WO2024100052A2 - Procédé d'incrustation d'une image d'incrustation, procédé mis en œuvre par ordinateur pour optimiser l'incrustation d'une image d'incrustation, programme d'ordinateur, unité de traitement de données et système d'observation - Google Patents

Procédé d'incrustation d'une image d'incrustation, procédé mis en œuvre par ordinateur pour optimiser l'incrustation d'une image d'incrustation, programme d'ordinateur, unité de traitement de données et système d'observation Download PDF

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Publication number
WO2024100052A2
WO2024100052A2 PCT/EP2023/081018 EP2023081018W WO2024100052A2 WO 2024100052 A2 WO2024100052 A2 WO 2024100052A2 EP 2023081018 W EP2023081018 W EP 2023081018W WO 2024100052 A2 WO2024100052 A2 WO 2024100052A2
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Prior art keywords
image
property
stereoscopic
overlay
digital
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PCT/EP2023/081018
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German (de)
English (en)
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WO2024100052A3 (fr
Inventor
Alois Regensburger
Stefan Saur
Christian Voigt
Fang You
Franz Troppenhagen
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Carl Zeiss Meditec AG
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Carl Zeiss Meditec AG
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Priority to CN202380088948.4A priority Critical patent/CN120418829A/zh
Publication of WO2024100052A2 publication Critical patent/WO2024100052A2/fr
Publication of WO2024100052A3 publication Critical patent/WO2024100052A3/fr
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof

Definitions

  • the present invention relates to a method for superimposing an overlay image representing at least one digital 2D or 3D object into an object image obtained with an optical observation device and depicting an observation object.
  • the invention relates to an optical observation system with an optical observation device for generating an object image of an observation object, an overlay image generating device for generating an overlay image representing at least one digital 2D or 3D object and an overlay device for superimposing the overlay image into the object image in order to superimpose the at least one digital 2D or 3D object on the observation object represented in the object image.
  • the invention relates to a computer-implemented method for optimizing the fading in of a fade-in image representing at least one digital 2D or 3D object into an object image obtained with an optical observation device and depicting an observation object, as well as a computer program for optimizing the fading in of a fade-in image representing at least one digital 2D or 3D object into an object image obtained with an optical observation device and depicting an observation object, and a data processing system for optimizing the fading in of a fade-in image representing at least one digital 2D or 3D object into an object image obtained with an optical observation device and depicting an observation object.
  • Stereomicroscopes such as analogue or digital surgical microscopes should provide the best possible 3D impression of the object being observed and should enable the surgeon to view the object being observed comfortably and with as little fatigue as possible, even during long treatment periods. This requires a 3D impression of the object being observed that leads to as natural a 3D perception as possible.
  • natural 3D perception is not always easy to achieve.
  • the representation of an object close to the eyes on a display using stereoscopic partial images requires a large disparity of the object in the stereoscopic partial images. The disparity indicates the difference in position of the object in one partial image relative to the position of the same object in the other partial image, which means that the right eye viewing the right partial image and the left eye viewing the left partial image see the object from a different viewing angle.
  • the accommodation of the eye matches the object distance given by the disparity. If, on the other hand, the stereoscopic partial images are presented on a screen at a relatively large distance from the eye, the eyes are accommodated to the distance, even though the object shown with the large disparity is perceived to be close to the eyes.
  • the partial images are presented close to the eye and imaged to infinity with an eyepiece so that they can be viewed with relaxed eyes, i.e. with eyes accommodated to the distance, as is the case, for example, in purely optical surgical microscopes.
  • the physiological state of the eyes, and the perceived object distance is stressful for the eyes and can therefore lead to the viewer tiring more quickly.
  • the angular position of the eyes when accommodating an object in the distance differs from the angular position of the eyes when accommodating an object close up. If a 3D object that is If an object that is displayed on a distant monitor or projected to infinity using an eyepiece is shown close to the eyes, the viewer will be viewing this object with a vergence that corresponds to looking into the distance, but not to looking up close. This also represents a discrepancy between the physiological state of the eyes and the perceived object distance, which can lead to the viewer tiring more quickly.
  • the accommodation of the eyes and the vergence of the eyes are examples of physiological depth cues that exist in addition to the stereoscopic impression of depth determined by the disparity of the object representation in the stereoscopic overlay images.
  • This comfort zone is also called the stereo comfort zone. Leaving the stereo comfort zone can lead to the viewer tiring more quickly.
  • US 10262453 B2 proposes to provide a digital shadow to a digital object that is to be superimposed on an image obtained with a laparoscopic or endoscopic camera.
  • WO 2007/120351 A2 discloses a robotic surgery system that includes a first receiver and a second receiver for receiving a graphic representation.
  • the robotic surgery system creates a disparity map from the received stereoscopic partial images.
  • the system uses the disparity map to determine the depth at which the graphic representation should be displayed.
  • WO 2021/149056 A1 discloses a system for electronically assisted surgical procedures in which a digital stereoscopic overlay image with a certain disparity is superimposed on an intraoperative stereoscopic image of an object under observation during an ophthalmological medical procedure. The disparity is determined by comparing the stereoscopic partial images of the intraoperative stereoscopic image.
  • the published patent applications DE 10 2014 210 121 A1 , US 2015/0346472 A1 and WO 2013/103870 A1 describe the creation of depth maps using time of flight sensors (DE 10 2014 210 121 A1 and US 2015/0346472 A1 ) or from stereoscopic images (WO 2013/103870 A1 ).
  • an optical observation system comprising an optical observation device which enables working to be carried out with as little fatigue as possible.
  • the first object is achieved by a method according to claim 1 and a method according to claim 7, the second object by an optical observation system according to claim 12 and an optical observation system according to claim 18 and the third object by a computer-implemented method according to claim 23 and a computer-implemented method according to claim 26, a Computer program according to claim 27 and a data processing system according to claim 28.
  • the dependent claims contain advantageous embodiments of the invention.
  • a method for superimposing an overlay image representing at least one digital 2D or 3D object into an object image obtained with an optical observation device and depicting an object under observation.
  • An object image is to be understood here as an image obtained exclusively with the optical observation device and showing the object under observation.
  • the overlay image and the object image can each be a monoscopic or, in particular, a stereoscopic image, as long as the superimposed image is a stereoscopic image.
  • the object under observation in the object image is depicted with at least one imaging property that at least co-determines the imaging. At least one imaging property of the object image is determined, and before the overlay image is superimposed into the object image, at least one adjustment from the group of the following adjustments is made:
  • display properties of the overlay image are the color representation of the at least one digital 2D or 3D object, the representation of the entire object or only parts thereof, the sharpness of the representation of the at least one digital 2D or 3D object or parts thereof, the degree of transparency of the at least one digital 2D or 3D object or parts thereof, the disparity with which the digital 2D or 3D object is represented in the stereoscopic overlay partial images, the extent of the disparity interval over which the overlay of the 3D object extends in the stereoscopic overlay partial images, etc.
  • Adaptation of at least one display property of the overlay image to the at least one determined image property of the object image can also be changed directly when the overlay is created. Alternatively or additionally, the adjustment or further adjustment can be made to an overlay that has already been created.
  • the at least one imaging property is at least one of the following group of imaging properties: (a) the position of the focal plane of the image, (b) the extent of the depth of field of the image, i.e. the extent of that depth range in the object being observed that is sharply shown in the object image, (c) the extent of the disparity interval with which the object being observed is shown in the case of a stereoscopic object image.
  • the at least one imaging property can be or include in particular the imaging property (b) and/or the imaging property (c).
  • the extent of the disparity interval is given by the difference between the disparity of the part of the object being observed that is shown closest and the disparity of the part of the object being observed that is shown furthest away.
  • the imaging property that is adapted when adapting at least one imaging property of the object image to at least one display property of the overlay image can be the/one of the determined imaging property(s) or another imaging property.
  • the position of the focal plane of the image can be adapted in order to shift the depth of field with the determined extent without changing the extent of the depth of field.
  • the object image is a stereoscopic object image having stereoscopic partial images and the at least one imaging property of the stereoscopic object image includes the extension of the disparity interval of the stereoscopic object partial images
  • the overlay image is a is a stereoscopic fade-in image having stereoscopic fade-in partial images and the at least one display property of the stereoscopic fade-in image includes the extent of the disparity interval of the stereoscopic fade-in partial images
  • at least one of the following adjustments can be made: (i) adjustment of the extent of the disparity interval of the stereoscopic fade-in image to the extent of the disparity interval of the stereoscopic object image, (ii) adjustment of the extent of the disparity interval of the stereoscopic object image to the extent of the disparity interval of the stereoscopic fade-in image.
