Disclosure of Invention
In view of the above, it is necessary to provide a display device and a surgical robot capable of improving the 3D display effect.
In a first aspect, the present application provides a display device. The display device includes:
The display device comprises a first display unit and a second display unit, wherein the first display unit is used for displaying a first image, and the second display unit is used for displaying a second image;
The optical path unit comprises a reflecting component and an eyepiece component;
The optical path unit is configured to form a first virtual image perceived by a first eye and a second virtual image perceived by a second eye after the first image and the second image are sequentially reflected by the reflection component and amplified by the eyepiece component.
In one embodiment, the reflective assembly comprises a first reflective assembly, a second reflective assembly, and a third reflective assembly, the third reflective assembly comprising a first reflective surface and a second reflective surface;
The reflection assembly is configured to form a first intermediate virtual image after the first image is reflected by the first reflection assembly and the first reflection surface in sequence, and form a second intermediate virtual image after the second image is reflected by the second reflection assembly and the second reflection surface in sequence.
In one embodiment, a side of the first reflecting component facing the first display unit is coated with a reflecting film, and a side of the second reflecting component facing the second display unit is coated with a reflecting film.
In one embodiment, the eyepiece assembly includes a first eyepiece assembly and a second eyepiece assembly;
the first eyepiece component is used for amplifying the first intermediate virtual image formed by the first reflecting surface to form a first virtual image;
and the second eyepiece component is used for amplifying the second intermediate virtual image formed by the second reflecting surface to form a second virtual image.
In one embodiment, the distance between the center point of the first display unit and the first reference point is smaller than or equal to a first preset distance threshold, wherein the first reference point is an intersection point between a first light path and the first display unit, and the first light path is a light path formed by light passing through the center of the exit pupil of the first eyepiece assembly and reflected by the first reflection surface and the first reflection assembly;
the distance between the center point of the second display unit and the second reference point is smaller than or equal to a first preset distance threshold, the second reference point is an intersection point between a second light path and the second display unit, and the second light path is a light path formed by light rays passing through the center of the exit pupil of the second eyepiece assembly and reflected by the second reflecting surface and the second reflecting assembly.
In one embodiment, the first reference point is a vertical intersection point between the first light path and the first display unit, and the second reference point is a vertical intersection point between the second light path and the second display unit.
In one embodiment, the first eyepiece assembly and the second eyepiece assembly each include at least two magnifiers, and the at least two magnifiers in the same eyepiece assembly are coaxially arranged along the optical axis direction.
In one embodiment, the at least two magnifiers include a first magnifier, a second magnifier, and a third magnifier, and the first magnifier, the second magnifier, and the third magnifier in the same eyepiece assembly are sequentially arranged along the viewing direction of the human eye;
The first magnifier is a biconcave spherical lens, the second magnifier is a meniscus lens, and the third magnifier is a biconvex spherical lens.
In one embodiment, the at least two magnifiers comprise a first magnifier;
The image Fang Jiaoju of the first magnifier satisfiesThe shape factor of the first magnifier satisfies
Wherein f1 is an image Fang Jiaoju of the first magnifier, f is an effective focal length of the eyepiece assembly, R1 is a radius of curvature of a side of the first magnifier close to the human eye, and R2 is a radius of curvature of a side of the first magnifier far from the human eye.
In one embodiment, the at least two magnifier comprises a second magnifier;
The image Fang Jiaoju of the second magnifier satisfiesThe shape factor of the second magnifier satisfies
Wherein f2 is an image Fang Jiaoju of the second magnifier, f is an effective focal length of the eyepiece assembly, R3 is a radius of curvature of a side of the second magnifier close to the human eye, and R4 is a radius of curvature of a side of the second magnifier far from the human eye.
In one embodiment, the at least two magnifier comprises a third magnifier;
The image Fang Jiaoju of the third magnifier satisfiesThe shape factor of the third magnifier satisfies
Wherein f3 is an image Fang Jiaoju of the third magnifier, f is an effective focal length of the eyepiece assembly, R5 is a radius of curvature of a side of the third magnifier close to the human eye, and R6 is a radius of curvature of a side of the third magnifier far from the human eye.
In a second aspect, the present application also provides a surgical robot. The surgical robot comprises an image acquisition device, a display device, a control device and a control device, wherein the display device in the first aspect is in communication connection with the image acquisition device;
The image acquisition device is used for acquiring a first image and a second image and sending the first image and the second image to the display device;
and the display device is used for displaying the first image and the second image.
