delay in operation process, meanwhile, the switching of sight line also makes user be difficult to that the video situation of the wound situation of patient and sight glass collection is carried out combination effectively to observe; On the other hand, in system, the surveillance equipment of endoscope only possesses video monitoring function and suspends/the simple operations such as playing function switching, sectional drawing to video, and cannot the illumination of endoscope in the lump, image contract/put, take pictures/operation such as camera function switching controls, therefore user also often needs to switch between the operation of surveillance equipment, endoscopic apparatus in manual operation, simultaneously also will about operation technique.These factors, not only make supervision and the Non-follow control troublesome poeration of endoscopic surgery, operator is allowed to switch in sight line and all to have more visitors or business than one can attend in manual operation two, and to a certain extent also can the attention of scatter operation person, affect operation technique quality, increase maloperation hidden danger, cause operating time to increase, and then bring larger operation risk to patient with operation.
In sum, the manipulation associativity that existing micro-wound surgical operation equipment exists between medical endoscope and surveillance equipment is poor, and supervision and Non-follow control operation all comparatively bother, and need to switch frequently sight line and manual operation, and easily affect surgical quality, increase the problem of operation risk.
Summary of the invention
For above shortcomings in prior art, the object of the present invention is to provide a kind of medical endoscope control system controlled based on Eye-controlling focus, it can be worn on human body head and can be operated operating pointer by eye motion and control and realize man-machine interaction, and visually can reach the digital picture picture and the superimposed man-machine interaction effect of the viewed reality scene of human eye sight that medical endoscope gathers, enhance the manipulation associativity of system, thus can reduce in manipulation process, even avoid sight line and manually operated frequent switching, and then it is poor to solve existing micro-wound surgical operation equipment manipulation associativity, monitor and Non-follow control troublesome poeration, the easy problem affecting surgical quality.
For solving the problems of the technologies described above, present invention employs following technological means:
Based on the medical endoscope control system that Eye-controlling focus controls, comprise the wear-type Eye-controlling focus controller and medical endoscope of mutually setting up radio communication connection, described wear-type Eye-controlling focus controller has display module, for being worn on human body head, control by carrying out track identification to human eye action and sight line display module export display frame on the indicating positions of operating pointer and the feature operation performed by operating pointer, and then the feature operation performed by the indicating positions of operating pointer and operating pointer triggers corresponding endoscope control instruction, by radio communication, endoscope's control instruction is sent to medical endoscope, and receive the digital picture that medical endoscope returned by radio communication, presented by the display frame of display module, endoscope's control instruction that described medical endoscope is transmitted by radio communication for receiving wear-type Eye-controlling focus controller, corresponding operating is performed according to endoscope's control instruction, and shooting and process obtain the digital picture in its probe front, by radio communication, digital picture are back to wear-type Eye-controlling focus controller and show.
On the above-mentioned medical endoscope control system basis controlled based on Eye-controlling focus, as a kind of specific embodiment, described wear-type Eye-controlling focus controller comprises for being fixed on by wearing human body head wears support, and wears the infrared distance sensor on support, miniature infrared camera, image processing module, Eye-controlling focus identification module, central control module, data memory module, the first wireless data transceiver module, display module and the first power module described in being arranged on; Described support of wearing has supercilium corresponding to human body eyebrow position, and the infrared transmitter of described miniature infrared camera and infrared distance sensor and infrared remote receiver are all arranged at the supercilium of wearing support and towards direction, human eye place; The below that the display frame position that described display module exports is positioned at the supercilium wearing support corresponds to human eye position;
Wherein, the infrared picture data outfan of miniature infrared camera is electrically connected with the infrared image acquisition end of image processing module, the process data output end of image processing module is electrically connected with the human eye data acquisition end of Eye-controlling focus identification module, the identifying information outfan of Eye-controlling focus identification module is electrically connected with the eye movement data input of central control module, the distance signal outfan of infrared distance sensor is electrically connected with the range data input of central control module, the shows signal outfan of central control module is electrically connected with the shows signal input of display module, the parameter acquisition end of central control module and data memory module carry out data cube computation, data communication end and first wireless data transceiver module of central control module carry out data cube computation, infrared distance sensor is respectively by the first power module, miniature infrared camera, image processing module, Eye-controlling focus identification module, central control module, data memory module, first wireless data transceiver module and display module are powered,
The display frame display be used for by exporting of described display module is carried out medical endoscope operating the pseudo operation button controlled, and display and control is carried out in the feature operation of the signal received according to shows signal input to the position indicated by the content presented shown by its display frame and operating pointer and execution;
Described data memory module is used for memory device supplemental characteristic and order parameter data; The information of described device parameter data record comprises the three-dimensional position relation worn between display frame position that on support, infrared remote receiver position and display module export; The information eyes comprised corresponding to operating pointer function command of described order parameter data record are opened and are closed action and pupil shift action, also comprise endoscope's control instruction corresponding when pseudo operation button is triggered in display frame;
Described infrared distance sensor is used for launching infrared light to human eye position in real time by infrared transmitter, the infrared external reflection light returned after the diffuse-reflectance of human eye position by infrared light is received by infrared remote receiver, to send between time and infrared external reflection light-receiving time the existing time difference by the range finding processing module of infrared distance sensor according to infrared light to carry out converting and record the range data wearing infrared remote receiver position and human eye position on support, and this range data is sent to central control module;
Described miniature infrared camera for taking the original infrared image of human eye position, and is sent to image processing module in real time by infrared picture data outfan;
Described image processing module is used for the original infrared image of Real-time Obtaining miniature infrared camera shooting, split from original infrared image by Iamge Segmentation process and obtain human eye area image, and after the human eye area image obtained is carried out filtering and edge enhancement process, be sent to Eye-controlling focus identification module in real time by process data output end;
Described Eye-controlling focus identification module is used for the human eye area image that the process of real-time image acquisition processing module obtains, eye shape, pupil position and the corneal reflex hot spot in human eye area image is determined by image boundary identifying processing, and then determine eyes open the state of closing, pupil center position and corneal reflex spot center position, and the open state of closing, pupil center position and the corneal reflex spot center position of eyes are sent to central control module in real time by identifying information outfan;
Described first wireless data transceiver module is used for setting up radio communication with medical endoscope and is connected, and realizes communicating with the data transmit-receive between medical endoscope;
Described central control module is used for position vector that the pupil center position that receives according to eye movement data input in real time and corneal reflex spot center position form and estimates the direction of visual lines determining human eye, and in combination with parameter acquisition end from the three-dimensional position relation between wearing of extracting of the data memory module display frame position that support, infrared remote receiver position and display module export and build 3 d space coordinate by the range data wearing infrared remote receiver position and human eye position on support that range data input gets, the distance of each display position point in the display frame determining that human eye position exports relative to display module is calculated by this 3 d space coordinate, and then the real-time joining of the direction of visual lines of human eye in display frame is determined in calculating, and generating run pointer location instructions is sent to display module in real time by shows signal outfan, the operating pointer controlled in its display frame is instructed in the joining position of direction of visual lines in display frame of human eye in real time, central control module also opens for the actual of the situation of change determination eyes of the state of closing and pupil center position that open of the eyes received according to eye movement data input in real time the actual shift action closing action and pupil, and open with the eyes corresponding to the operating pointer function command extracted from data memory module by parameter acquisition end and close action and pupil shift action contrasts, judge whether coupling, and the operating pointer function command matched is sent to display module by shows signal outfan performs corresponding feature operation when judging coupling with the position controlled indicated by the operating pointer in its display frame, and then whether the feature operation of the position execution judged in display frame indicated by operating pointer triggers the pseudo operation button in display frame, and extract corresponding endoscope control instruction by parameter acquisition end from data memory module when judging that pseudo operation button is triggered, the first radio receiving transmitting module is sent to by data communication end, by the first radio receiving transmitting module, endoscope's control instruction is sent to medical endoscope, in addition, central control module is also for receiving the digital picture of medical endoscope passback by the first wireless data transceiver module, and by shows signal outfan, the digital picture received is sent to display module in real time, control its display frame and carry out display and present.