  • a digital 3D object hereinafter also referred to as a “3D object” for short, is an object that has a depth extension.
  • 3D object To represent the depth extension, different object sections of the 3D object are assigned different depth values (z-values), which indicate the depth of a stereoscopic object image at which the corresponding object section should be displayed.
  • z-values depth values
  • a digital 2D object hereinafter also referred to as a “2D object” for short, on the other hand, is an object that has no depth extension.
  • the 2D object can be assigned a single, arbitrarily selected depth value (z-value) that applies equally to all object sections.
  • the 2D or 3D object can be, for example, a preoperative or intraoperative image, such as an MRI image, an X-ray image, an endoscope image, a fluorescence image, an image obtained from OCT data, etc.
  • the 2D or 3D object can also be a marking or pure information or pure data, such as navigation aids, markings of tumor borders, markings of anatomical structures, information or data on blood flow, information or data on structures that can be recognized in the object image, etc.
  • the 2D or 3D object can also be a Combination of a preoperative or intraoperative image and the above-mentioned markings and/or information.
  • Determining at least one of the above-mentioned imaging properties in conjunction with adapting the at least one imaging property of the object image to at least one display property of the overlay image and/or at least one display property of the overlay image to the at least one determined imaging property of the object image makes it possible to optimize the overlay of the 2D or 3D object into the image of the object being observed in such a way that a discrepancy between the physiological state of the eyes and the perceived object distance is avoided or at least reduced to such an extent that longer, fatigue-free working is possible.
  • the method can also include a step of comparing the at least one determined image property with at least one intended display property of the overlay image, wherein the at least one adjustment is made on the basis of the comparison result.
  • the display property of the overlay image determines the display with which the 2D or 3D object is to be overlaid in the object image. With the aid of the comparison, a check can be made as to whether the combination of the at least one determined image property with the at least one intended display property in the object image with the overlaid overlay image leads to a discrepancy between the physiological state of the eyes and the perceived object distance.
  • the intended display property of the overlay image which is compared with the determined image property, does not have to be identical to the display property that is adapted to the at least one determined image property of the object image. For example, at least one of the following checks can be made:
  • (A) Checking whether the sharpness with which the 2D or 3D object or parts thereof corresponds to the sharpness of the object under observation at the display depth with which the 2D or 3D object is to be displayed in the object image.
  • Any suitable measure of image sharpness can be used.
  • One measure of sharpness can be, for example, how abrupt the transition from a light to a dark image area occurs at edges. The more abrupt the transition, the sharper the corresponding image area is displayed.
  • At least the intended disparity with which a 2D object is to be faded into the object image, or at least the extent of the disparity interval over which the fade-in of a 3D object in the stereoscopic fade-in partial images is to extend can be compared as a display property of the fade-in image with the imaging property “extension of the depth of field of the image” with which the object under observation is to be imaged.
  • the disparity or the extent of the disparity interval with which the 2D or 3D object is to be faded into the object image determines the depth of the 2D or 3D object or parts thereof in relation to the object being observed. If the comparison shows, for example, that the 2D or 3D object or part of it with the intended disparity would be shown sharply in a depth range of the object being observed in which the representation of the object being observed itself is blurred, the disparity or the disparity interval of the fade-in image can be changed in such a way that the representation of the 2D or 3D object is shifted to the depth range in which the object being observed is shown sharply.
  • the imaging properties of the object image can be changed in such a way that the extent of the depth of field in which the object being observed is shown sharply is increased. Furthermore, in addition or as an alternative, it is possible to reduce the sharpness of that part of the 2D or 3D object that is displayed in a depth range in which the object being observed is not sharply displayed, in order to adapt it to the sharpness of the object being observed. Even further, in addition or as an alternative, it is possible to reduce the sharpness of that part or those parts of the 2D or 3D object that are displayed in a depth range of the object being observed that is not sharply displayed. observation object is/are omitted or its color representation is/are changed.
  • Changing the color representation can, for example, include displaying the part or parts of the 2D or 3D object that is displayed in the non-sharply displayed depth range of the observation object with paler colors, with reduced contrast or in grayscale.
  • displaying the part or parts of the 2D or 3D object that is displayed in the non-sharply displayed depth range of the observation object with paler colors, with reduced contrast or in grayscale there is also the option, without changing the extent of the depth of field, of changing the imaging property "position of the focal plane of the image" with which the observation object is imaged, in order to shift the position of the depth of field so that the 2D or 3D object, when displayed, lies in the sharply displayed depth range of the observation object with the intended disparity or the intended extent of the disparity interval.
  • the extent of the disparity interval in the object image with the overlay image is so large that it leads to an unpleasant visual impression for the user.
  • the extent of the disparity interval from which an unpleasant visual impression arises for a user can be specified, for example, by a maximum permissible extent of the disparity interval.
  • the maximum permissible extent of the disparity interval can be fixed on the basis of physiological standards.
  • the maximum permissible extent of the disparity interval represents the stereo comfort zone, which can, however, be different for different users. It is therefore advantageous if the maximum permissible extent of the disparity interval can be individually adapted by the user to his or her needs.
  • the intended disparity of a stereoscopic overlay image representing a 2D object can be compared as the display property of the overlay image with the imaging property “Extension of the disparity interval” with which the object under observation is imaged.
  • the disparity of the stereoscopic overlay image determines the depth at which the 2D object is overlaid into the stereoscopic object image.
  • the disparity of the stereoscopic overlay image can be adjusted to the disparity interval of the stereoscopic object image.
  • the disparity interval of the stereoscopic object image can also be increased, provided that the enlargement does not lead to the maximum permissible extent of the disparity interval being exceeded. The adjustment of the disparity of the stereoscopic overlay image can then be smaller.
  • the adaptation of the at least one imaging property of the object image to at least one display property of the overlay image and/or the adaptation of at least one display property of the overlay image to the at least one determined imaging property of the object image can be used specifically to reduce a discrepancy determined in the comparison, which enables optimal adaptation.
  • the at least one imaging property can be determined by detecting the value of at least one setting parameter of the optical observation device and determining the at least one imaging property based on the detected value of the at least one setting parameter of the optical observation device.
  • Setting parameters are, for example, the working distance of the optical observation device from the object being observed, the object-side focal length of the optical observation device, the aperture diameter of the optical observation device, the magnification factor set on the optical observation device, etc.
  • the working distance is the distance of the object-side lens vertex of the objective of the optical observation device from the surface of the object being observed and the focus distance is the distance of the object-side lens vertex of the objective from the focal plane of the objective.
  • the position of the focal plane in the object being observed is determined from the working distance and the object-side focal length.
  • the extent of the depth of field can be determined from knowledge of the aperture opening and the magnification factor.
  • the extent of the disparity interval of stereoscopic partial images can be determined, for example, from the magnification factor and the angle of the partial observation beam paths in relation to the optical axis of the main objective. The latter results from the known distance of the partial beam paths inside the optical observation device and the object-side focal length of the optical observation device.
  • the at least one imaging property of the object image can also be adapted to at least one display property of the overlay image by adjusting the value of at least one of the setting parameters.
  • the value of the at least one setting parameter can be adjusted in such a way that the extent of the depth of field and/or the position of the focal plane in the object being observed and/or the extent of the disparity interval in the case of a stereoscopic object image is or are adjusted.
  • the numerical apparatus of the optical observation device can be reduced by means of an adjustable aperture in order to increase the extent of the depth of field in the object image and thus to adapt to the depth of a digital 3D object.
  • the zoom position can be adjusted to the intended position of a digital 2D or 3D object in the object image so that the entire digital 2D or 3D object is shown in focus, at least if the depth of the digital 2D or 3D object is not greater than the depth of field in the object image.
  • the described adjustment of the numerical apparatus and, if applicable, the selected zoom position can also be carried out. Since the setting parameters can usually be influenced via the control device of an optical observation device anyway, the adaptation of the at least one determined imaging property of the object image to at least one display property of the overlay image can be accomplished without structural changes to the optical observation device.
  • the adjustment of the at least one imaging property of the object image to at least one display property of the overlay image can also be carried out by means of a digital image transformation.
  • the disparity interval of the object image can be increased or decreased by means of a linear transformation.
  • a non-linear transformation can also be used if different areas of the disparity interval are to be increased or decreased to different degrees.