In a third aspect, the present application also provides a surgical robot. The surgical robot comprises an image acquisition device, a display device, a control device and a control device, wherein the display device in the first aspect is in communication connection with the image acquisition device;
The image acquisition device is used for acquiring a first image and a second image and sending the first image and the second image to the display device;
a display device for displaying the first image and the second image;
A surgical robot for controlling the first display unit to approach the first reference point in response to a first display adjustment operation of a user until a first preset stop condition is satisfied, the first preset stop condition including a distance between a center point of the first display unit and the first reference point being less than or equal to a second preset distance threshold, or the first display adjustment operation of the user not being detected, and/or
The surgical robot is used for responding to the second display adjustment operation of the user and controlling the second display unit to approach the second datum point until a second preset stop condition is met, wherein the second preset stop condition comprises that the distance between the center point of the second display unit and the second datum point is smaller than or equal to a third preset distance threshold value, or the second display adjustment operation of the user is not detected.
The display device and the surgical robot respectively display the left eye image and the right eye image through different display units, respectively reflect and amplify the left eye image and the right eye image through the light path unit, and finally form a left eye perceived image and a right eye perceived image. In addition, the display device can also enlarge the image reflected to the left eye and the image reflected to the right eye through the eyepiece assembly, namely, optically enlarge the 3D image. Furthermore, the 3D image is optically amplified through the eyepiece component, so that the immersion sense of the 3D display effect is improved, the sizes of other components in the display device can be reduced, and the volume and the weight of the display device are further reduced.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The display device provided by the embodiment of the application is suitable for the technical field of 3D display, for example, in the process of operating a surgical robot by a user, real-time 3D images acquired by the tail end of the robot are displayed so as to provide the 3D images with high definition, large angle of view and strong immersion for the user, and the user can conveniently know tissue information and focus information.
In a conventional 3D display device, left-eye images and right-eye images having horizontal parallax are displayed on a display screen in a parity line display manner, and odd-line images and even-line images are respectively reflected to left eyes and right eyes of a user through a reflection assembly, so that a three-dimensional image effect which can be seen by eyes of the user is formed.
However, in the process of reflecting the odd-numbered line images and the even-numbered line images to the left eye and the right eye of the user, respectively, the problem of image crosstalk is easy to occur, so that the odd-numbered line images and the even-numbered line images are partially reflected to the left eye and the right eye of the user, and the user generates a strong dizziness feeling, and therefore, the three-dimensional image is poor in display effect.
Based on this, the embodiment of the application provides a display device, wherein a left eye light path and a right eye light path are independently arranged and combined with an eyepiece component, so that the problem of image crosstalk is solved, and meanwhile, the optical view field is increased, and the display effect of a three-dimensional image can be greatly improved.
The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a display device according to an embodiment of the present application. As shown in fig. 1, the display device includes a first display unit 10, a second display unit 20, and an optical path unit 30, and the optical path unit 30 includes a reflection assembly 31 and an eyepiece assembly 32.
The optical path unit 30 is configured to form a first virtual image perceived by a first eye and a second virtual image perceived by a second eye after the first image and the second image are sequentially reflected by the reflection assembly 31 and amplified by the eyepiece assembly 32.
The first display unit 10 and the second display unit 20 may be two-dimensional display screens, for example. After processing the three-dimensional image frame into a two-dimensional image corresponding to the left eye and a two-dimensional image corresponding to the right eye having horizontal parallax, the two-dimensional image corresponding to the left eye may be transmitted as a first image to the first display unit 10 for output display, and the two-dimensional image corresponding to the right eye may be transmitted as a second image to the second display unit 20 for output display. That is, in this example, the first display unit 10 may be a display unit corresponding to a left eye of a user, the first image is an image viewed by the left eye, and correspondingly, the second display unit 20 is a display unit corresponding to a right eye of the user, and the second image is an image viewed by the right eye.
Conversely, the first display unit 10 may be a display unit corresponding to a right eye of the user, the first image is an image watched by the right eye, and correspondingly, the second display unit 20 is a display unit corresponding to a left eye of the user, and the second image is an image watched by the left eye. At this time, the two-dimensional image corresponding to the left eye may be transmitted to the second display unit 20 as the second image for output display, and the two-dimensional image corresponding to the right eye may be transmitted to the first display unit 10 as the first image for output display.
It should be noted that, the first display unit 10 and the second display unit 20 may be a liquid crystal display screen, an electronic ink display screen, or any other type of display screen, which is not particularly limited in the embodiment of the present application.