On the above-mentioned medical endoscope control system basis controlled based on Eye-controlling focus, as a kind of preferred version, the display module of described wear-type Eye-controlling focus controller comprises display driver circuit and transparent display screen; Described transparent display screen is vertically fixedly mounted on the below of the supercilium wearing support, for presenting the display frame that display module exports; The video data input of described display driver circuit is as the shows signal input of display module, the display and control outfan of display driver circuit and transparent display screen carry out data cube computation, and the signal for receiving according to video data input correspondingly exports and control the display frame that presented by transparent display screen; The display frame position that described display module exports is transparent display screen position.
On the above-mentioned medical endoscope control system basis controlled based on Eye-controlling focus, as another kind of preferred version, the display module of described wear-type Eye-controlling focus controller comprises micro projector and transparent prism; The data for projection input of described micro projector is as the shows signal input of display module, and the projection lens of micro projector, towards transparent prism, projects corresponding display frame image according to the signal that data for projection input receives to transparent prism; Described transparent prism is fixedly mounted on the below of the supercilium wearing support, and there is in transparent prism visible ray plane of refraction, display frame image for the projection lens projects of micro projector being entered transparent prism refracts to direction, human eye place, and then presents display frame; The display frame position that described display module exports is visible ray plane of refraction position in transparent prism.
On the above-mentioned medical endoscope control system basis controlled based on Eye-controlling focus, as a kind of preferred version, the support of wearing of described wear-type Eye-controlling focus controller comprises one from the crossbeam extended laterally to corresponding to tip of the brow position on the left of human body corresponding to tip of the brow position on the right side of human body, described crossbeam corresponds to human body eyebrow position and is the supercilium wearing support; The middle part of crossbeam is provided with for by the nose support of cross beam support in human body bridge of the nose position; The left end of crossbeam and right-hand member are connected with left legportion and leg portion respectively rotationally, and described left legportion and leg portion are when turning to extended configuration relative to crossbeam, left legportion is extended laterally to corresponding to the left ear position of human body from corresponding to tip of the brow position on the left of human body, and leg portion is from extending laterally to corresponding to human body right ear position corresponding to tip of the brow position on the right side of human body; Be connected by bandage between described left legportion and the end of leg portion away from described crossbeam, described bandage has can the pars contractilis of elastic telescopic.
On the above-mentioned medical endoscope control system basis controlled based on Eye-controlling focus, as further Technological improvement plan, described wear-type Eye-controlling focus controller also comprises sound acquisition module and audio processing modules; The voice data outfan of described sound acquisition module is electrically connected with the audio input end of audio processing modules, and the audio output of audio processing modules is electrically connected with the speech data input of central control module; Described sound acquisition module is used for carrying out audio collection to ambient sound, and the original sound voice data collected is sent to audio processing modules in real time by voice data outfan; Described audio processing modules is used for the original sound voice data of Real-time Obtaining from sound acquisition module, and noise reduction filtering process is carried out to original sound voice data, and the wave audio data after process are sent to central control module in real time by audio output; The information that the order parameter data stored in described data memory module record, also comprises the verbal instructions voice data corresponding to endoscope's control instruction; Described central control module also for the wave audio data that in real time speech data input received with contrasted from the verbal instructions voice data corresponding to endoscope's control instruction that data memory module extracts by parameter acquisition end, judge whether coupling, and when judging coupling, the endoscope's control instruction matched is sent to the first radio receiving transmitting module by data communication end, by the first radio receiving transmitting module, endoscope's control instruction is sent to medical endoscope.
On the above-mentioned medical endoscope control system basis controlled based on Eye-controlling focus, as further Technological improvement plan, wearing on support of described wear-type Eye-controlling focus controller is also provided with several operated keys, each operated key is held with the different I/O of central control module respectively and is electrically connected, and sends the signal of telecommunication when operated key is manually actuated to corresponding I/O end; The information that the order parameter data stored in described data memory module record, also comprises the endoscope control instruction of each I/O end corresponding to the signal of telecommunication of central control module; Described central control module is also for receiving the signal of telecommunication held from variant I/O in real time, the order parameter data stored by data query memory module, judge the endoscope control instruction of I/O end corresponding to the signal of telecommunication received, and corresponding endoscope control instruction is sent to the first radio receiving transmitting module by data communication end, by the first radio receiving transmitting module, endoscope's control instruction is sent to medical endoscope.
On the above-mentioned medical endoscope control system basis controlled based on Eye-controlling focus, as a kind of specific embodiment, described medical endoscope comprises cold light source lighting module, miniature CCD camera, ccd image signal conversion module, micro-control module, the second wireless data transceiver module and second source module, described cold light source lighting module and miniature CCD camera be all arranged at medical endoscope probe positions place and towards probe front, wherein, the shooting output end of image of miniature CCD camera is electrically connected with the image input of ccd image signal conversion module, the translation data outfan of ccd image signal conversion module is electrically connected with the digital picture input of micro-control module, the shooting control signal outfan of micro-control module is electrically connected with the shooting control end of miniature CCD camera, data transmit-receive end and second wireless data transceiver module of micro-control module carry out data cube computation, cold light source lighting module is respectively by second source module, miniature CCD camera, ccd image signal conversion module, micro-control module and the second wireless data transceiver module are powered,
Described cold light source lighting module is used for providing illumination to the probe front of medical endoscope;
Image capture operations is carried out in the probe front of shooting control signal to medical endoscope that described miniature CCD camera is used for receiving according to shooting control end, and the ccd image signal of shooting is sent to ccd image signal conversion module by shooting output end of image;
Described ccd image signal conversion module is used in real time the ccd image signal from miniature CCD camera being converted to digital picture, and is sent to micro-control module by translation data outfan;
Described second wireless data transceiver module is used for setting up radio communication with wear-type Eye-controlling focus controller and is connected, and realizes communicating with the data transmit-receive of wear-type Eye-controlling focus controller;
Described micro-control module is used for the endoscope's control instruction being received the transmission of wear-type Eye-controlling focus controller by the second wireless data transceiver module, and perform corresponding image capture operations to miniature CCD camera transmission corresponding shooting control signal to control it by shooting control signal outfan according to endoscope's control instruction, digital picture also for being received by digital picture input is sent to the second wireless data transceiver module by data transmit-receive end, by the second wireless data transceiver module, digital picture is back to wear-type Eye-controlling focus controller.