  • Adapting at least one display property of the overlay image to the determined display properties of the object image may include at least one of the following adjustments of a display property:
  • Adjusting the position of the focal plane of the overlay image by introducing or changing an offset between the position of the focal plane of the image and the position of the focal plane of the overlay image.
  • the depth distribution of the object being observed i.e. the depth values (z-values) of the sections of the object being observed shown in the object image
  • the current display properties of the observed area of the object being observed can be determined precisely.
  • the position of the displayed areas of the The size of the object being observed can only be estimated based on the focus distance of the microscope and the extent of the depth of field.
  • the depth distribution of the displayed area of the observation object can be recorded, for example, by means of triangulation using stereoscopic images, by means of a depth sensor such as a time-of-flight sensor, by moving through the focus and analyzing which areas of the observation object are shown sharply in the image content (“depth from defocus”), etc.
  • the recorded depth distribution can be represented, for example, by the distance distribution of the observation object sections to a plane of the microscope, such as the object-side main plane of the main lens, a point on the microscope, such as the object-side vertex of the main lens, or by the position of the observation object sections in a global three-dimensional coordinate system, such as the coordinate system of a navigation system.
  • a depth value can be assigned to a 2D object that is to be superimposed on a specific observation object section, which corresponds to the depth value of the specific observation object section.
  • its depth values can be assigned disparity values based on the determined depth distribution such that when the 3D object is displayed in a stereoscopic object image, a certain depth value of the 3D object corresponds to a certain depth value of the object being observed. This allows the depth position of the 3D object to be precisely determined in the object image.
  • an optical observation system is provided.
  • the optical observation system is equipped with an optical observation device for generating an object image of an observation object, an overlay image generating device for generating an overlay image representing at least one digital 2D or 3D object; a fade-in device for fading the fade-in image into the object image in order to superimpose the at least one digital 2D or 3D object on the observation object shown in the object image, and an adjustment device which is designed to enable adjustment of at least one image property influencing the image of the observation object in the object image, an image property determination device which is designed to determine at least one set image property of the image of the observation object in the object image, and an adjustment device which is designed to carry out at least one of the following actions before fading the fade-in image into the object image:
  • Influence on the overlay image generation device for adapting at least one display property of the overlay image to the at least one determined image property of the object image.
  • the adaptation of the at least one display property of the overlay image can in particular also take place directly when the overlay image is created. Alternatively or additionally, the adaptation or a further adaptation can take place on an overlay image that has already been created.
  • the optical observation system is characterized in that the at least one imaging property is at least one of the following group of imaging properties: (a) the position of the focal plane of the image, (b) the extent of the depth of field of the image, (c) the extent of the disparity interval with which the object under observation is represented in the case of a stereoscopic object image.
  • the at least one imaging property can in particular be or include the imaging property (b) and/or the imaging property (c).
  • the imaging property that is adapted when adapting at least one imaging property of the object image to at least one display property of the overlay image can be the/one of the determined imaging property(s) or another imaging property.
  • the imaging property on which the adjustment device acts to adapt at least one imaging property of the object image to the at least one display property of the overlay image does not necessarily have to be the imaging property determined by the imaging property determination device.
  • the adjustment device can act on the position of the focal plane of the image in order to shift the depth of field with the extent determined by the imaging property determination device without changing the extent of the depth of field.
  • the optical observation device can be, for example, an analog or digital microscope and in particular an analog or digital surgical microscope and the object image generated by the optical observation device can be a monoscopic image or in particular a stereoscopic image. Accordingly, the optical observation system is then preferably an optical microscope system or an optical surgical microscope system.
  • the image created can be a monoscopic image or a stereoscopic image.
  • the image can be faded into the object image digitally if the object image is available digitally, or optically into the beam path of the optical observation device.
  • the optical observation device is designed to generate a stereoscopic object image of an observation object comprising stereoscopic object image sub-images
  • the at least one imaging property of the stereoscopic object image includes the extension of the disparity interval of the stereoscopic object sub-images
  • the overlay image generating device is designed to generate a stereoscopic overlay image comprising stereoscopic overlay sub-images
  • the at least one Display property of the stereoscopic fade-in image includes the extension of the disparity interval of the stereoscopic fade-in partial images
  • the adaptation device can be set up to carry out at least one of the following actions before the stereoscopic fade-in image is faded into the stereoscopic object image: (i) action on the fade-in image generation device to adapt the extension of the disparity interval of the stereoscopic fade-in image to the extension of the disparity interval of the stereoscopic object image, (ii) action on the adjustment device to adapt the extension of the disparity interval of the stereoscopic object image to the extension
  • optical observation system enables the implementation of the method according to the invention and thus the realization of the properties and advantages to be achieved with reference to the method according to the invention.
  • the optical observation system can also comprise a comparison device which is designed to compare the at least one determined imaging property with at least one intended display property of the overlay image, and the adaptation device can be designed to carry out the at least one adaptation depending on the comparison result.
  • a check can be carried out as to whether the combination of the at least one determined imaging property with the at least one intended display property in the object image with the overlay image leads to a discrepancy between the physiological state of the eyes and the perceived object distance
  • the adaptation of the at least one imaging property of the object image to at least one display property of the overlay image and/or the adaptation of at least one display property of the overlay image to the at least one determined imaging property of the object image can be used specifically to reduce a discrepancy identified in the comparison, which enables optimal adjustment.
  • the adaptation device can be set up to act on the overlay image generation device in such a way that in order to adapt the display properties of the overlay image to the at least one determined image property of the object image, at least one of the following adaptations is carried out: an adaptation of the display sharpness of the at least one digital 2D or 3D object or parts thereof,
  • Adjusting the position of the focal plane of the overlay image by introducing or changing an offset between the position of the focal plane of the image and the position of the focal plane of the overlay image.
  • this includes a setting parameter detection device which is designed to detect the value of at least one setting parameter of the optical observation device.
  • the imaging property determination device is designed in this development to detect the at least one to determine the set imaging property based on the value of the at least one setting parameter recorded by the setting parameter recording device.
  • the setting device can also be set up to set the value of at least one setting parameter of the optical observation device, and the adaptation device can be set up to act on the setting device in such a way that the at least one imaging property of the object image is adapted to at least one display property of the overlay image by adjusting the value of at least one setting parameter.
  • the setting parameters of the optical observation device can be, for example, the working distance of the optical observation device from the object being observed, the object-side focal length of the optical observation device, the aperture diameter of the optical observation device, the magnification factor set on the optical observation device, etc. If the values of the setting parameters of the optical observation device are known, its imaging properties can be determined from this, as has been explained with reference to the method according to the invention. In addition, due to the relationship between the setting parameters and the imaging properties, the adaptation of at least one imaging property of the object image to at least one display property of the overlay image can also be carried out by adapting the value of at least one of the setting parameters. Both were explained with reference to the method according to the invention. Reference is made to the corresponding paragraphs of the description.
  • the optical observation system can also comprise a digital image transformation unit for transforming the object image.
  • a digital image transformation unit for transforming the object image.
  • the microscope system can also include a depth distribution detection device that is set up to detect the depth distribution of the object being observed.
  • the adjustment device is then set up to take the detected depth distribution of the object being observed into account when influencing the adjustment device for adapting the at least one imaging property of the object image to at least one display property of the overlay image and/or when influencing the overlay image generation device for adapting the display properties of the at least one overlay image to the at least one determined imaging property of the object image.
  • the current display properties of the observed area of the object being observed can be precisely determined, as has already been explained with reference to the method according to the invention.
  • the depth distribution detection device can, for example, perform triangulation based on stereoscopic images showing the object being observed, which are recorded using cameras in partial beam paths of a stereoscopic optical observation device such as a surgical microscope.
  • a stereoscopic optical observation device such as a surgical microscope.
  • Alternatives to stereoscopic detection of the depth distribution consist in detecting the depth distribution using structured illumination of the object being observed, with the depth distribution then being determined from the distortion of the illumination structures on the object being observed, or in equipping the depth distribution detection device with at least one depth sensor such as a time-of-flight sensor (TOF sensor), a lidar system (lidar: light imaging, detection and ranging), etc.
  • TOF sensor time-of-flight sensor
  • lidar system lidar: light imaging, detection and ranging
  • the depth distribution detection device can, in a further alternative, also cause the adaptation device to vary the position of the focal plane over a certain depth range.
  • the image contents displayed during the variation of the position of the focal plane are analyzed by the depth distribution detection device with regard to which areas of the object under observation are in focus. are shown.
  • the depth distribution detection device can determine the depth distribution of the areas of the observation object (“Depth from Defocus”).