In addition, as for the positions of the first display unit 10 and the second display unit 20, it is possible to make a specific layout in combination with the positions of the optical path units 30 on the basis of a symmetrical arrangement. On the basis that the first image displayed on the first display unit 10 can be reflected to the first eye of the user and the second image displayed on the second display unit 20 can be reflected to the second eye of the user, the positions of the first display unit 10 and the second display unit 20 are not excessively limited in the embodiment of the present application.
Illustratively, the optical path unit 30 may include a reflection assembly 31 and an eyepiece assembly 32, wherein the reflection assembly 31 may be used to reflect the first image displayed by the first display unit 10 and the second image displayed by the second display unit 20 to the first eye and the second eye of the user, respectively, and may reflect the first image displayed by the first display unit 10 to the first eye and the second image displayed by the second display unit 20 to the second eye of the user, respectively. In one implementation, the reflective assembly 31 may include a plurality of reflective optical paths for forming a first reflective optical path for reflecting a first image displayed by the first display unit 10 to a first eye of a user and a second reflective optical path for reflecting a second image displayed by the second display unit 20 to a second eye of the user.
In addition, since eyepiece assembly 32 generally corresponds to a first eye and a second eye of a user, eyepiece assembly 32 may illustratively include a first eyepiece assembly and a second eyepiece assembly, in one implementation, the first eyepiece assembly may correspond to the first eye of the user and the second eyepiece assembly may correspond to the second eye of the user. Based on the above example, the reflection assembly 31 may be used to reflect the first image displayed by the first display unit 10 to the first eyepiece assembly and form a first virtual image perceived by the first eye of the user through the magnifying function of the first eyepiece assembly, and at the same time, the reflection assembly 32 reflects the second image displayed by the second display unit 20 to the second eyepiece assembly and forms a second virtual image perceived by the second eye of the user through the magnifying function of the second eyepiece assembly. Thus, the three-dimensional image seen by the eyes of the user can be formed by combining the first virtual image perceived by the first eyes of the user and the second virtual image perceived by the second eyes of the user.
In the embodiment, a display device is provided, the display device comprises a first display unit, a second display unit and a light path unit, the light path unit comprises a reflection assembly and an eyepiece assembly, the first display unit is used for displaying a first image, the second display unit is used for displaying a second image, the light path unit is configured to enable the first image and the second image to sequentially pass through reflection of the reflection assembly and amplification of the eyepiece assembly, and then a first virtual image perceived by a first eye and a second virtual image perceived by a second eye are formed. The display device formed by the method has the advantages that the left eye image and the right eye image are respectively displayed through different display units, the left eye image and the right eye image are respectively reflected and amplified through the light path unit, the left eye perceived image and the right eye perceived image are finally formed, and the problem of image crosstalk caused by the fact that the left eye image and the right eye image are alternately displayed on the same display unit can be effectively solved, so that the display effect of the 3D image is improved. In addition, the display device can also amplify the image reflected to the left eye and the image reflected to the right eye through the eyepiece assembly, namely, optically amplify the 3D image, thereby increasing the field angle of the optical system and further improving the display effect of the 3D image. Furthermore, the 3D image is optically enlarged through the eyepiece component, so that the immersion sense of the 3D display effect is improved, and the size of other components in the display device can be reduced. That is, the volume and size requirements for other optical components are lower when helping the user to see more display content, and the volume and weight of the display device can be further reduced when the actual requirements of the user are met.
In one embodiment, reference is made to fig. 2, which illustrates an optical structure of a display device. The reflecting element 31 may include a first reflecting element 311, a second reflecting element 312, and a third reflecting element 313, where the third reflecting element 313 includes a first reflecting surface 313a and a second reflecting surface 313b, and the reflecting element 31 is configured to sequentially reflect a first image through the first reflecting element 311 and the first reflecting surface 313a to form a first intermediate virtual image, and sequentially reflect a second image through the second reflecting element 312 and the second reflecting surface 313b to form a second intermediate virtual image.
That is, a first reflection light path for transmitting a first image to a first eye of a user may be formed by the first reflection assembly 311 and the first reflection surface 313a, and a second reflection light path for transmitting a second image to a second eye of the user may be formed by the second reflection assembly 312 and the second reflection surface 313 b.
The light of the first image may reach the first reflecting surface 313a after being reflected by the first reflecting element 311, then be reflected by the first reflecting surface 313a, and form a first intermediate virtual image corresponding to the first image after being reflected by the first reflecting surface 313a, and similarly, the light of the second image may reach the second reflecting surface 313b after being reflected by the second reflecting element 312, then be reflected by the second reflecting surface 313b, and form a second intermediate virtual image corresponding to the second image after being reflected by the second reflecting surface 313 b.