Compared to prior art, the present invention has following beneficial effect:
1, the present invention is based on the medical endoscope control system that Eye-controlling focus controls, its wear-type Eye-controlling focus controller can be worn on human body head, and track identification can be carried out by eye motion and sight line and to the feature operation performed by the indicating positions of operating pointer in display frame and operating pointer, realize man-machine interaction, and then trigger corresponding endoscope control instruction, control medical endoscope and perform corresponding operating, avoid the trouble that operator needs manual operation medical endoscope and Monitor and Control device, and such control mode, significantly reduce the probability of the medical endoscope of the action triggers immediately generation misoperation of human eye, the medical endoscope control system that the present invention is based on Eye-controlling focus control is made to have good operability.
2, the present invention is based on the medical endoscope control system that Eye-controlling focus controls, its wear-type Eye-controlling focus controller can also be received and the digital picture photographed by the probe front that the display frame on wear-type Eye-controlling focus controller presents medical endoscope, visually reach digital picture picture and the superimposed man-machine interaction effect of the viewed reality scene of human eye sight that medical endoscope gathers, avoid sight line frequent trouble switched between display environment and endoscopic video of operator, enhance the manipulation associativity of system, thus can reduce in manipulation process, even avoid sight line and manually operated frequent switching, and then it is poor to solve existing micro-wound surgical operation equipment manipulation associativity, monitor and Non-follow control troublesome poeration, the easy problem affecting surgical quality.
3, the present invention is based in the medical endoscope control system of Eye-controlling focus control, its wear-type Eye-controlling focus controller have employed infrared distance sensor and finds range to human eye position, also launch infrared light to human eye position in real time by its infrared transmitter, in this, as auxiliary infrared light supply, and reflect on eye cornea by infrared light and form corneal reflex hot spot, miniature infrared camera is correspondingly adopted effectively to take the original infrared image of human eye position, in order to carry out eye recognition and Eye-controlling focus, avoid the interference that the situations such as visible light environment darkness cause, and corneal reflex hot spot is used in position, corneal flare center in follow-up Eye-controlling focus identifying and is located, and then in conjunction with pupil center position, auxiliary realization is caught the direction of visual lines of human eye.
4, the present invention is based on the medical endoscope control system that Eye-controlling focus controls, can also be combined by human eye action and the mode of operation such as verbal instructions, physical operation key, realize man-machine interaction, continue more complicated, more accurate function to medical endoscope to control, further help to reduce maloperation probability, the operability of enhancing system, thus the use further reducing medical endoscope control system is for the impact of operation technique and surgical quality.
5, the present invention is based on the medical endoscope control system that Eye-controlling focus controls, can also by its wireless communication ability, with other computer terminal with the use of, to solve more technology application problem, there is abundant operability and powerful extensibility, have broad application prospects in micro-wound surgical operation equipment technical field.
Accompanying drawing explanation
Fig. 1 is the frame construction schematic diagram that the present invention is based on the medical endoscope control system that Eye-controlling focus controls.
Fig. 2 is the perspective view of the wear-type Eye-controlling focus controller of medical endoscope control system in the embodiment of the present invention one.
Fig. 3 is the electronics frame construction schematic diagram of the wear-type Eye-controlling focus controller of medical endoscope control system in the embodiment of the present invention one.
Fig. 4 is the electronics frame construction schematic diagram of the medical endoscope of medical endoscope control system in the embodiment of the present invention one.
Fig. 5 is the display frame exemplary plot of display module on wear-type Eye-controlling focus controller in the embodiment of the present invention one.
Fig. 6 is the perspective view of the wear-type Eye-controlling focus controller of medical endoscope control system in the embodiment of the present invention two.
Detailed description of the invention
The invention provides a kind of medical endoscope control system controlled based on Eye-controlling focus.As shown in Figure 1, this medical endoscope control system comprises the wear-type Eye-controlling focus controller and medical endoscope of mutually setting up radio communication connection.Wherein, wear-type Eye-controlling focus controller has display module, for being worn on human body head, control by carrying out track identification to human eye action and sight line display module export display frame on the indicating positions of operating pointer and the feature operation performed by operating pointer, and then the feature operation performed by the indicating positions of operating pointer and operating pointer triggers corresponding endoscope control instruction, by radio communication, endoscope's control instruction is sent to medical endoscope, and receive the digital picture that medical endoscope returned by radio communication, presented by the display frame of display module.Medical endoscope is then for receiving endoscope's control instruction that wear-type Eye-controlling focus controller is transmitted by radio communication, corresponding operating is performed according to endoscope's control instruction, and shooting and process obtain the digital picture in its probe front, by radio communication, digital picture are back to wear-type Eye-controlling focus controller and show.
Thus, the present invention is based on the medical endoscope control system that Eye-controlling focus controls, its wear-type Eye-controlling focus controller can be worn on human body head, and track identification can be carried out by eye motion and sight line and to the feature operation performed by the indicating positions of operating pointer in display frame and operating pointer, realize man-machine interaction, and then trigger corresponding endoscope control instruction, control medical endoscope and perform corresponding operating, avoid the trouble that operator needs manual operation medical endoscope and Monitor and Control device; Simultaneously, wear-type Eye-controlling focus controller in system can also be received and the digital picture photographed by the probe front that the display frame on wear-type Eye-controlling focus controller presents medical endoscope, visually reach the man-machine interaction effect that digital picture picture and the viewed reality scene of human eye sight that medical endoscope gathers are superimposed, avoid the trouble of sight line frequent switching between display environment and endoscopic video of operator.As can be seen here, the medical endoscope control system that the present invention is based on Eye-controlling focus control enhances the manipulation associativity of system, thus can reduce in manipulation process, even avoid sight line and manually operated frequent switching, and then solve existing micro-wound surgical operation equipment manipulation associativity poor, monitor and Non-follow control troublesome poeration, the easy problem affecting surgical quality.
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
embodiment one:
For the medical endoscope control system controlled based on Eye-controlling focus that the present invention proposes, the present embodiment provides a kind of concrete mode.The medical endoscope control system of this enforcement comprises the wear-type Eye-controlling focus controller and medical endoscope of mutually setting up radio communication connection.