  • the recorded depth distribution can be represented, for example, by the distance distribution of the observation object sections to a plane of the optical observation device, e.g. to the object-side main plane of the main lens, to a point of the optical observation device such as the object-side vertex of the main lens or by the position of the observation object sections in a global three-dimensional coordinate system, such as the coordinate system of a navigation system.
  • a computer-implemented method for optimizing the blending of a blending image representing at least one digital 2D or 3D object into an object image obtained with an optical observation device and depicting an object under observation, wherein the object under observation is depicted in the object image with at least one imaging property that at least co-determines the imaging.
  • the computer-implemented method comprises the steps
  • Adaptation of at least one display property of the overlay image to the at least one received or retrieved display property of the object image can in particular also take place directly when the overlay image is created. Alternatively or additionally, the adaptation or a further adaptation can take place on an overlay image that has already been created.
  • the at least one received or retrieved image property is at least one of the following group of image properties: (a) the position of the focal plane of the image, (b) the extent of the depth of field of the image, (c) the extent of the disparity interval with which the object being observed is displayed in the case of a stereoscopic object image.
  • the at least one image property can be or include in particular the image property (b) and/or the image property (c).
  • the at least one image property that is adapted to at least one display property of the overlay image does not necessarily have to be the received or retrieved image property.
  • the position of the focal plane of the image can be adapted in order to shift the depth of field with the received or retrieved extent without changing the extent of the depth of field.
  • the computer-implemented method makes it possible to set up a computer to carry out the method according to the invention for superimposing an overlay image into an object image obtained with an optical observation device, and thus to achieve the properties and advantages described with reference to the method according to the invention in a computer-assisted manner.
  • a computer program comprising instructions which, when executed by a computer are carried out, causing it to carry out the steps of the computer-implemented method according to the invention, and a data processing device with a memory and a processor, wherein the processor is set up to carry out the steps of the computer-implemented method according to the invention by means of a computer program according to the invention stored in the memory.
  • Figure 1 shows the components of a microscope system in a schematic representation
  • Figure 2 shows the essential optical components of a surgical microscope in a schematic representation.
  • Figure 3 shows an example of a lens with variable focus distance.
  • Figure 4 shows an example of a digital surgical microscope.
  • Figure 5 shows a first example of adapting the display properties of a 2D or 3D object displayed in an overlay image to the determined imaging properties of an object image.
  • Figure 6 shows an example of setting parameters of a microscope that are not adapted to the intended position of a digital 3D object in relation to the observation object and to the depth extension of the digital 3D object.
  • Figure ? shows a first example of adapting at least one imaging property of the object image to the display properties of the overlay image.
  • Figure 8 shows an example of adjusting the display properties of a pop-up image that contains a digital 3D object 200 shows the imaging properties of a stereoscopic object image.
  • Figure 9 shows an example of adapting the display properties of an overlay image representing a 2D object to the display properties of the object image.
  • Figure 10 shows an example of a linear transformation that maps initial disparity values Da to new disparity values Dn.
  • Figure 11 shows an example of a nonlinear transformation that maps initial disparity values Da to new disparity values Dn.
  • Figure 12 shows an example of adapting the display properties of an overlay image showing a digital 3D object 200 to the imaging properties of a stereoscopic object image.
  • Figure 13 shows a further example of adapting the display properties of an overlay image showing a digital 3D object 200 to the imaging properties of a stereoscopic object image.
  • FIG. 1 A microscope system is described below with reference to Figures 1 to 4, which represents an exemplary embodiment of an optical observation device system according to the invention. While Figure 1 shows the microscope system including its electronic components, Figures 2 and 3 show the essential optical components of a surgical microscope, such as can be used as a microscope in the microscope system.
  • the microscope system of Figure 1 comprises a microscope 2, which in the present exemplary embodiment is a surgical microscope 2, as shown in Figures 2 to 4. Furthermore, it comprises a Microscope control 100, which generates control signals with which controllable components of the surgical microscope can act, in particular to set values for setting parameters of the surgical microscope 2, such as a value for the current zoom position, a value for the focus distance, a value for the working distance, a value for the numerical aperture, etc.
  • Controllable components of the surgical microscope 2 can be, for example, controllable motors for setting the zoom system, controllable motors for setting an objective lens system with adjustable object focal length, controllable motors for setting aperture openings, controllable motors of a stand supporting the surgical microscope 2, etc.
  • the values for the setting parameters can be set automatically by the microscope control 100 using a control routine.
  • the microscope controller 100 can use a control routine to generate values for setting parameters that lead to desired imaging properties of the surgical microscope 2, such as a specific extension of the depth of field at a specific focus position and - in the case of stereoscopic partial images - with a specific disparity interval.
  • desired imaging properties of the surgical microscope 2 such as a specific extension of the depth of field at a specific focus position and - in the case of stereoscopic partial images - with a specific disparity interval.
  • the imaging properties of the object image are determined by the imaging properties of the surgical microscope 2 and thus reflect the imaging properties of the surgical microscope 2. If digital images are generated by the surgical microscope 2, the imaging properties of the object image are determined not only by the imaging properties of the optical components of the surgical microscope 2, but also by the properties of the units that generate the digital images from the optical images.
  • Such units include the image sensor or sensors used to capture the images, the display or displays on which they are shown, and possibly an image processing unit used to manipulate pixel values in the digital image or values of the digital sub-images in the case of a stereoscopic image after capture by the image sensor and before display on the display.
  • the microscope control 100 converts the appropriate values for the setting parameters of the surgical microscope 2 into corresponding control signals, which it then outputs it to the corresponding controllable components of the surgical microscope 2.
  • the values of the setting parameters to be set can be specified externally, for example manually via a human-machine interface, with the microscope control 100 then generating the appropriate control signals for the controllable components of the surgical microscope 2 on the basis of the specified values for the setting parameters.
  • the microscope control 100 thus also represents an adjustment device which is set up to enable an adjustment of at least one imaging property which influences the image of the observation object 3 in the object image.
  • a surgical microscope 2 which generates digital images, it can also generate signals for controlling the image sensor or sensors, the display or displays and/or the image processing unit and output them to them.
  • the microscope controller 100 also includes a setting parameter detection device 110 and an imaging property determination device 115.
  • the setting parameter detection device 110 serves to detect the currently set values of the setting parameters of the surgical microscope 2 or to derive the currently set values of the setting parameters from control signals sent to the above-described motors and detected by the setting parameter detection device 110 using a model of the respective controlled component and to pass the values of the setting parameters on to the imaging property determination device 115.
  • the position of the movable members of the above-mentioned controllable motors can be detected, for example, using sensors if they are clearly linked to a value for one of the setting parameters.
  • the imaging property determination device 115 can then derive the imaging properties of the object image, i.e. those imaging properties with which the observation object 3 is imaged in the object image.
  • the position of the focal plane F in the observation object The imaging property determination device 115 can derive this, for example, from the value for the set distance of the objective lenses in an objective lens system, as shown in Figure 3, and the working distance of the surgical microscope 2 from the observation object 3. It can derive the extent of the depth of field of the image from the value for the diameter of the set aperture diaphragm and the value for the zoom factor, where the aperture diaphragm can be a real or a virtual aperture diaphragm.
  • the setting parameter detection device 110 can detect the aperture diaphragm diameter directly or derive it from the control signals for an adjustable aperture diaphragm. In the case of a virtual aperture diaphragm, it must calculate the aperture diaphragm diameter on the basis of values of the set setting parameters of the surgical microscope 2. The extent of the disparity interval of stereoscopic partial images can be derived on the basis of the focus distance F of the zoom position and the distance of the stereoscopic partial beam paths from each other in the surgical microscope 2.
  • the setting parameter detection device 110 is not necessary.
  • the imaging property determination device 115 can then obtain the values for the setting parameters directly from the microscope control 100.
  • An overlay image can be overlaid into the image of the object being observed generated by the observation beam path of the surgical microscope 2, which can in particular also be a stereoscopic overlay image.
  • the overlay image represents a digital 2D or 3D object, but it can also represent several digital 2D or 3D objects.
  • the microscope system has an overlay image generation device 120, which outputs the generated overlay image to displays 37A, 37B of the surgical microscope 2 (see Figure 2), with the aid of which the overlay image can be divided into beam splitters, which in the present exemplary Embodiment are designed as beam splitter prisms 15A, 15B, are inserted into the observation beam path of the surgical microscope 2.