In one implementation, referring to fig. 2, the first reflective member 311 is coated with a reflective film on a side facing the first display unit 10, the second reflective member 312 is coated with a reflective film on a side facing the second display unit 20, the first reflective surface 313a of the third reflective member 313 is coated with a reflective film on a side facing the first reflective member 311, and the second reflective surface 313b of the third reflective member 313 is coated with a reflective film on a side facing the second reflective member 312. The first reflecting component 311 can directly reflect the light of the first image emitted by the first display unit 10 to the first reflecting surface 313a, and then the first reflecting surface 313a continuously reflects the light of the first image to the eyepiece component 32, and the second reflecting component 312 can directly reflect the light of the second image emitted by the second display unit 20 to the second reflecting surface 313b, and then the second reflecting surface 313b continuously reflects the light of the second image to the eyepiece component 32.
In other implementations, the first reflecting component 311 may be coated with a reflecting film on a side facing away from the first display unit 10, and similarly, the second reflecting component 312 may be coated with a reflecting film on a side facing away from the second display unit 20, where the first reflecting component 311 may reflect the light of the first image sent out by the first display unit 10 to the fourth reflecting component, and the fourth reflecting component may reflect the light of the first image to the first reflecting surface 313a to finally form a first intermediate virtual image corresponding to the first image, and similarly, the second reflecting component 312 may reflect the light of the second image sent out by the second display unit 20 to the fifth reflecting component, and the fifth reflecting component may reflect the light of the second image to the second reflecting surface 313b to finally form a second intermediate virtual image corresponding to the second image.
With continued reference to fig. 2, the eyepiece assembly 32 described above may include a first eyepiece assembly 321 and a second eyepiece assembly 322. The first reflection surface 313a may reflect the light of the first image to the first eyepiece assembly 321, so that the first eyepiece assembly 321 may amplify the first intermediate virtual image formed by the first reflection surface 313a to finally form a first virtual image perceived by the first eye of the user, and the second reflection surface 313b may reflect the light of the second image to the second eyepiece assembly 322, so that the second eyepiece assembly 322 may amplify the second intermediate virtual image formed by the second reflection surface 313b to finally form a second virtual image perceived by the second eye of the user.
The third reflection assembly 313 may be a triangular prism structure, a trapezoid column structure (such as the structure of the third reflection assembly 313 shown in fig. 2), or other column structures having at least two symmetrical planes, and the structure of the third reflection assembly 313 is not excessively limited in the embodiment of the present application, so that the relative positional relationship between the first reflection surface 313a and the second reflection surface 313b can be kept constant.
When a user views a 3D image through the display device, it is assumed that the first display unit 10 displays a left eye image, the second display unit 20 displays a right eye image, the first reflection assembly 311 and the first reflection surface 313a form a left light path reflection assembly, the second reflection assembly 312 and the second reflection surface 313b form a right light path reflection assembly, the first eyepiece assembly 321 is used as a left light path eyepiece assembly, and the second eyepiece assembly 322 is used as a right light path eyepiece assembly, so that light rays emitted from the first display unit 10 are reflected by the first reflection assembly 311 and then reach the first reflection surface 313a of the third reflection assembly 313, reflected by the first reflection surface 313a and then exit from the first eyepiece assembly 321 and are received by the left eye, and light rays emitted from the second display unit 20 are reflected by the second reflection assembly 312 and then reach the second reflection surface 313b of the third reflection assembly 313, reflected by the second reflection surface 313b and then exit from the second eyepiece assembly 322 and are received by the right eye.
That is, in this example, a left light path structure corresponding to a left eye may be formed by the first display unit 10, the first reflection assembly 311, the first reflection surface 313a of the third reflection assembly 313, and the first eyepiece assembly 321, a right light path structure corresponding to a right eye may be formed by the second display unit 20, the second reflection assembly 312, the second reflection surface 313b of the third reflection assembly 313, and the second eyepiece assembly 322, and a complete optical 3D display system may be formed by the left light path structure and the right light path structure.
