CN107388201A - The dynamic control operation illuminating lamp of medical wear-type eye - Google Patents

Abstract

The invention provides a medical head-mounted eye-movement control surgical lighting, which includes an image acquisition unit, an image processing and function determination unit, a peripheral device control unit, a head-mounted unit, and a power supply unit; the image processing and function determination unit includes The image processing module and the function determination module, the peripheral device control unit includes a motor drive module, a motor module and an LED lighting module; the image acquisition unit is used to collect human eye images; the image processing module is used to analyze the human eye images collected by the image acquisition unit The image is processed, and the pupil center coordinates are extracted from the human eye image; the function determination module is used to determine the current line of sight direction based on the pupil center coordinates, so as to generate a corresponding driving signal according to the current line of sight direction to drive the motor drive module to adjust the LED lighting module The lighting direction of the LED lighting module makes the lighting direction of the LED lighting module consistent with the current line of sight direction.

Description

Medical Head Mounted Eye Movement Control Surgical Lighting Lamp

technical field

The invention relates to the field of medical devices, in particular to a medical head-mounted eye-movement control operation lighting lamp.

Background technique

The medical head-mounted surgical lighting is used in various inspection and surgery occasions such as hospital outpatient department, stomatology department, ENT department, general surgery department, ophthalmology department, plastic surgery department and vascular surgery department. It has the advantages of convenient portability and excellent directional lighting effect. It provides great convenience for fine surgery and deep surgery.

At present, the existing medical head-mounted operating lights at home and abroad are composed of AC transformers, light sources, reflectors, headbands or helmets, power cords and other parts. The appearance is cumbersome, and this device is restricted by the length of the wire and the volume and weight of the equipment during use, which limits the doctor's activities and application places, and is not suitable for a large number of configurations and wide popularization. At present, there are ri-focus medical surgical headlights produced in Germany in the market. It is the world's first 6VLED lighting technology. About 20,000 yuan, it cannot be popularized to various large and small hospitals. Moreover, this kind of equipment adopts the traditional manual adjustment method, which on the one hand increases unnecessary operation time; on the other hand, because the adjustment of the headlight requires manual operation, it will cause bacterial infection to a certain extent and reduce the success rate of the operation.

Contents of the invention

A brief overview of the invention is given below in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical parts of the invention nor to delineate the scope of the invention. Its purpose is merely to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.

In view of this, the present invention provides a medical head-mounted eye-movement control operation light, to at least solve the existing medical head-mounted operation light due to the long operation time due to the traditional adjustment method and the The adjustment of the headlight requires manual operation, which brings a certain degree of bacterial infection and reduces the success rate of the operation.

According to one aspect of the present invention, a medical head-mounted eye movement control surgical lighting is provided. The head-mounted eye movement control surgical lighting includes an image acquisition unit, an image processing and function determination unit, a peripheral equipment control unit, a head Wearing unit and power supply unit. Among them, the image acquisition unit, image processing and function determination unit, and peripheral equipment control unit are installed on the head wearing unit; the power supply unit is powered by a lithium battery, and the lithium battery provides all the internal components of the medical head-mounted eye movement control surgical lighting. The power required by the unit; the image processing and function determination unit includes an image processing module and a function determination module, and the peripheral device control unit includes a motor drive module, a motor module and an LED lighting module; the image acquisition unit is used to collect images of human eyes; image processing The module is used to process the human eye image collected by the image acquisition unit, and extract the pupil center coordinates from the human eye image; the function determination module is used to determine the current line of sight direction based on the pupil center coordinates, so as to generate The corresponding driving signal is used to drive the motor driving module to adjust the lighting direction of the LED lighting module, so that the lighting direction of the LED lighting module is consistent with the current line of sight direction.

Further, the image acquisition unit adopts a CMOS camera; the image processing module includes a decoding sub-module, a FIFO sub-module and a reading sub-module; the CMOS camera is used to capture the human eye image to generate a corresponding BT656 composite digital image signal to pass through the decoding sub-module The module decodes the BT656 composite digital image signal, caches the effective digital signal decoded by the decoding sub-module in the FIFO sub-module, and reads it through the reading sub-module.