  • the 2D or 3D objects to be displayed in the overlay image can either come from an external data source 130 such as an MRI system (MRI: magnetic resonance imaging), a CT system (CT: computer tomography), an external OCT system (OCT: optical coherence tomography), etc., with the 2D or 3D objects to be displayed then being generated preoperatively, or they can come from an internal data source 140 integrated into the microscope system, such as a system integrated into the surgical microscope 2 with which fluorescence images can be generated, an OCT system integrated into the microscope system or an endoscope that can be part of the microscope system. In the case of an internal data source 140, the 2D or 3D objects can also be generated intraoperatively.
  • an external data source 130 such as an MRI system (MRI: magnetic resonance imaging), a CT system (CT: computer tomography), an external OCT system (OCT: optical coherence tomography), etc.
  • CT computer tomography
  • OCT optical coherence tomography
  • the microscope system further comprises an adaptation device 150 which can adapt the display properties of the at least one digital 2D or 3D object to its intended position in the object under observation.
  • This is connected to at least one of the data sources 130, 140 to receive 2D or 3D objects and to the imaging property determination device 115 to receive the determined imaging properties of the object image. It is also connected to the overlay image generation device 120.
  • the adaptation device 150 adapts the display properties of the overlay images, i.e.
  • the overlay image generation device 120 which then overlays the overlay images into the observation beam path using the displays 37A, 37B and the beam splitter prisms 15A, 15B.
  • the Adaptation device 150 can act on microscope control 100 in order to adapt the value of at least one setting parameter of surgical microscope 2 on the basis of the determined imaging properties in order to adapt the position of the focal plane in the object image and/or the extent of the depth of field in the object image and/or the extent of the disparity interval in the case of a stereoscopic object image to the display properties of the overlay image via this adaptation.
  • surgical microscope 2 is a digital surgical microscope, i.e. one in which a digital object image is generated, alternatively or additionally at least one imaging property of the object image can be digitally adapted to the display properties of the overlay image.
  • the extent of the disparity interval can be adapted to the display properties of the overlay image.
  • disparity values of the stereoscopic object image can be transformed into new disparity values by the image processing unit using a linear or non-linear transformation. This makes it possible, for example, to compress or stretch the extent of the disparity interval.
  • the microscope system also has a depth distribution detection device, which in the present exemplary embodiment is implemented by a time-of-flight sensor 4.
  • a depth distribution detection device which in the present exemplary embodiment is implemented by a time-of-flight sensor 4.
  • the depth distribution T of the observation object 3 which in the present exemplary embodiment is represented by the distribution of the distances of different observation object sections from the object-side lens vertex of the microscope objective, can be determined.
  • the determined depth distribution T can then be passed on to the microscope controller 100 and/or to the adaptation device 150, which can take the depth distribution T into account when adapting the imaging properties of the object image or when adapting the display properties of the overlay image.
  • the surgical microscope 2 shown in Figure 2 comprises as essential components an objective 5 which is directed towards an object field 3 and which can be designed in particular as an achromatic or apochromatic objective.
  • the objective 5 consists of two partial lenses cemented together, which form an achromatic objective.
  • the object field 3 is arranged in the focal plane of the objective 5 so that it is imaged by the objective 5 to infinity.
  • a divergent beam 7 emanating from the object field 3 is converted into a parallel beam 9 as it passes through the objective 5.
  • a magnification changer 11 is arranged on the observer side of the objective 5, which can be designed either as a zoom system for continuously changing the magnification factor, as in the embodiment shown, or as a so-called Galilean changer for gradually changing the magnification factor.
  • a zoom system which is made up of a lens combination with three lenses, for example, the two lenses on the object side can be moved in order to vary the magnification factor.
  • the zoom system can also have more than three lenses, for example four or more lenses, whereby the outer lenses can then also be fixed.
  • a Galilean changer on the other hand, there are several fixed lens combinations that represent different magnification factors and can be alternately introduced into the beam path.
  • Both a zoom system and a Galilean changer convert a parallel beam on the object side into a parallel beam on the observer side with a different beam diameter.
  • the magnification changer 11 is in the present In the present embodiment, the magnification changer 11 is already part of the binocular beam path of the surgical microscope 2, ie it has its own lens combination for each stereoscopic partial beam path 9A, 9B of the surgical microscope 2.
  • the setting of a magnification factor by means of the magnification changer 11 takes place via a motor-driven actuator which, together with the magnification changer 11, is part of a magnification change unit for setting the magnification factor.
  • the magnification changer 11 is connected to an interface arrangement 13A, 13B, via which external devices can be connected to the surgical microscope 1 and which in the present embodiment comprises beam splitter prisms 15A, 15B.
  • the interfaces 13A, 13B serve to mirror digital 2D or 3D objects into the respective partial beam path 9A, 9B of the surgical microscope 2 with the aid of displays 37A, 37B, for example a digital mirror device (DMD) or an LCD display, and associated optics 39A, 39B via the beam splitter prisms 15A, 15B.
  • DMD digital mirror device
  • LCD LCD display
  • the displays 37A, 37B, the optics 39A, 39B and the beam splitter prisms 15A, 15B thus form a display device for displaying display images.
  • a binocular tube 27 is connected to the interfaces 13A, 13B on the observer side.
  • This has two tube lenses 29A, 29B, which focus the respective parallel beam 9A, 9B on an intermediate image plane 31, i.e. image the object 3 under observation on the respective intermediate image plane 31A, 31B.
  • the intermediate images located in the intermediate image planes 31A, 31B are finally imaged to infinity by eyepiece lenses 35A, 35B, so that an observer can see the The intermediate image can be viewed with a relaxed eye.
  • the distance between the two partial beams 9A, 9B is increased in the binocular tube 27 by means of a mirror system or prisms 33A, 33B in order to adapt it to the distance between the observer's eyes.
  • the mirror system or the prisms 33A, 33B also serve to erect the image.
  • the surgical microscope 2 is also equipped with an illumination device with which the object field 3 can be illuminated with broadband illumination light.
  • the illumination device in the present embodiment has a white light source 41, such as a halogen bulb or a gas discharge lamp.
  • the light emitted by the white light source 41 is directed towards the object field 3 via a deflection mirror 43 or a deflection prism in order to illuminate it.
  • the illumination device also has an illumination optics 45 which ensures uniform illumination of the entire observed object field 3.
  • the illumination beam path shown in Figure 2 is highly schematic and does not necessarily reflect the actual course of the illumination beam path.
  • the illumination beam path can be designed as so-called oblique illumination, which is closest to the schematic representation in Figure 2.
  • the beam path runs at a relatively large angle (6° or more) to the optical axis of the objective 5 and, as shown in Figure 2, can run completely outside the objective.
  • it is also possible to let the illumination beam path of the oblique illumination run through an edge region of the objective 5.
  • the illumination beam path is the so-called 0° illumination, in which the illumination beam path runs through the objective 5 and is coupled into the objective 5 between the two partial beam paths 9A, 9B along the optical axis of the objective 5 in the direction of the object to be observed 3.
  • the illumination beam path is also possible to design the illumination beam path as a so-called coaxial Illumination in which a first and a second illumination partial beam path are present.
  • the partial beam paths are coupled into the surgical microscope 2 via one or more beam splitters parallel to the optical axes of the observation partial beam paths 9A, 9B, so that the illumination runs coaxially to the two observation partial beam paths 9A, 9B.
  • the lighting can be influenced.
  • a filter 47 can be introduced into the illumination beam path, which only allows a narrow spectral range of the broad spectrum of the white light source 41 to pass through, for example a spectral range with which the fluorescence of a fluorescent dye located in the object field 3 can be excited.
  • filters 37A, 37B can be introduced into the partial observation beam paths, which filter out the spectral range used to excite the fluorescence in order to be able to observe the fluorescence.
  • digital 2D or 3D objects can be created for insertion into the observation beam path.
  • the objective 5 consists of only one achromatic lens.
  • an objective lens system comprising several lenses can also be used, in particular a so-called varifocal objective, with which the focus distance of the surgical microscope 2, i.e. the distance of the object-side focal plane from the vertex of the first object-side lens surface of the objective 5, also called the object back focal length, can be varied.
  • the object field 3 arranged in the focal plane is also imaged towards infinity by the varifocal objective 50, so that a parallel beam of rays is present on the observer side.
  • the zoom lens 50 comprises a positive element 51, i.e. an optical element with positive refractive power, which is shown schematically in Figure 3 as a convex lens.
  • the zoom lens 50 comprises a negative element 52, i.e. an optical element with negative refractive power, which is shown schematically in Figure 3 as Concave lens is shown.
  • the negative element 52 is located between the positive element 51 and the object field 3.