Taking the left light path as an example, reference is made to fig. 3, which shows a front view of an optical 3D display system. The front view is a schematic diagram of the determined front view structure of the optical 3D display system based on the viewing direction of the user. The width of the first display unit 10 is W, and 3 light rays emitted from the first display unit 10 are labeled in the figure, and are respectively a left light path principal ray 11, a left light path lower view field edge ray 12 and a left light path upper view field edge ray 13. The left light path chief ray 11 passes through the distance L1 to reach the first reflection assembly 311, and then passes through the distance L2 to reach the first reflection surface 313a of the third reflection assembly 313. The left light path chief ray 11 is reflected by a plane mirror at the first reflection component 311 with an incidence angle of thetac, the left light path lower view field edge ray 12 is reflected by a plane at the first reflection component 311 with an incidence angle of thetamin, the left light path upper view field edge ray 13 is reflected by a plane at the first reflection component 311 with an incidence angle of thetamax, the distance between the intersection point of the left light path chief ray 11 and the first reflection component 311 and the intersection point of the left light path lower view field edge ray 12 and the first reflection component 311 in the front view is M1, and the distance between the intersection point of the left light path chief ray 11 and the first reflection component 311 and the intersection point of the left light path upper view field edge ray 13 and the first reflection component 311 in the front view is M2.
The above W, L1、θc、θmin、θmax、M1 and M2 satisfy the following relationship:
Taking the left light path as an example, reference is made to fig. 4, which shows a bottom view of the optical 3D display system. The length of the first display unit 10 is L, and 3 light rays emitted from the first display unit 10 are labeled in the figure, and are respectively a left light path principal ray 11, a left light path right view field edge ray 14 and a left light path left view field edge ray 15. The angle between the first reflecting surface 313a and the second reflecting surface 313b of the third reflecting component 313 is gamma. The left optical path chief ray 11 passes through the distance L3 and then reaches the first eyepiece assembly 321 from the first reflection surface 313a of the third reflection assembly 313. The left light path chief ray 11 is reflected by a plane mirror at the first reflecting surface 313a of the third reflecting component 313, and has an incident angle of betac, and an included angle with the first eyepiece component 321 is 90 ° after reflection, and passes through the center of the first eyepiece component 321. The left light path right view field edge light ray 14 is reflected by a plane mirror at the first reflecting surface 313a of the third reflecting component 313, the incident angle is betamin, and the included angle between the reflected light ray and the first eyepiece component 321 is alpha1. The left light path left view edge ray 15 is reflected by a plane mirror at the first reflecting surface 313a of the third reflecting component 313, the incident angle is βmax, and the included angle between the reflected light path left view edge ray and the first eyepiece component 321 is α2.
The distance between the intersection of the left optical path principal ray 11 and the first reflection surface 313a and the intersection of the left optical path right field-of-view edge ray 14 and the first reflection surface 313a in the bottom view is T1, and the distance between the intersection of the left optical path principal ray 11 and the first reflection surface 313a and the intersection of the left optical path left field-of-view edge ray 15 and the first reflection surface 313a in the bottom view is T2.
The above L, L, L2, βc、βmin、βmax, T1 and T2 satisfy the following relationship:
In this embodiment, by using two mirrors, one triangular prism, and two eyepiece assemblies, 3D images having horizontal parallax are projected to the left and right eyes of the user, respectively, by way of two reflection light paths. The user can perceive depth information of the 3D image through horizontal parallax. In addition, the 3D image can be optically amplified through the eyepiece component, the field angle of an optical system is increased, and the immersion sense of the 3D effect experienced by a user is improved. At the same time, the volume and weight of the equipment can be reduced through the ocular lens component under the condition of ensuring a certain angle of view.
In one embodiment, the distance between the center point of the first display unit 10 and the first reference point may be less than or equal to a first preset distance threshold, where the first reference point is an intersection point between a first optical path and the first display unit 10, and the first optical path is an optical path formed by passing light through the center of the exit pupil of the first eyepiece assembly 321 and reflecting the light through the first reflection surface 313a and the first reflection assembly 311. The distance between the center point of the second display unit 20 and the second reference point is smaller than or equal to a first preset distance threshold, wherein the second reference point is an intersection point between a second light path and the second display unit, and the second light path is a light path formed by the light passing through the center of the exit pupil of the second eyepiece assembly and being reflected by the second reflection surface and the second reflection assembly.
Taking the left optical path as an example, referring to fig. 2 to 4, there is a light ray, such as a left optical path chief ray 11, which is emitted from a central point of the first display unit 10 and reflected by the first reflection assembly 311 and the first reflection surface 313a in sequence, and then can be vertically incident into the center of the exit pupil of the first eyepiece assembly, and then the light ray path of the left optical path chief ray 11 can be used as a first optical path, and the intersection point of the first optical path and the first display unit 10 can be determined as a first reference point through the first optical path satisfying the condition. Note that, since the first optical path is unchanged when the structure of the optical path unit 30 is unchanged, the intersection between the first optical path and the first display unit 10, that is, the position of the first reference point on the first display unit 10 is changed when the first display unit 10 is at a different position or the first display unit 10 is moved, and is not limited to the first reference point shown in fig. 2 being the center point of the first display unit 10. If the structure of the optical path unit 30 is changed, the first optical path satisfying the condition can be newly determined.