Wherein, the electronics framework of medical endoscope as shown in Figure 4, comprise cold light source lighting module, miniature CCD camera (Charge-coupledDevice, electric coupling photo-sensitive cell, is called for short CCD), ccd image signal conversion module, micro-control module, the second wireless data transceiver module and second source module.Cold light source lighting module and miniature CCD camera are all arranged at the probe positions place of medical endoscope and towards the front of popping one's head in, are mainly convenient to throw light on and image acquisition to the probe front of medical endoscope.And other component in medical endoscope, such as ccd image signal conversion module, micro-control module, the second wireless data transceiver module and second source module etc., then can need according to integrated the optional position being arranged on medical endoscope, its concrete installation site, affect these components electric wiring mode each other, but do not affect the realization of allomeric function.In the electronics framework of medical endoscope, the shooting output end of image of miniature CCD camera is electrically connected with the image input of ccd image signal conversion module, the translation data outfan of ccd image signal conversion module is electrically connected with the digital picture input of micro-control module, the shooting control signal outfan of micro-control module is electrically connected with the shooting control end of miniature CCD camera, data transmit-receive end and second wireless data transceiver module of micro-control module carry out data cube computation, cold light source lighting module is respectively by second source module, miniature CCD camera, ccd image signal conversion module, micro-control module and the second wireless data transceiver module are powered.Wherein, cold light source lighting module is used for providing illumination to the probe front of medical endoscope.Image capture operations is carried out in the probe front of shooting control signal to medical endoscope that miniature CCD camera is used for receiving according to shooting control end, and the ccd image signal of shooting is sent to ccd image signal conversion module by shooting output end of image.The conversion of ccd image signal is used in real time the ccd image signal from miniature CCD camera being converted to digital picture, and is sent to micro-control module by translation data outfan.Second wireless data transceiver module is used for setting up radio communication with wear-type Eye-controlling focus controller and is connected, and realizes communicating with the data transmit-receive of wear-type Eye-controlling focus controller.Micro-control module is then for receiving endoscope's control instruction that wear-type Eye-controlling focus controller sends by the second wireless data transceiver module, and perform corresponding image capture operations to miniature CCD camera transmission corresponding shooting control signal to control it by shooting control signal outfan according to endoscope's control instruction, digital picture also for being received by digital picture input is sent to the second wireless data transceiver module by data transmit-receive end, by the second wireless data transceiver module, digital picture is back to wear-type Eye-controlling focus controller.In fact, medical endoscope in medical endoscope control system of the present invention, substantially the integral frame of existing medical endoscope product can be continued to use, just on existing framework basis, increase by the second wireless data transceiver module, and increase micro-control module and carried out the corresponding functions such as the transmission of the data such as reception and digital picture of endoscope's control instruction by the second wireless data transceiver module.Wherein, the second wireless data transceiver module and the first wireless data transceiver module, specifically can adopt wireless data transceiver module comparatively ripe in the prior aries such as bluetooth transceiver module, radio-frequency (RF) receiving and transmission module, WiFi transceiver module or ZigBee transceiver module.Certainly, in more existing medical endoscope products, be also integrated with the chemical supply machine structure, sampling mechanism etc. that are controlled by micro-control module, in order to provide the medicines such as anesthesia to the surgery location of patient with operation, or sample of tissue operation carried out to surgery location; These chemical supply machine structure, sampling mechanisms etc. of the prior art, can comprise in the medical endoscope being applied in medical endoscope control system of the present invention equally, the endoscope's control instruction sent according to wear-type Eye-controlling focus controller by micro-control module and control these mechanisms and perform corresponding operating.
In the medical endoscope control system of this enforcement, wear-type Eye-controlling focus controller as shown in Figure 2, this wear-type Eye-controlling focus controller comprises one and for being fixed on by wearing human body head wears support 10, and wears infrared distance sensor 20, miniature infrared camera 30, image processing module, Eye-controlling focus identification module, central control module, data memory module, the first wireless data transceiver module, display module 40 and the first power module on support 10 described in being arranged on.This wears the concrete shape of support 10, can the needs of function and good looking appearance be worn according to it and be designed to be applicable to arbitrarily being worn on the shape style of human body head, such as comparatively complicatedly can be designed as a helmet pattern, comparatively simply can be designed as the pattern of an eyeglass holder as shown in Figure 2, etc.; But most importantly, this wears the supercilium 11 that support 10 needs to have corresponding to human body eyebrow position.The infrared transmitter 21 of miniature infrared camera 30 and infrared distance sensor 20 and infrared remote receiver 22 are then all arranged at the supercilium 11 of wearing support and towards direction, human eye place, mainly be convenient to the image of miniature infrared camera shooting human eye position, and be convenient to infrared distance sensor and found range in human eye position.The below that the display frame position that display module 40 exports is positioned at the supercilium 11 wearing support corresponds to human eye position, is convenient to human eye observation's display frame; In the present embodiment, display module 40 adopts the framework implementation of display driver circuit and transparent display screen 41, wherein, transparent display screen 41 is vertically fixedly mounted on the below of the supercilium 11 wearing support 10, for presenting the display frame that display module exports, display driver circuit then can be arranged on the optional position of wearing on support; Electric wiring mode between the concrete installation site impact of display driver circuit and transparent display screen, and do not affect the functional realiey of display module; But in order to make wiring distance shorter, display driver circuit be preferably arranged on wear support supercilium on be positioned at position directly over transparent display screen.And other component in wear-type Eye-controlling focus controller, such as image processing module, Eye-controlling focus identification module, central control module, data memory module, first wireless data transceiver module and the first power module etc., then can be arranged on the optional position of wearing on support according to integrated needs, such as data memory module and the first power module are arranged on the leftward position worn on support, image processing module, Eye-controlling focus identification module, first wireless data transceiver module and central control module are then arranged on the right positions worn on support, or image processing module, Eye-controlling focus identification module, central control module, data memory module, first wireless data transceiver module and the first power module are all arranged on by the mode that circuit is integrated and wear the special integrated circuit installation cavity indoor arranged on support, etc., the concrete installation site on support worn by these components, affects its electric wiring mode each other, but do not affect the realization of allomeric function.