  • the negative element 52 is fixed, whereas the positive element 51 is arranged so as to be displaceable along the optical axis OA, as indicated by the double arrow 53.
  • the positive element 51 When the positive element 51 is displaced into the position shown in dashed lines in Figure 3, the focal length is extended, so that the focus distance of the surgical microscope 2 and thus the position of the focal plane in the observation object 3 changes.
  • the positive element 51 is displaced by means of a motor (not shown) controlled by the microscope control 100.
  • a fixed negative element 52 therefore offers the advantage that the interior of the surgical microscope 2 can be sealed more easily against external influences.
  • the positive element 51 and the negative element 52 are shown in Figure 3 only as individual lenses, each of these elements can also be realized in the form of a lens group or a cemented element instead of in the form of an individual lens, for example in order to make the zoom lens achromatic or apochromatic.
  • Figure 4 shows an example of a digital surgical microscope 2' in a schematic representation.
  • the main objective 5, the magnification changer 11, which is only an option in the digital surgical microscope and therefore does not necessarily have to be present, and the illumination system 41, 43, 45 do not differ from the surgical microscope 2 with optical viewing shown in Figure 1.
  • the surgical microscope 2' shown in Figure 4 does not include an optical binocular tube.
  • the surgical microscope 2' from Figure 4 includes focusing lenses 49A, 49B with which the binocular observation beam paths 9A, 9B can be focused on digital Image sensors 61A, 61B are used to image the images.
  • the digital image sensors 61A, 61B can be CCD sensors or CMOS sensors, for example.
  • the images recorded by the image sensors 61A, 61B are sent digitally to digital displays 63A, 63B, which can be designed as LED displays, LCD displays or displays based on organic light-emitting diodes (OLEDs).
  • the displays 63A, 63B can be assigned eyepiece lenses 65A, 65B, with which the images shown on the displays 63A, 63B are projected to infinity so that a viewer can look at them with relaxed eyes.
  • the displays 63A, 63B and the eyepiece lenses 65A, 65B can be part of a digital binocular tube, but they can also be part of a head-mounted display (HMD), such as data glasses. It is also possible to display the recorded images as stereoscopic images on a large monitor, which is viewed by the staff in the operating room with suitable 3D glasses, such as polarized glasses or shutter glasses. To distinguish the stereoscopic partial images, these can be displayed on the monitor, for example with different polarizations of the light emitted by the monitor.
  • the 3D glasses then contain switchable polarizers that are switched synchronously with the display of the partial images on the monitor.
  • the partial images can also be displayed two sequentially without defined polarization, with the lenses of the 3D glasses then being synchronized and switched between translucent and opaque.
  • the surgical microscope 2' shown in Figure 3 can comprise a varioscope lens instead of the objective lens 5.
  • a transmission of the images recorded by the image sensors 61A, 61B to the displays 63A, 63B by means of cables 67A, 67B is shown.
  • the images can also be transmitted wirelessly to the displays 63A, 63B, in particular when the displays 63A, 63B are part of a head-mounted display.
  • a time delay can be set between the recording of the images and their Representation can be digitally processed by means of a digital image processing unit 66.
  • FIG. 5 a first example of adapting the display properties of a 2D or 3D object shown in an overlay image to the determined imaging properties of the object image with which the observation object 3 is shown in its intended position in the superimposed image is described.
  • the figure schematically shows the observation object 3 as it is shown in the object image, the focal plane FE in the observation object 3, the depth distribution T of the observation object 3 in the object image and the extent of the depth of field S realized with the surgical microscope 2.
  • the 3D object 200 to be overlaid is shown in Figure 5 with three object sections 200A-C to better illustrate the method.
  • the observation object 3 and the 3D object 200 are shown schematically as they are shown in the object image superimposed with the overlay image. The process of superposition is symbolized in the figure by a “+”.
  • the extent of the 3D object 200, which is sharp in its entirety, in the direction of the depth distribution T is greater than the extent of the depth of field S, which is achieved with the imaging parameters set in the surgical microscope 2.
  • the extent of the depth of field S is the extent of that depth range in the observation object 3 which is sharply shown in the object image.
  • the fact that the extent of the 3D object 200 in the direction of the depth distribution T is greater than the extent of the depth of field S leads, without further measures, when the object image is superimposed on the overlay image, i.e. when the 3D object 200 is faded into the observation object 3, to the object sections 200A and 200C of the 3D object being shown as sharply shown object sections 200A and 200C being superimposed on areas of the observation object 3 which are shown blurred.
  • the displayed object can be displayed sharply, even though the corresponding image sections of the observation object 3 are blurred.
  • the sharp display of a displayed 2D object or an object section 200A, 200C of a displayed 3D object 200 in a blurred area of the observation object 3 would be disadvantageous for the viewer of the image superimposed with the displayed 2D or 3D object, since the appearance of sharp structures in otherwise blurred areas confuses the depth assignment.
  • the image sharpness provides a so-called monoscopic depth indication, ie the user unconsciously associates a certain depth position with the appearance of a certain sharpness of an object. If the sharpness of a displayed 2D object or an object section 200A, 200C of a displayed 3D object 200 does not match the sharpness of the area of the displayed observation object 3 on which it is superimposed, this leads to confusion for the user, and he can only estimate the height of a displayed 2D object with difficulty and possibly even incorrectly. In the case of a displayed 3D object 200, the sharp representation of the object sections 200A, 200C in blurred image areas also leads to irritation, since the stereoscopic depth indication indicates a different height than the monoscopic depth indication.
  • the object sections 200A and 200C are therefore adjusted in their sharpness to the sharpness of the representation of those areas of the observation object 3 on which they are to be superimposed, based on the determined imaging properties of the surgical microscope 2 and the representation property “intended position of the 3D object 200 in the superimposed image”, so that the adjusted object sections 200A, 2000 in the adjusted 3D object 200' are displayed in the object image superimposed with the overlay image with the same sharpness as the corresponding areas of the observation object 3. In this way, the described confusion due to an incorrect monoscopic depth indication can be avoided.
  • the sharpness display property was adjusted for the adjusted object sections 200A' and 200C, it is possible to additionally or alternatively adjust other display properties.
  • the adjusted object sections 200A' and 200C can be adjusted to the determined imaging properties of the surgical microscope 2 not only in their sharpness (or in addition to their sharpness) but also in their color display.
  • the color design of the adjusted object sections 200A' and 200C could be changed by reducing their color saturation compared to the original object sections 200A and 200C and/or changing their color tone.
  • 2D objects can also be adjusted in terms of their color representation or their degree of transparency in addition to their sharpness.
  • the depth distribution T in the observation object 3 is not known and a 2D object to be displayed is to be located close to the local surface of the observation object 3, it is possible to determine the sharpness of the representation of the local surface and to adapt the sharpness of the displayed 2D object to the determined sharpness of the local surface.
  • the adaptation of the imaging properties of the object image is carried out by adapting the values of setting parameters of the surgical microscope 2, and serves to adapt the current imaging properties of the surgical microscope 2 - and thus the imaging properties of the object image - to the intended position of a digital 3D object 200 to be displayed in relation to the observation object 3 and to the depth extension TA of the digital 3D object 200 to be displayed.
  • Figure 6 shows schematically the observation object 3 as it is shown in the object image, the focal plane FE in the observation object 3, the depth distribution T of the observation object 3 in the object image and the extent of the depth of field S realized with the surgical microscope 2.
  • Figure 6 shows the observation object 3 superimposed with the 3D object 200 to be faded in, as it would appear without adjustment in the object image superimposed with the fade-in image.
  • the depth extent TA of the digital 3D object 200 to be faded in has a slightly larger extent than the extent of the depth of field S in the object image.
  • the intended position of the digital 3D object 200, with which it is to be faded into the object image is such that the lower object section 200B lies within the focal plane FE and the upper object section 200A is so far above the focal plane FE that, with the intended position of the 3D object in the object image, it is located outside the extent of the depth of field range S without further measures and is therefore faded in sharply in an area of the object image in which the observation object 3 is shown blurred.
  • the lower object section 200B of the digital 3D object 200 is located within the area of the observation object 3 that is sharply displayed by the surgical microscope 2 when it is displayed.
  • the upper object section 200A of the digital 3D object 200 is located above the area of the observation object 3 that is sharply displayed. As a result of the sharp display of the upper object section, the displayed 3D object would not convey a correct impression of depth.