In one case, it is assumed that the first reference point is a center point of the first display unit 10, and based on a current position (hereinafter, may be simply referred to as an initial position) of the first display unit 10, the first display unit 10 may be moved (including rotated or translated) in any direction around the center point so that a distance between the center point of the moved first display unit 10 and the first reference point (i.e., the center point of the first display unit 10 before the movement) is less than or equal to a first preset distance threshold, that is, the first reference point (i.e., the center point of the first display unit 10 before the movement) is taken as a center, the first preset distance threshold is taken as a radius, a spherical space may be formed, and when the center point of the first display unit 10 is within the spherical space, the first image output by the first display unit 10 may be reflected and amplified by the optical path unit, and the formed first virtual image may be better presented on the virtual image display plane 49.
Likewise, for the second display unit 20, it has the same characteristics as the first display unit 10, and a detailed description thereof will not be repeated. Through the above structural definition, the first virtual image and the second virtual image can both be better presented on the virtual image display plane 49, and further, the user can experience better 3D visual effect based on the first virtual image and the second virtual image.
The first reference point is illustratively a vertical intersection point between the first optical path and the first display unit 10, and the second reference point is a vertical intersection point between the second optical path and the second display unit, that is, the first display unit 10 is disposed in a horizontal direction with reference to a user viewing direction, and the first display unit 10 is in a horizontal straight line when viewed in a main viewing direction from a user angle in a front view shown in fig. 3. Similarly, the second display unit 20 is also placed in the horizontal direction with reference to the user viewing direction.
The first display unit 10 will always keep the first display unit 10 perpendicularly intersecting the first optical path during movement on the basis that the first optical path perpendicularly intersects the first display unit 10, that is, the movement direction of the first display unit 10 may include movement in the left-right view field direction, movement in the up-down view field direction, movement in the light direction perpendicular to the first display unit, and the like.
In one case, if the first display unit 10 is moved from the initial position in the left-right viewing field direction, the horizontal parallax between the first and second virtual images on the virtual image display plane 49 may be changed, that is, when the first display unit 10 is positioned at its initial position, the first virtual image may be shifted to the left with respect to the virtual image display plane 49, when the second display unit 20 is positioned at its initial position, the second virtual image may be shifted to the right with respect to the virtual image display plane 49, resulting in the horizontal parallax between the first and second virtual images, and when the first and second display units 10 and 10 are moved in the left-right viewing field direction, the horizontal parallax between the first and second virtual images on the virtual image display plane 49 may be changed.
Illustratively, when the first display unit 10 is moved in a direction from the left view field to the right view field (such as a dotted line direction in fig. 2), the horizontal parallax of the first virtual image and the second virtual image on the virtual image display plane 49 can be reduced, that is, when the first display unit 10 is moved from the initial position in the direction from the left view field to the right view field, the first virtual image can be moved rightward on the virtual image display plane 49, and when the second display unit 10 is moved from the initial position in the direction from the left view field to the right view field, the second virtual image can be moved leftward on the virtual image display plane 49, so that the first virtual image and the second virtual image are adjacent to each other, the horizontal parallax of the first virtual image and the second virtual image on the virtual image display plane 49 can be reduced, and the overlapping ratio of the first virtual image and the second virtual image can be increased.
Illustratively, in the case of moving the first display unit 10 by the first preset distance threshold in the direction from the left field of view to the right field of view, and simultaneously, moving the second display unit 20 by the first preset distance threshold in the direction from the left field of view to the right field of view from the initial position, the horizontal parallax of the first virtual image and the second virtual image on the virtual image display plane 49 may be reduced to 0, that is, complete overlapping of the first virtual image and the second virtual image is achieved.
Referring to fig. 5, a schematic diagram of the first virtual image and the second virtual image fully coinciding with the virtual image display plane is shown. The length of the virtual image display plane 49 is L', the left eye center line of sight 43 of the left eye 41 and the right eye center line of sight 44 of the right eye 42 intersect at the center of the virtual image display plane 49, and the left eye center line of sight 43 forms an angle δ with the left optical path right field of view edge light 14. The main optical axis 45 of the first eyepiece assembly 321 and the main optical axis 46 of the second eyepiece assembly 322 are perpendicular to the virtual image display plane 49, respectively, and the distance D between the main optical axis 45 of the first eyepiece assembly 321 and the main optical axis 46 of the second eyepiece assembly 322 satisfies 56mm < D <72mm.