Specifically, in the present embodiment, as shown in Figure 2, the support 10 of wearing of wear-type Eye-controlling focus controller comprises one from the crossbeam 12 extended laterally to corresponding to tip of the brow position on the left of human body corresponding to tip of the brow position on the right side of human body, described crossbeam 12 corresponds to human body eyebrow position and is the supercilium 11 wearing support; The middle part of crossbeam 12 is provided with for by the nose support 13 of cross beam support in human body bridge of the nose position; The left end of crossbeam 12 and right-hand member are connected with left legportion 14 and leg portion 15 respectively rotationally, and described left legportion 14 and leg portion 15 are when turning to extended configuration relative to crossbeam nose support 12, left legportion 14 is extended laterally to corresponding to the left ear position of human body from corresponding to tip of the brow position on the left of human body, and leg portion 15 is from extending laterally to corresponding to human body right ear position corresponding to tip of the brow position on the right side of human body; Be connected by bandage 16 between described left legportion 14 and the end of leg portion 15 away from described crossbeam 12, described bandage 16 has can the pars contractilis 17 of elastic telescopic.The wear-type Eye-controlling focus controller designed thus wear supporting structure, not only structure is simply light and handy, and its overall wearing mode is similar to glasses, human body bridge of the nose position is supported on by the crossbeam wearing support, the end of left legportion and leg portion is erected at respectively the left ear of human body and auris dextra formed and supports, and utilizes bandage to tie up simultaneously and is formed fixing at the back side of head of human body head, provide telescopic adjustment by the pars contractilis on bandage, wear with the user of applicable different head dummy, wear conveniently; And fixing by bandage, even if operator is carrying out needing in the process of performing the operation etc. to bow for a long time also making wear-type Eye-controlling focus controller produce situations such as rocking, come off.In addition, wear support 10 and also there is one from the packaging body 18 extended to corresponding to human body right ear position corresponding to eyebrow position on the right side of human body always, have a package cavity in this packaging body 18, the components such as image processing module, Eye-controlling focus identification module, microcontroller processing module, data memory module, the first wireless data transceiver module and the first power module are all arranged in the package cavity of packaging body 18 by the mode that circuit is integrated; The infrared transmitter 21 of miniature infrared camera 30 and infrared distance sensor 20 and infrared remote receiver 22 be all arranged at wear support packaging body 18 on correspond to the supercilium of eyebrow position on the right side of human body, and towards direction, human eye place; Simultaneously, display driver circuit be also installed on wear support packaging body 18 on correspond to the supercilium 11 of eyebrow position on the right side of human body, transparent display screen 41 be then vertically fixedly mounted on wear support packaging body 18 on correspond to the below of the supercilium 11 of eyebrow position on the right side of human body, corresponding to human body right eye position.The electronic original part designed thus is wearing the arrangement on support, is more conducive to circuit integrated and connects up conveniently, also making the outward appearance of wear-type Eye-controlling focus controller cleaner and tidier, attractive in appearance simultaneously.The video data input of display driver circuit is as the shows signal input of display module, the display and control outfan of display driver circuit and transparent display screen carry out data cube computation, and the signal for receiving according to video data input correspondingly exports and control the display frame that presented by transparent display screen.Thus, the display frame position that display module exports is transparent display screen position.User wears the wear-type Eye-controlling focus controller of the present embodiment, and the existence of its transparent display screen does not affect the observation of sight line to reality scene of user, and user vision perception can reach display frame and the superimposed effect of reality scene; In the display frame simultaneously presented at transparent display screen, the sight line of synchronized tracking user the instruction of operating pointer be can also carry out, the indicating positions of operating pointer and the superimposed interactivity indicating effect of the viewed reality scene of human eye sight realized.
In the electronics framework of wear-type Eye-controlling focus controller, as shown in Figure 3, the infrared picture data outfan of miniature infrared camera is electrically connected with the infrared image acquisition end of image processing module, the process data output end of image processing module is electrically connected with the human eye data acquisition end of Eye-controlling focus identification module, the identifying information outfan of Eye-controlling focus identification module is electrically connected with the eye movement data input of central control module, the distance signal outfan of infrared distance sensor is electrically connected with the range data input of central control module, the shows signal outfan of central control module is electrically connected with the shows signal input of display module, the parameter acquisition end of central control module and data memory module carry out data cube computation, infrared distance sensor is respectively by the first power module, miniature infrared camera, image processing module, Eye-controlling focus identification module, central control module, data memory module, first wireless data transceiver module and display module are powered.
In the electronics framework of wear-type Eye-controlling focus controller, the display module display frame display be used for by exporting is carried out medical endoscope operating the pseudo operation button controlled, and display and control is carried out in the feature operation of the signal received according to shows signal input to the position indicated by the content presented shown by its display frame and operating pointer and execution.Wherein, pseudo operation button shown in the display frame of display module, can need and the various functions of design triggering execution with control according to the corresponding function of medical endoscope, can be such as trigger the amplification of the digital picture that medical endoscope gathers, reduce, suspend, pseudo operation button that the function such as broadcasting controls, also can be trigger medical endoscope is taken pictures, pseudo operation button that camera function switches control; For the medical endoscope had for the function such as medicine, sampling, can also design and trigger the pseudo operation button of medical endoscope execution for medicine, sampling operation.Fig. 5 shows in the display frame of display module on wear-type Eye-controlling focus controller the example demonstrating pseudo operation button, display frame in this example shows amplification, reduces, suspends, plays, takes pictures, makes a video recording, for the pseudo operation button of multiple function such as medicine, sampling, "+" in this example in display frame is operating pointer, this operating pointer according to human eye action and its indicating positions of Control of line of sight and the feature operation of holding, thus controls to click these pseudo operation buttons and triggers and send corresponding endoscope control instruction to medical endoscope.
Data memory module is used for memory device supplemental characteristic and order parameter data, the information of device parameter data record comprises the three-dimensional position relation worn between display frame position that on support, infrared remote receiver position and display module export, the information eyes then comprised corresponding to operating pointer function command of order parameter data record are opened and are closed action and pupil shift action, also comprise endoscope's control instruction corresponding when pseudo operation button is triggered in display frame; Certainly, the device parameter data stored in data memory module and order parameter data recorded data information, can also comprise it and realize other intelligent functions or the necessary supplemental characteristic of interactive function.
Infrared distance sensor is used for launching infrared light to human eye position in real time by infrared transmitter, the infrared external reflection light returned after the diffuse-reflectance of human eye position by infrared light is received by infrared remote receiver, to send between time and infrared external reflection light-receiving time the existing time difference by the range finding processing module of infrared distance sensor according to infrared light to carry out converting and record the range data wearing infrared remote receiver position and human eye position on support, and this range data is sent to center-control processing module.The effect of infrared distance sensor in wear-type Eye-controlling focus controller of the present invention is also not only to find range to human eye position, it is also by combining with miniature infrared camera, realize two even more important miscellaneous functions, the first plays the effect of infrared auxiliary light source, and it two is play effect people canthus sight line being helped to location.Because in concrete applied environment, due to the environment of light darkness may be there is, cause human eye position visibility low, even not visible, according to the visible ray sensitization camera of routine, then to affect and disturb based on eye image position of human eye and Eye-controlling focus identification under dark environment, therefore need secondary light source.If but directly adopt visible light source to irradiate position of human eye as secondary light source, the sense of discomfort that light dazzles can be produced, affect the wearing comfort of wear-type Eye-controlling focus controller and the visual effect of operating pointer thereof on the contrary.Be directed to this, have employed infrared distance sensor in wear-type Eye-controlling focus controller of the present invention, launch infrared light to human eye position in real time by its infrared transmitter, in this, as auxiliary infrared light supply; Correspondingly, the image capture device of position of human eye then have employed miniature infrared camera.On the other hand, the infrared light supply light that the infrared transmitter of infrared distance sensor is launched to human eye position, corneal reflex hot spot can be formed because of the reflection of eye cornea, this corneal reflex hot spot is used in position, corneal flare center in follow-up Eye-controlling focus identifying and is located, and then in conjunction with pupil center position, auxiliary realization is caught the direction of visual lines of human eye.
Miniature infrared camera for taking the original infrared image of human eye position, and is sent to image processing module in real time by infrared picture data outfan.Thus, even if under the arbitrary visible light conditions such as dark, invisible, owing to there is the help of infrared transmitter as secondary light source of infrared distance sensor, all the time the original infrared image of human eye position effectively can be photographed by miniature infrared camera, the infrared light supply light simultaneously can also launched by infrared transmitter forms corneal reflex hot spot at position of human eye place, in order to carry out eye recognition and Eye-controlling focus, avoid the interference that the situations such as visible light environment darkness cause.