  • the display properties of the 3D object 200 to be displayed are not adapted to the recorded imaging properties of the surgical microscope 2 in order to to convey the correct impression of depth, but the imaging properties of the object image are adapted by adjusting its imaging properties to the display properties “position of the digital 3D object 200 in the observation object 3” and “depth extension TA of the 3D object 200”.
  • the imaging properties are adapted by adjusting the values of the setting parameters of the surgical microscope 2.
  • the current values of the setting parameters are recorded and from this the imaging properties with which the observation object 3 is currently represented in the object image (imaging properties of the object image) are determined.
  • the determined imaging properties of the object image are then compared with the position of the digital 3D object 200 in the observation object 3 and the depth extension TA of the 3D object (step 300 in Figure 7) in order to determine how the focal plane FE is located in relation to the position of the digital 3D object 200 in the observation object 3 and how large the extent of the depth of field S is in relation to the depth extension TA of the 3D object.
  • the comparison can be carried out, for example, by the control unit 100, which receives or retrieves the display properties of the 3D object 200, for example from the external data source 130 or the internal data source 140. Based on the comparison result, the control unit 100 then determines by how much it must increase the extent of the depth of field S and/or shift the focal plane FE in order to ensure that the 3D object 200 with its depth of field TA in its intended position in relation to the observation object 3 lies completely within the extent of the depth of field S of the object image.
  • the control unit 100 determines, in step 310, new values for the setting parameters "working distance", "focus distance” and "diameter of the aperture", with which the extent of the depth of field S and the position of the focal plane are adapted to the intended position of the 3D object 200 in relation to the Observation object 3 and the depth extension TA of the 3D object are adjusted.
  • the values of the setting parameters of the surgical microscope 2 the focus distance and/or the working distance of the surgical microscope 2 are adjusted in the present example in order to shift the focus position of the surgical microscope 2, i.e. the position of its focal plane FE, slightly upwards and thereby move it to the center of the digital 3D object 200.
  • the diameter of the aperture diaphragm of the surgical microscope 2 is adjusted such that the extent of the depth of field S symmetrical about the focal plane FE is increased so that the displayed 3D object is completely in the depth of field S of the surgical microscope 2.
  • the sharpness of the displayed 3D object 200 and the areas of the observation object 3 onto which the 3D object is superimposed match.
  • the adjustment described is shown schematically in Figure 7.
  • the zoom position can still be adjusted in such a way that the image section shown in the object image is expanded to such an extent that the reduced resolution is no longer noticeable as a disturbance. If the display is made on the observer side of the zoom system, as in the surgical microscope 2 shown in Figure 2, the displayed 3D object would still have to be adjusted to the displayed image section. However, this is not necessary if the 3D object is displayed on the object side of the zoom system.
  • Figure 8 shows an example of adapting the display properties of a fade-in image showing a digital 3D object 200 to the display properties of a stereoscopic object image in which the depth range shown in the object image is displayed within the stereo comfort zone of the user.
  • the fact that a depth range shown in the object image is displayed within the stereo comfort zone of the user is achieved by specifying a predetermined maximum permissible extension of the Disparity interval MDI, with which the depth range is represented, is not exceeded in the stereoscopic object image.
  • the specified maximum permissible extent of the disparity interval MDI can optionally have been previously adapted by a user to his needs. For this purpose, it is advantageous if, for example, the adaptation device 150 offers the possibility of setting the maximum permissible extent of the disparity interval MDI.
  • the maximum permissible extent of the disparity interval MDI can optionally also depend on the distance at which the depth range represented in the stereoscopic object image is to be perceived by the user.
  • the imaging properties of the object image are selected such that the entire depth extent of the observation object 3 lies within the maximum permissible extent of the disparity interval MDI.
  • the fact that the entire depth extent of the object being observed 3 lies within the maximum permissible extent of the disparity interval MDI can be achieved, for example, by suitable values for the setting parameters "focus distance", "working distance” and "zoom position". In the case of a digital surgical microscope 2', this can also be achieved by a transformation of the disparity values in the stereoscopic object image carried out in the digital image processing unit 66 instead of a suitable setting of the values of the aforementioned setting parameters of the surgical microscope. In this way, disparity values from a disparity interval whose extent is greater than the maximum permissible extent of the disparity interval can be mapped by means of a linear or non-linear transformation to a disparity interval whose extent corresponds to the maximum permissible extent of the disparity interval.
  • Figure 10 shows an example in which the initial disparity values Da of an object image lie in a disparity interval Dia whose extent is larger than the maximum permissible extent of the disparity interval MDI.
  • the initial disparity values Da are mapped to new disparity values Dn in such a way that the new disparity values Dn of the stereoscopic object image are all in a new Disparity interval Din, the extent of which corresponds to the maximum permissible extent of the disparity interval MDI.
  • the extent of the disparity interval is compressed by means of the linear transformation, which weakens the spatial impression in the object image.
  • the extent of the new disparity interval Dn is less than the maximum permissible extent of the disparity interval MDI.
  • Figure 11 shows another example in which output disparity values Da of an object image lie in a disparity interval Dia whose extent is greater than the maximum permissible extent of the disparity interval MDI.
  • a non-linear transformation is carried out instead of a linear transformation.
  • the small output disparity values Da of the output disparity interval Da are compressed less than the large output disparity values Da of the output disparity interval Da.
  • the spatial impression of object sections perceived further away is reduced less than the spatial impression of object sections perceived closer.
  • the extent of the disparity interval can also be stretched by means of a linear or non-linear transformation in order to enhance the spatial impression in the object image.
  • the 3D object has a depth extension TA which means that when it is displayed in its intended position in relation to the observation object 3, the object section 200A in the object image superimposed with the display image would be perceived above the observation object 3, which means that the disparity values in the superimposed image would extend over a disparity interval that is larger than the maximum permissible disparity interval. This would leave the user's stereo comfort zone.
  • Cutting off creates an abrupt transition.
  • a decision can be made as to whether image content or compliance with the stereo comfort zone takes priority.
  • fading out could only begin outside the disparity interval with the maximum permissible extent, so that no object sections within the disparity interval with the maximum permissible extent are faded out.
  • the fading could already begin within the disparity interval with the maximum permissible extent, so that it is already finished at the edge of the disparity interval with the maximum permissible extent and thus no object section of the 3D object is displayed outside the stereo comfort zone SKZ.
  • the gradual fading can also begin within the disparity interval with the maximum permissible extent and only end outside the disparity interval with the maximum permissible extent. Which variant is chosen can also depend on the preferences of the user of the surgical microscope 2. It is therefore advantageous if the adjustment device 150 offers the possibility of setting where the gradual fading should begin and end.
  • the disparity values in the stereoscopic To change the overlay image by means of a linear transformation, as shown by way of example in Figure 10, or by means of a non-linear transformation, as shown by way of example in Figure 11, in such a way that the changed disparity values when the stereoscopic overlay image is faded into the stereoscopic object image all lie within the disparity interval with its maximum permissible extent.
  • the spatial impression of the 3D object can be compressed to such an extent that it lies within the user's stereo comfort zone. This is particularly advantageous if the representation of all object sections of the 3D object is important to the user.
  • the spatial perception of the 3D object is more important than the representation of all object sections, it can be advantageous to omit object sections, as has been described with reference to Figure 8.
  • Figure 9 shows an example of adapting the display properties of a fade-in image representing a 2D object to the display properties of the object image.
  • the 2D object is faded into a stereoscopic object image using a stereoscopic fade-in image, so that the faded-in 2D object, which can represent markings or text information, for example, is perceived by the viewer of the stereoscopic object image superimposed with the stereoscopic fade-in image in a specific fade-in plane.
  • the position of this fade-in plane in relation to the observation object 3 can be determined.
  • markings, text information or other 2D objects are perceived completely or partially behind the areas of the observation object 3 that they are intended to mark or label, for example.
  • Such a perception of markings or text information behind the areas of the observation object 3 that they are intended to mark or label is perceived as irritating by most users.
  • the adaptation described with reference to Figure 9 assumes that the surface of the observation object 3 lies within the stereo comfort zone, i.e. within the maximum extent of the disparity interval MDI representing the stereo comfort zone.
  • the adjustment device 150 To adjust the disparity of the stereoscopic partial images of the stereoscopic overlay image reproducing the 2D object, the adjustment device 150 first receives the 2D object to be overlaid from one of the external or internal data sources in step 320. In step 330, it receives the determined imaging properties of the object image from the imaging property determination device 115, in particular the position and extent of the disparity interval. The position and extent of the disparity interval can be specified, for example, relative to the main plane of the main lens or in a global three-dimensional coordinate system, such as the coordinate system of a navigation system. In addition, in step 330 the adjustment device 150 also receives the depth distribution T of the observation object 3 from a depth distribution detection device, such as the time-of-flight sensor 4.