In the embodiment, aiming at the problem that when the traditional 3D optical display system structure is adopted, extra horizontal parallax exists between the left eye virtual image and the right eye virtual image, so that the centers of left eye images and right eye images are not overlapped, and the situation that the depth information of the left eye images and the right eye images is different is possible, the problem that the distance between the center point of a first display unit and a first reference point is smaller than or equal to a first preset distance threshold value and the distance between the center point of a second display unit and a second reference point is smaller than or equal to the first preset distance threshold value is solved, in the range, the first virtual image and the second virtual image can have good image overlapping degree so as to provide a good 3D display effect for users, and by adopting the structure, even the problem that the extra horizontal parallax exists between the first virtual image and the second virtual image, the left eye images are not overlapped, so that the images are not overlapped, and the image is generated is solved, and the depth information of the original 3D optical display device can further have high true image display effect on the 3D virtual image.
In one embodiment, each of the first eyepiece assembly 321 and the second eyepiece assembly 322 may include at least two magnifiers, and the at least two magnifiers in the same eyepiece assembly are coaxially arranged along the optical axis direction.
The first eyepiece lens assembly 321 has the same lens structure as the second eyepiece lens assembly 322, and the structure of one eyepiece lens assembly is discussed in detail below.
The eyepiece assembly can comprise two magnifiers, three magnifiers or even more than three magnifiers, and when the eyepiece assembly adopts different numbers of magnifiers, the shape, the size, the focal length and other parameters of each magnifier can be flexibly set according to practical situations.
As an embodiment of the present application, with reference to fig. 6, a lens structure of an eyepiece assembly is provided. The eyepiece assembly may include a first magnifier 511, a second magnifier 512 and a third magnifier 512, where the first magnifier 511, the second magnifier 512 and the third magnifier 513 are sequentially arranged along the viewing direction of the human eye, the first magnifier 511 may be a biconcave spherical lens, the second magnifier 512 may be a meniscus lens, and the third magnifier 513 may be a biconvex spherical lens.
Illustratively, where the eyepiece assembly includes a first magnifier 511, the image side focal length of the first magnifier 511 may satisfyThe shape factor of the first magnifier 511 may be as followsWhere f1 is the image Fang Jiaoju of the first magnifier 511, f is the effective focal length of the eyepiece assembly, R1 is the radius of curvature of the first magnifier 511 on the side closer to the human eye, and R2 is the radius of curvature of the first magnifier 511 on the side farther from the human eye.
Illustratively, where the eyepiece assembly includes a second magnifier 512, the image space focal length of the second magnifier 512 may satisfyThe shape factor of the second magnifier 512 may be as followsWhere f2 is the image Fang Jiaoju of the second magnifier 512, f is the effective focal length of the eyepiece assembly, R3 is the radius of curvature of the second magnifier 512 on the side near the human eye, and R4 is the radius of curvature of the second magnifier 512 on the side far from the human eye.
Illustratively, where the eyepiece assembly includes a third magnifier 513, the image space focal length of the third magnifier 513 may be sufficientThe shape factor of the third magnifier 513 may satisfyWhere f3 is the image Fang Jiaoju of the third magnifier, f is the effective focal length of the eyepiece assembly, R5 is the radius of curvature of the third magnifier 513 on the side closer to the human eye, and R6 is the radius of curvature of the third magnifier 513 on the side farther from the human eye.
Wherein the effective focal length f of the eyepiece assembly satisfies the following relationship:
Wherein L and W are the length and width of the display unit (i.e. the first display unit or the second display unit) respectively, L 'and W' are the length and width of the virtual image (i.e. the first virtual image or the second virtual image) respectively, P is the distance from the virtual image to the exit pupil surface 61, t is the distance from the exit pupil surface 61 to the vertex of the first magnifier 511, i.e. the maximum distance when the user can see the complete image for wearing the glasses and the user without wearing the glasses, the range of t can satisfy 19-21mm, d is the radius of the exit pupil surface 51, i.e. the movable range of the human eye on the exit pupil surface, and the range of d can satisfy 23-25mm.
The eyepiece structure in the embodiment can be suitable for users wearing glasses and users not wearing glasses, has high universality, can be used for optically magnifying three-dimensional images, so that the view angle of an optical system is increased, the image content seen by the users is increased, and the size of other components in the display device can be further reduced while the users can watch the image content, so that the size and the weight of the display device are reduced.