Image processing module is then for the original infrared image of Real-time Obtaining miniature infrared camera shooting, split from original infrared image by Iamge Segmentation process and obtain human eye area image, and after the human eye area image obtained is carried out filtering and edge enhancement process, be sent to Eye-controlling focus identification module in real time by process data output end.In existing technical field of image processing, realize the fixation and recognition of area-of-interest, dividing processing and image filtering, the related art method of edge enhancement process is a lot, such as can position identification according to the gradation of image information of area-of-interest and image texture information to it, Image process in addition again, adopt the image noise reduction and enhancement method based on wavelet transformation, utilize its multiple dimensioned and character that is multiresolution, detect the picture signal local feature of interested image-region, effective filtering noise, retain its image texture information, carry out realizing the edge reinforced effects to image.Image processing module in wear-type Eye-controlling focus controller of the present invention, just using human eye area image as area-of-interest, can realize the fixation and recognition to human eye area image in original infrared image and dividing processing.From original infrared image, segmentation obtains the process of human eye area image, also reaches and alleviates because shake causes eye image identification and Eye-controlling focus to produce the problem of error.Although wear-type Eye-controlling focus controller of the present invention can be fixed on human body head by wearing, thus make the miniature infrared camera on equipment keep relative fixing preferably with human body eye locations, stably to carry out eye image identification and Eye-controlling focus, but can not get rid of because head rocks acutely, is subject to the uncontrollable factors such as foreign body shock completely, cause between miniature infrared camera and human body eye locations and be subjected to displacement, cause the position of human eye in original infrared image to produce the problem of offset deviation.But in wear-type Eye-controlling focus controller of the present invention, by the mode of segmentation human eye area image, whether change is subjected to displacement because head is dynamic regardless of position of human eye in original image, the image-region scope of the human eye area image be partitioned into is relatively-stationary, therefore when the later stage carries out eye recognition and Eye-controlling focus according to human eye area image, just not existing because shaking the displacement caused, being equivalent to alleviating, shielding because shaking the displacement error produced.
Eye-controlling focus identification module is used for the human eye area image that the process of real-time image acquisition processing module obtains, eye shape, pupil position and the corneal reflex hot spot in human eye area image is determined by image boundary identifying processing, and then determine eyes open the state of closing, pupil center position and corneal reflex spot center position, and the open state of closing, pupil center position and the corneal reflex spot center position of eyes are sent to center-control processing module in real time by identifying information outfan.Image boundary recognition technology is also application technology very ripe in technical field of image processing, and the image boundary identifying processing method that therefore can be applied to the eye shape determined in human eye area image, pupil position and corneal reflex hot spot in the prior art has a lot.As comparatively preferred scheme, can adopt the eyes detection algorithm based on radial symmetric, that detects eyes opens the state of closing, concrete mode can see existing document " eyes based on radial symmetry transform are opened and are closed state-detection, Zhang Wencong, Deng Hongping; Li Bin, Zhuan Zhenquan; " China Science & Technology University's journal " the 5th phase in 2010,460th ~ 465 pages "; Meanwhile, randomization ellipse fitting method can be adopted to carry out oval least square fitting to the marginal point extracted and to be linked into border, the position of pupil position and corneal reflex hot spot is identified and determined.
First wireless data transceiver module is used for setting up radio communication with medical endoscope and is connected, and realizes communicating with the data transmit-receive between medical endoscope.The type of this first wireless data transceiver module needs to match with the second wireless data transceiver module in medical endoscope, specifically can adopt bluetooth transceiver module, radio-frequency (RF) receiving and transmission module, WiFi transceiver module or ZigBee transceiver module etc., set up radio communication with the second wireless data transceiver module and be connected.
Central control module by its eye movement data input receive eyes open the state of closing, pupil center position and corneal reflex spot center position after, the process of two aspects be carried out.First aspect, central control module is used for position vector that the pupil center position that receives according to eye movement data input in real time and corneal reflex spot center position form and estimates the direction of visual lines determining human eye, and in combination with parameter acquisition end from the three-dimensional position relation between wearing of extracting of the data memory module display frame position that support, infrared remote receiver position and display module export and build 3 d space coordinate by the range data wearing infrared remote receiver position and human eye position on support that range data input gets, the distance of each display position point in the display frame determining that human eye position exports relative to display module is calculated by this 3 d space coordinate, and then the joining of the direction of visual lines of human eye in display frame is determined in calculating, and generating run pointer location instructions is sent to by shows signal outfan display module the to be instructed in human eye in real time joining position of direction of visual lines in display frame with the operating pointer controlled in its display frame in real time.Thus, make in the display frame of wear-type Eye-controlling focus controller of the present invention, the indicating positions of operating pointer coincides with the joining position of direction of visual lines in display frame of human eye all the time, reaching can by the human-computer interaction function of the shift action control break operating pointer indicating positions of human eye sight, simultaneously, because the indicating positions of operating pointer in display frame can synchronized tracking human eye sight, therefore also reach the indicating positions of operating pointer and the superimposed man-machine interaction effect of the viewed reality scene of human eye sight.On the other hand, central control module also opens for the actual of the situation of change determination eyes of the state of closing and pupil center position that open of the eyes received according to eye movement data input in real time the actual shift action closing action and pupil, and open with the eyes corresponding to the operating pointer function command extracted from data memory module by parameter acquisition end and close action and pupil shift action contrasts, judge whether coupling, and the operating pointer function command matched is sent to display module by shows signal outfan performs corresponding feature operation when judging coupling with the position controlled indicated by the operating pointer in its display frame, such as, can be opened by eyes such as nictation and close action, rock the pupil shift actions such as eyeball regularly, carry out control operation pointer to perform confirmation, cancellation, trigger the function commands such as pseudo operation button, enrich the function combinations mode being realized man-machine interaction by human eye action, reach the interactive capability close to conventional man-machine interaction input equipments such as mouses, thus, whether the feature operation of the position execution that central control module just can judge in display frame indicated by operating pointer further triggers the pseudo operation button in display frame, and extract corresponding endoscope control instruction by parameter acquisition end from data memory module when judging that pseudo operation button is triggered, the first radio receiving transmitting module is sent to by data communication end, by the first radio receiving transmitting module, endoscope's control instruction is sent to medical endoscope, controls medical endoscope and perform corresponding feature operation.Such control mode, significantly reduces the probability of the medical endoscope of the action triggers immediately generation misoperation of human eye, makes the medical endoscope control system that the present invention is based on Eye-controlling focus control have good operability.In addition, central control module is also for receiving the digital picture of medical endoscope passback by the first wireless data transceiver module, and by shows signal outfan, the digital picture received is sent to display module in real time, control its display frame and carry out display and present.Like this, visually reach digital picture picture and the superimposed man-machine interaction effect of the viewed reality scene of human eye sight that medical endoscope gathers, operator can while observe the practical situation of oneself manual operation environment in reality scene, the image conditions before the probe of medical endoscope can be checked again by display frame, avoid sight line frequent trouble switched between display environment and endoscopic video of operator, it also avoid the frequent problem switching sight line and cause distractibility, make the digital picture picture of medical endoscope collection combine with reality scene simultaneously, the operator that is more convenient for understands in patient with operation simultaneously, outer operation situation, help the probability reducing maloperation.