  • a depth distribution detection device such as the time-of-flight sensor 4.
  • the depth distribution T can be specified relative to the main plane of the main lens or in a global three-dimensional coordinate system.
  • the adjustment device 150 determines in step 340 an adjusted disparity with which the 2D object is to be displayed in the stereoscopic overlay image so that it is perceived just above the surface of the observation object 3 in the object image superimposed with the overlay image, i.e. the overlay plane EE in which the 2D object is overlaid lies just above the surface of the observation object 3 within the stereo comfort zone.
  • the adjusted disparity is then output to the overlay image generating device 120, which generates stereoscopic overlay subimages with the adjusted disparity in step 350.
  • This adjustment of the disparity allows Avoid 2D objects such as markings or text information being perceived as lying completely or partially beneath the areas of the object being observed that they are intended to mark or label.
  • the disparity values in the stereoscopic object image can be transformed by the digital image processing unit 66 by means of a linear or non-linear transformation, as described with reference to Figure 10 or Figure 11.
  • the disparity values of the stereoscopic object image can be transformed in such a way that the extent of the disparity interval which includes the surface no longer exceeds the maximum permissible extent of the disparity interval MDI after the transformation.
  • the disparity values of the stereoscopic overlay image can then be adjusted as described above in such a way that the overlay plane EE in which the 2D object is overlaid lies just above the surface of the observation object 3 and still within the disparity interval with the maximum permissible extent.
  • the 2D object is only to be faded into a specific lateral section LA of the stereoscopic object image
  • This fade-in plane EE' can also lie below the surface of areas of the observation object 3 that are outside a specific lateral section LA, as is also shown in Figure 9. In this case, it is therefore not necessary for the entire surface of the observation object 3 to lie within the maximum permissible extent of the disparity interval MDI, i.e. within the stereo comfort zone.
  • the surface of the lateral section LA lies within the maximum permissible extent of the disparity interval MDI, i.e. within the stereo comfort zone.
  • 3D objects 200 to be superimposed on an object image obtained with an optical observation device 2, 2' are often larger in a direction along the optical axis of the optical observation device 2, 2' than the extent of the depth of field S of the image obtained with the optical observation device 2, 2'. Therefore, in the present exemplary embodiment, there is a possibility of adapting at least one display property of the superimposed image to at least one determined imaging property of the object image.
  • the position of the focal plane FE and the extent of the depth of field S of the object image are determined as imaging properties of the object image, and at least one display property of the superimposed image is adapted to the position of the focal plane FE and to the extent of the depth of field S.
  • the adjustment of the display property of the overlay image can consist, for example, in restricting the display of the 3D object 200 in the overlay image to the depth of field S of the object image, for example by cropping the 3D object 200 in the overlay image.
  • FIG. 12 shows a highly schematic view of a surgical microscope 2, 2' as well as the focal plane FE of the surgical microscope 2, 2' and the extent of the depth of field S around the focal plane FE.
  • a 3D object 200 displayed by means of a fade-in image.
  • the 3D object 200 partially extends into the depth of field S of the surgical microscope 2, 2', but lies mostly below the depth of field S, i.e. most part along the optical axis (z-direction) further away from the surgical microscope 2, 2' than the depth of field S of the surgical microscope 2, 2'.
  • the section of the 3D object 200 lying outside the depth of field S is shown in dashed lines in Figure 12 to signal that a display property of the overlay image is adapted to the position of the focal plane FE and the extent of the depth of field S in such a way that the 3D object outside the depth of field S is displayed differently than within the depth of field S.
  • the overlay image is adapted to the position of the focal plane and the extent of the depth of field S in such a way that the 3D object outside the depth of field S is displayed with increased transparency.
  • the other adjustments described such as displaying the 3D object 200 with less color saturation, displaying the 3D object 200 with less sharpness or cutting off the 3D object 200 outside the depth of field S, are also possible.
  • the adjustments described can also be combined with one another.
  • the adjustment device 150 can make it possible to act on the overlay image generation device 120 in such a way that the overlay image has a virtual focal plane vFE that is shifted along the optical axis by an amount Az relative to the focal plane FE of the object image, as shown schematically in Figure 13.
  • the adjustment device 150 can be designed to set a freely selectable value for the shift Az.
  • the 3D object 200 is to be shown sharply in a different plane than the real observation object, which can be freely selected by the user.
  • the shift Az of the virtual focal plane vFE of the overlay image in relation to the focal plane FE of the object image also represents an adaptation of a display property of the overlay image to an imaging property of the object image, namely the introduction or modification of an offset of the (virtual) focal plane vFE of the overlay image (display property of the superimposed image) in relation to the (real) focal plane FE of the image generated with the surgical microscope 2, 2' (imaging property of the object image).
  • the representation of the 3D object 200 in the overlay image is adjusted in order, for example, to prevent the sections of the 3D object 200 lying in the virtual depth of field vS from being covered by sections of the 3D object 200 above them in the overlay image.
  • the adaptation which is symbolized in Figure 13 by a dashed representation of the 3D object 200, is carried out in the present exemplary embodiment in that the 3D object 200 is only sharply displayed in the overlay image in an area that lies between two cutting planes SE running parallel to the virtual focal plane vFE.
  • the representation of the 3D object 200 in the overlay image can be cropped along the cutting planes SE, so that only the sharply displayed section of the 3D object 200 lying between the cutting planes SE can be seen.
  • Alternative possibilities for adaptation consist in providing all sections of the 3D object 200 in the overlay image that lie outside the parallel cutting planes SE with a higher transparency and/or a lower color saturation and/or a lower sharpness of the display in order to emphasize the area of the 3D object 200 that lies between the cutting planes compared to the areas of the 3D object 200 that lie outside the cutting planes SE.
  • the cutting plane SE facing the depth of field S of the object image can coincide with the boundary of the depth of field S in the object image, giving the impression that the representation of the 3D object 200 is directly adjacent to the real representation of the object being observed.
  • the depth of field S of the object image overlaps with the virtual depth of field vS of the overlay image.
  • it can be useful to adapt the representation of the 3D object 200 in the overlap area for example to hide it, to provide it with high transparency, low color saturation or low representation sharpness, even though this area lies between the two cutting planes SE of the virtual depth of field vS.
  • This also represents an adaptation of a display property of the overlay image to an imaging property of the object image, namely to the position of the focal plane FE and to the extent of the depth of field S.

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  • Engineering & Computer Science (AREA)
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  • Signal Processing (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)

Abstract

L'invention concerne un système d'observation optique et un procédé d'incrustation d'une image d'incrustation représentant au moins un objet numérique 2D ou 3D (200) dans une image-objet acquise au moyen d'un appareil d'observation optique (2, 2') et représentant un objet d'observation (3), la représentation de l'objet d'observation (3) dans l'image-objet intervenant avec au moins une propriété de représentation qui détermine la représentation. Au moins une propriété de représentation de l'image-objet est déterminée. Avant l'incrustation de l'image d'incrustation dans l'image-objet, au moins une adaptation figurant dans le groupe des adaptations suivantes est effectuée : adapter au moins une propriété de représentation de l'image-objet à au moins une propriété de représentation de l'image d'incrustation en se fondant sur au moins une propriété de représentation déterminée, adapter au moins une propriété de représentation de l'image d'incrustation à ladite au moins une propriété de représentation déterminée de l'image-objet. Ladite au moins une propriété de représentation est au moins une des propriétés de représentation qui suivent du groupe suivant : (a) la position du plan focal de la représentation, (b) l'étendue de la zone de profondeur de champ de la représentation, (c) l'étendue de l'intervalle de disparité avec lequel l'objet d'observation (3) est représenté dans le cas d'une image-objet stéréoscopique.
PCT/EP2023/081018 2022-11-09 2023-11-07 Procédé d'incrustation d'une image d'incrustation, procédé mis en œuvre par ordinateur pour optimiser l'incrustation d'une image d'incrustation, programme d'ordinateur, unité de traitement de données et système d'observation Ceased WO2024100052A2 (fr)

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DE102022129663.6A DE102022129663A1 (de) 2022-11-09 2022-11-09 Verfahren zum Einblenden eines Einblendbildes, computerimplementiertes Verfahren zum Optimieren des Einblendens eines Einblendbildes sowie Computerprogramm, Datenverarbeitungseinheit und optisches Beobachtungssystem

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