Referring to fig. 7, which shows a graph of modulation transfer functions (Modulation transfer function, MTF) for each field of view of the eyepiece assembly, the meridional MTF value for the edge field of view is the lowest, and can reach 0.34 at 30 lp/mm.
Referring to fig. 8, which shows the field curvature and distortion curves for each field of view of the eyepiece assembly, the meridian field curvature has 0.586mm at the fringe field of view with a distortion of 1.89%.
Therefore, the eyepiece assembly with the structure can improve the display quality of the 3D image and further improve the display effect of the 3D image.
In one embodiment, referring to fig. 9, a surgical robot is provided, the surgical robot comprises an image acquisition device 902 and a display device 904 in any of the above embodiments, the image acquisition device 902 is in communication connection with the display device 904, wherein the image acquisition device 902 is configured to acquire a first image and a second image and send the first image and the second image to the display device 904, and the display device 904 is configured to display the first image and the second image.
The image capturing device 902 may include a camera mounted at the end of the robot, and may capture a tissue image in the patient body through the camera, and the tissue image may be a three-dimensional tissue image, and then, the image capturing device 902 may perform a horizontal parallax process on the three-dimensional tissue image to obtain a first image and a second image corresponding to the left and right eyes, and send the first image and the second image to a first display unit and a second display unit of the display device 904, respectively, to display a left eye viewing image and a right eye viewing image through different display units, respectively, and reflect the first image and the second image to the left and right eyes of the user through the display device 904, so that the user finally forms a three-dimensional stereoscopic image based on the images having horizontal parallax as seen by the left and right eyes.
In this embodiment, the display device having the above-described 3D display optical system structure can achieve an immersive 3D image effect, increase the angle of view of the optical system, maintain high definition of images, improve the display effect of 3D images, and enhance the immersion of the 3D effect experienced by the user.
In one embodiment, with continued reference to fig. 9, there is also provided a surgical robot, which includes an image capturing device 902 and a display device 904 in the above embodiment, the image capturing device 902 is communicatively connected to the display device 904, wherein the image capturing device 902 is configured to capture a first image and a second image and send the first image and the second image to the display device 904, and the display device 904 is configured to display the first image and the second image.
In this embodiment, the surgical robot further has an adjustment function for the first display unit and the second display unit, so as to solve the problem that the display effect of the 3D image is poor due to the position shift of the display unit or the position change of each component in the optical path unit of the display device caused by subjective or objective factors.
The surgical robot is used for responding to a first display adjustment operation of a user and controlling a first display unit to approach a first datum point until a first preset stopping condition is met, wherein the first preset stopping condition can comprise that the distance between the center point of the first display unit and the first datum point is smaller than or equal to a second preset distance threshold value or the first display adjustment operation of the user is not detected, and/or responding to a second display adjustment operation of the user and controlling a second display unit to approach a second datum point until a second preset stopping condition is met, and the second preset stopping condition comprises that the distance between the center point of the second display unit and the second datum point is smaller than or equal to a third preset distance threshold value or the second display adjustment operation of the user is not detected.
The surgical robot may include mechanical control devices, such as mechanical buttons, knobs, levers, etc., and may also include a touch display screen on which a touch device may be included to facilitate user position adjustment of the first display unit and/or the second display unit. Alternatively, the first display unit and the second display unit may be adjusted in position simultaneously by the same device, or may be adjusted in position separately by different devices.
The surgical robot may adjust the position of the first display unit in response to the first display adjustment operation of the user, which may include a movement control operation of the first display unit or a position correction operation of the first display unit. In the case where the first display adjustment operation includes a movement control operation for the first display unit, the surgical robot may perform movement control for the first display unit based on an instruction of the user so as to bring the first display unit closer to the first reference point, and in the case where the movement control operation is not performed by the user, stop the movement control for the first display unit.
Under the condition that the first display adjustment operation comprises a position correction operation of the first display unit, the surgical robot can correct the pose of the first display unit according to the current pose of the first display unit, the current center point position of the first display unit and the position of the first reference point, so as to control the first display unit to approach the first reference point until the distance between the center point of the first display unit and the first reference point is smaller than or equal to a second preset distance threshold value, and automatic correction of the first display unit is achieved. The two preset distance thresholds may be equal to or smaller than the first preset distance threshold.
For the second display unit, the same movement control operation as that of the first display unit may be adopted, and the description thereof will not be repeated here.
The surgical robot in this embodiment can provide the user with the mobile adjustment function to the display unit under the scenes of poor 3D display effect or adaptation to the viewing requirements of different users, and the like, increases the flexible adjustment capability of the display device, and provides the user with better 3D image display effect.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.