Can see thus, the present invention is based on the medical endoscope control system that Eye-controlling focus controls, wear-type Eye-controlling focus controller can be used to be worn on human body head, by eye motion, control operated to operating pointer and realized man-machine interaction, and visually can reach the digital picture picture and the superimposed man-machine interaction effect of the viewed reality scene of human eye sight that medical endoscope gathers, enhance the manipulation associativity of system, thus can reduce in manipulation process, even avoid switching sight line and manual operation, and then it is poor to solve existing micro-wound surgical operation equipment manipulation associativity, monitor and Non-follow control troublesome poeration, the easy problem affecting surgical quality.
embodiment two:
The present embodiment is the further improvement project on embodiment one basis.In the medical endoscope control system that the present embodiment controls based on Eye-controlling focus, the framework of medical endoscope is identical with embodiment one; And in wear-type Eye-controlling focus controller, except infrared distance sensor, miniature infrared camera, image processing module, Eye-controlling focus identification module, central control module, data memory module, display module, the first wireless data transceiver module and the first power module, sound acquisition module and audio processing modules are also set up, wherein, the voice data outfan of sound acquisition module is electrically connected with the audio input end of audio processing modules, and the audio output of audio processing modules is electrically connected with the speech data input of central control module.In the wear-type Eye-controlling focus controller of the present embodiment medical endoscope control system, sound acquisition module is used for carrying out audio collection to ambient sound, and the original sound voice data collected is sent to audio processing modules in real time by voice data outfan; Audio processing modules is then for the original sound voice data of Real-time Obtaining from sound acquisition module, and noise reduction filtering process is carried out to original sound voice data, and the wave audio data after process are sent to central control module in real time by audio output; On the basis of embodiment one, the information that the order parameter data stored in data memory module record, also comprises the verbal instructions voice data corresponding to endoscope's control instruction; Simultaneously, central control module also for the wave audio data that in real time speech data input received with contrasted from the verbal instructions voice data corresponding to endoscope's control instruction that data memory module extracts by parameter acquisition end, judge whether coupling, and when judging coupling, the endoscope's control instruction matched is sent to the first radio receiving transmitting module by data communication end, by the first radio receiving transmitting module, endoscope's control instruction is sent to medical endoscope.
Meanwhile, the wear-type Eye-controlling focus controller of the medical endoscope control system of the present embodiment also has variation in framework layout.The wear-type Eye-controlling focus controller of the present embodiment as shown in Figure 6, it is worn support 10 and still mainly comprises and extend laterally to corresponding to tip of the brow position on the right side of human body from corresponding to tip of the brow position on the left of human body and be provided with the crossbeam 12 of nose support 13, the left legportion 14 that left end and the right-hand member of crossbeam 12 are connected rotationally and leg portion 15, and the bandage 16 with pars contractilis 17 connected between left legportion 14 and the end of leg portion 15 away from described crossbeam 12, crossbeam 12 corresponds to human body eyebrow position and be the supercilium 11 wearing support.But be with embodiment one difference, in the present embodiment, display module 40 adopts the framework implementation of micro projector and transparent prism 42.Wherein, the data for projection input of micro projector is as the shows signal input of display module, the projection lens of micro projector, towards transparent prism 42, projects corresponding display frame image according to the signal that data for projection input receives to transparent prism 42.And transparent prism 42 is fixedly mounted on the below of the supercilium 11 wearing support 10, and there is in transparent prism 42 a visible ray plane of refraction, display frame image for the projection lens projects of micro projector being entered transparent prism refracts to direction, human eye place, and then presents display frame.In this display module framework, the concrete installation site of micro projector is also comparatively arbitrary.Such as, micro projector can be arranged on wear support supercilium on be positioned at position directly over transparent prism, project display frame image to transparent prism from top to bottom; The below that micro projector also can be arranged on the supercilium wearing support is positioned at the position of transparent prism side, projects display frame image from side to transparent prism.Certainly, the installation site of micro projector only otherwise stop human eye sight.
Specifically, in the present embodiment, as shown in Figure 6, wear support 10 and there is one from the packaging body 18 extended to corresponding to human body right ear position corresponding to eyebrow position on the right side of human body always, have a package cavity in this packaging body 18, the components such as image processing module, Eye-controlling focus identification module, microcontroller processing module, data memory module, sound acquisition module, audio processing modules, the first wireless data transceiver module and the first power module are all arranged in the package cavity of packaging body 18 by the mode that circuit is integrated; The infrared transmitter 21 of miniature infrared camera 30 and infrared distance sensor 20 and infrared remote receiver 22 be all arranged at wear support packaging body 18 on correspond to the supercilium of eyebrow position on the right side of human body, and towards direction, human eye place; Meanwhile, transparent prism 42 is fixedly mounted on the below that the packaging body 18 worn on support 10 corresponds to the supercilium 11 of eyebrow position on the right side of human body, corresponding to human body right eye position; Micro projector is then arranged on packaging body 18 inside of wearing on support 10 and is positioned at position on the right side of transparent prism 42, the projection lens of micro projector then towards transparent prism 42, for projecting display frame image from side to transparent prism 42.The electronic original part designed thus is wearing the arrangement on support, is more conducive to circuit integrated and connects up conveniently, also making the outward appearance of wear-type Eye-controlling focus controller of the present invention cleaner and tidier, attractive in appearance simultaneously.Thus, the display frame position that display module exports is visible ray plane of refraction position in transparent prism.After user wears the wear-type Eye-controlling focus controller of the present embodiment, the existence of transparent prism does not affect the observation of sight line to reality scene of user equally, the display frame image of the projection lens projects of micro projector is refracted to the direction, eyes place of user by the visible ray plane of refraction simultaneously in transparent prism, display frame image light enter eyeball by the pupil of user eyes and imaging on the retina, make user can watch display frame image, and for user, the visible ray plane of refraction position that display frame seems to be located in transparent prism is the same, thus in user vision perception, reach display frame and the superimposed effect of reality scene, meanwhile, in the display frame that transparent prism presents, the sight line of synchronized tracking user the instruction of operating pointer be can carry out equally, the indicating positions of operating pointer and the superimposed interactivity indicating effect of the viewed reality scene of human eye sight realized.Moreover, due to the research and development of transparent display screen technology and hardware cost all comparatively high, compare with the display module framework implementation of transparent display screen with adopting display driver circuit in embodiment one, the display module framework scheme of the micro projector that the present embodiment adopts and transparent prism is functionally suitable, then lower in research and development and hardware cost, be therefore more conducive to the cost reducing equipment and technology development and production.
In the medical endoscope control system that the present embodiment controls based on Eye-controlling focus, man-machine interaction is realized except wear-type Eye-controlling focus controller can be used to be operated control by eye motion to operating pointer, outside medical endoscope is controlled, by sound acquisition module, audio processing modules and coordinating between data memory module and central control module in wear-type Eye-controlling focus controller, operator can also be controlled to medical endoscope by voice.Such as, in the order parameter data stored in the data memory module of wear-type Eye-controlling focus controller, add the voice data such as " amplification ", " reducing ", " time-out " of Chinese speech pronunciation, " broadcasting ", " taking pictures ", " shooting ", " for medicine ", " sampling " as verbal instructions voice data, correspondingly respectively perform amplification, reduce, suspend, play, take pictures, make a video recording, endoscope's control instruction of function such as confession medicine, sampling etc., in use, operator can bark out by phonetic Chinese pronunciation the function title needing medical endoscope executable operations, such as " take pictures ", the voice that operator sends just can be gathered by the sound acquisition module of wear-type Eye-controlling focus controller, identify by being sent to central control module after audio processing modules process, central control module is by contrasting with the verbal instructions voice data that records in data memory module, in " taking pictures " voice data and instruction supplemental characteristic of decision person's Chinese speech pronunciation, " taking pictures " verbal instructions voice data matches, wear-type Eye-controlling focus controller then can send endoscope's control instruction of " taking pictures " to medical endoscope by the first radio receiving transmitting module, control medical endoscope and perform photographing operation.Thus, for medical endoscope control system of the present invention, user can realize man-machine interaction by more abundant non-manual control mode, and can be combined by human eye action and verbal instructions, continue more complicated, more accurate function to medical endoscope to control, further help to reduce maloperation probability, strengthen the operability of system, thus the use further reducing medical endoscope control system is for the impact of operation technique and surgical quality.
embodiment three:
The present embodiment is the further improvement project in embodiment one or embodiment two basis equally.In the medical endoscope control system that the present embodiment controls based on Eye-controlling focus, the framework of medical endoscope is identical with embodiment one; And in wear-type Eye-controlling focus controller, except infrared distance sensor, miniature infrared camera, image processing module, Eye-controlling focus identification module, central control module, data memory module, display module, the first wireless data transceiver module and the first power module, several operated keys are also set up, each operated key holds the (abbreviation of I/O and Input/Output with the different I/O of central control module respectively, refer to input port/output port) electrical connection, send the signal of telecommunication when operated key is manually actuated to corresponding I/O end.In the wear-type Eye-controlling focus controller of the present embodiment medical endoscope control system, on the basis of embodiment one, the information that the order parameter data stored in data memory module record, also comprises the endoscope control instruction of each I/O end corresponding to the signal of telecommunication of central control module; Simultaneously, central control module is also for receiving the signal of telecommunication held from variant I/O in real time, the order parameter data stored by data query memory module, judge the endoscope control instruction of I/O end corresponding to the signal of telecommunication received, and corresponding endoscope control instruction is sent to the first radio receiving transmitting module by data communication end, by the first radio receiving transmitting module, endoscope's control instruction is sent to medical endoscope.
For concrete enforcement, in the wear-type Eye-controlling focus controller of the present embodiment medical endoscope control system, the setting position of each operated key can need according to outward appearance and the consideration of ease for operation is designed, such as can design in the left legportion wearing support or leg portion, etc.; Meanwhile, the concrete form of operated key also can be various, and can need according to its function and select, can be such as button key, can be stir key, also can be thumb wheel key, etc.In addition, these several operated keys may be used for triggering wear-type Eye-controlling focus controller and send different endoscope's control instructions, such as, amplify, reduce, play, pausing operation, the handover operation of make a video recording, taking pictures, endoscope for medicine, sample control operation, etc.; Trigger these instructions, need the data memory module of wear-type Eye-controlling focus controller and central control module to match.
Use the medical endoscope control system of the present embodiment, man-machine interaction is realized except wear-type Eye-controlling focus controller can be used to be operated control by eye motion to operating pointer, outside medical endoscope is controlled, by the operated key on operation wear-type Eye-controlling focus controller, medical endoscope can also be controlled.Such as, wear-type Eye-controlling focus controller is provided with the operated key of the button key form that a triggering " amplification " operates, in the information that the order parameter data stored in data memory module record, record and send the signal of telecommunication to the corresponding I/O end of central control module when this button key is pressed and represent endoscope's control instruction that triggering " amplification " operates, then when this button key is pressed, central control module receives the signal of telecommunication held from this button key I/O, the order parameter data stored by data query memory module, can judge that this I/O holds the signal of telecommunication to represent endoscope's control instruction that triggering " amplification " operates, thus the endoscope's control instruction " amplification " operated by the first radio receiving transmitting module of wear-type Eye-controlling focus controller is sent to medical endoscope, control the operation that medical endoscope performs Nonlinear magnify.Thus, for medical endoscope control system of the present invention, user can when in conjunction with eye motion, further manually operate the operated key on wear-type Eye-controlling focus controller, come to continue more complicated, more accurate function to medical endoscope to control, further help to reduce maloperation probability, strengthen the operability of system, thus the use further reducing medical endoscope control system is for the impact of operation technique and surgical quality.
In sum, the present invention is based on the medical endoscope control system that Eye-controlling focus controls, its wear-type Eye-controlling focus controller can be worn on human body head, and track identification can be carried out by eye motion and sight line and to the feature operation performed by the indicating positions of operating pointer in display frame and operating pointer, realize man-machine interaction, and then trigger corresponding endoscope control instruction, control medical endoscope and perform corresponding operating, avoid the trouble that operator needs manual operation medical endoscope and Monitor and Control device; Simultaneously, wear-type Eye-controlling focus controller in system can also be received and the digital picture photographed by the probe front that the display frame on wear-type Eye-controlling focus controller presents medical endoscope, visually reach the man-machine interaction effect that digital picture picture and the viewed reality scene of human eye sight that medical endoscope gathers are superimposed, avoid the trouble of sight line frequent switching between display environment and endoscopic video of operator.As can be seen here, the medical endoscope control system that the present invention is based on Eye-controlling focus control enhances the manipulation associativity of system, thus can reduce in manipulation process, even avoid sight line and manually operated frequent switching, help to reduce maloperation probability, the use reducing medical endoscope control system for the impact of operation technique and surgical quality, and then solve existing micro-wound surgical operation equipment manipulation associativity poor, monitor and Non-follow control troublesome poeration, the easy problem affecting surgical quality.Moreover, due in medical endoscope control system of the present invention, wear-type Eye-controlling focus controller and medical endoscope all have the ability of radio communication, therefore the external computer terminal that wear-type Eye-controlling focus controller and medical endoscope all can possess wireless communication ability with other is set up radio communication and is connected, such as other personal computer, mobile phone terminal, Mus mark, hand-held remote control, oral cavity Worn type remote control equipment etc., receive the control instruction that these external computer terminals send to be controlled medical endoscope, or receive the character that these external computer terminals send, picture, the information datas such as video are shown by the display module of wear-type Eye-controlling focus controller and are presented, or utilize medical endoscope control system to send data message to these external computer terminals, realize mutual, etc., make medical endoscope control system of the present invention can with other computer terminal with the use of, to solve more technology application problem.Visible, the medical endoscope control system that the present invention is based on Eye-controlling focus control can also have abundant operability and powerful extensibility, has broad application prospects in micro-wound surgical operation equipment technical field.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.