Further, the image processing module 2-1 extracts the pupil center coordinates in the following manner: perform image pixel traversal on the human eye image to complete the binarization process, and obtain the corresponding binarized image of the human eye image; The pupil area is determined by the white point pixels in the image; the pupil center coordinates are calculated according to the pupil area and non-pupil area in the binarized image.

Further, the image processing module can traverse the image pixels of the human eye image in the following manner to complete the binarization process: for each pixel in the human eye image, obtain the gray value of the pixel, and determine the gray value of the pixel If the gray value of the pixel is greater than the preset threshold T, a black point is output when the gray value of the pixel is greater than the preset threshold T, and a white point is output when the gray value of the pixel is less than or equal to the preset threshold T.

Further, the image processing module can calculate the pupil center coordinates in the following manner: obtain the number of white dot pixels in the binarized image; obtain the sum of abscissas of all white dot pixels in the binarized image; obtain all white dot pixels in the binarized image The sum of the vertical coordinates of the white dot pixels; according to the ratio of the sum of the abscissas of all the white dot pixels in the binarized image to the number of white dot pixels in the row, the abscissa of the through hole center is obtained; according to all the white dot pixels in the binarized image The ratio of the sum of the ordinates of the white dot pixels to the number of white dot pixels in the row is used to obtain the ordinate of the via hole center.

The medical head-mounted eye-movement control surgical lighting of the present invention is a medical head-mounted surgical lighting based on eye-tracking technology. The system adjusts the direction of the lamp in real time by tracking the line of sight. Use a hair tie or bandage as a fixed device, combine the power supply and the headband device together, and realize wireless. Not only is it small in size, light in weight, easy and comfortable to wear, it will not cause pressure on the minds of medical staff, and the cost is greatly reduced. Compared with the traditional manual adjustment, the eye movement adjustment has the advantage of non-contact, which shortens the operation time to a certain extent; and because it does not require manual operation and does not cause bacterial infection, it is suitable for most medical institutions and can make up for The deficiency of domestic medical operation headlight lighting method has certain market value and broad application prospect.

The medical head-mounted eye movement control operation lighting lamp of the present invention adopts digital image processing technology and collects eye images through a CMOS camera. Functions such as image processing, line of sight tracking, motor drive and LED on and off control are completed in the FPGA. The head-mounted eye movement control surgical lighting realizes the purpose of adjusting the direction of the light based on the eye-tracking technology, breaks the shortcomings of the traditional manual adjustment method, and has the advantages of non-contact and accurate tracking. The operation time is greatly shortened, the doctor reduces the operation risk during the operation, and improves the success rate.

These and other advantages of the present invention will be more apparent through the following detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings.

Description of drawings

The present invention can be better understood by referring to the following description given in conjunction with the accompanying drawings, wherein the same or similar reference numerals are used throughout to designate the same or similar parts. The accompanying drawings, together with the following detailed description, are incorporated in and form a part of this specification, and serve to further illustrate preferred embodiments of the invention and explain the principles and advantages of the invention. In the attached picture:

Fig. 1 is a structural diagram schematically showing an example of the medical head-mounted eye movement control surgical lighting of the present invention;

Fig. 2 is a flow chart of an example of the processing of the medical head-mounted eye movement control operation lighting shown in Fig. 1;

Fig. 3 is a block diagram showing the hardware structure of the image acquisition unit;

Fig. 4 is a block diagram showing the hardware structure of the image processing module;

Fig. 5 is the flowchart showing pupil extraction work;

Fig. 6 is the flowchart showing pupil center location work;

Fig. 7 is a flow chart showing the direction adjustment operation of the LED lamp.

It will be appreciated by those skilled in the art that elements in the figures are illustrated for simplicity and clarity only and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of the embodiments of the present invention.

detailed description

Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual implementation are described in this specification. It should be understood, however, that in developing any such practical embodiment, many implementation-specific decisions must be made in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and those Restrictions may vary from implementation to implementation. Moreover, it should also be understood that development work, while potentially complex and time-consuming, would at least be a routine undertaking for those skilled in the art having the benefit of this disclosure.

Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and processing steps closely related to the solution according to the present invention are shown in the drawings, and the related Other details are not relevant to the invention.

An embodiment of the present invention provides a medical head-mounted eye-movement control surgical lighting. The head-mounted eye-movement control surgical lighting includes an image acquisition unit, an image processing and function determination unit, a peripheral device control unit, and a head-mounted unit. And a power supply unit; wherein, the image acquisition unit, image processing and function determination unit and peripheral device control unit are installed on the head wearing unit; the power supply unit is powered by a lithium battery, and the lithium battery is provided for medical head-mounted eye movement control surgery The electric energy required by all the internal units of the lighting lamp; the image processing and function determination unit includes an image processing module and a function determination module, and the peripheral equipment control unit includes a motor drive module, a motor module and an LED lighting module; the image acquisition unit is used to acquire human eyes image; the image processing module is used to process the human eye image collected by the image acquisition unit, and extract the pupil center coordinates from the human eye image; the function determination module is used to determine the current line of sight direction based on the pupil center coordinates, so as to The current line of sight direction generates a corresponding driving signal to drive the motor drive module to adjust the lighting direction of the LED lighting module, so that the lighting direction of the LED lighting module is consistent with the current line of sight direction.

Fig. 1 shows a structure diagram of an example of the medical head-mounted eye-movement control surgical lighting of the present invention.

As shown in Figure 1, the medical head-mounted eye-movement control surgical lighting is characterized in that the head-mounted eye-movement control surgical lighting includes an image acquisition unit 1, an image processing and function determination unit 2, a peripheral equipment control unit 3, The head wearing unit and the power supply unit. Among them, the image acquisition unit 1, the image processing and function determination unit 2 and the peripheral equipment control unit 3 are installed on the head wearing unit; the power supply unit is powered by a lithium battery, and the lithium battery is provided for the medical head-mounted eye movement control operation lighting. Electric energy required by all internal units; image processing and function determination unit 2 includes image processing module 2-1 and function determination module 2-2; peripheral device control unit 3 includes motor drive module and motor module 3-1 and LED lighting module 3 -2.

The image acquisition unit 1 is used for acquiring images of human eyes.

The image processing module 2-1 is used to process the human eye image collected by the image acquisition unit 1, and extract the pupil center coordinates from the human eye image.

The function determination module 2-2 is used to determine the current line of sight direction based on the pupil center coordinates, so as to generate a corresponding driving signal according to the current line of sight direction to drive the motor drive module 3-1 to adjust the lighting direction of the LED lighting module 3-2, so that the LED lighting The lighting direction of the module 3-2 is consistent with the current line-of-sight direction.

According to an implementation, the image acquisition unit 1 can adopt a CMOS camera; the image processing module 2-1 includes a decoding submodule 2-1-1, a FIFO submodule 2-1-2 and a reading submodule 2-1-3; CMOS The camera is used to capture the human eye image to generate the corresponding BT656 composite digital image signal, to decode the BT656 composite digital image signal through the decoding sub-module 2-1-1, and decode the effective decoding sub-module 2-1-1 The digital signal is buffered in the FIFO sub-module 2-1-2 and read by the reading sub-module 2-1-3.

According to an implementation, the image processing module 2-1 extracts the pupil center coordinates in the following manner: perform image pixel traversal on the human eye image to complete the binarization process, and obtain a binarized image corresponding to the human eye image; The white point pixels in the binarized image are used to determine the pupil area; the pupil center coordinates are calculated according to the pupil area and non-pupil area in the binarized image.

In addition, according to an implementation, the image processing module 2-1 can perform image pixel traversal on the human eye image to complete the binarization process through the following process: for each pixel in the human eye image, obtain the gray value of the pixel To judge whether the gray value of the pixel is greater than the preset threshold T, output a black point if the gray value of the pixel is greater than the preset threshold T, and output a black point if the gray value of the pixel is less than or equal to the preset threshold T In the case of output white point. The preset threshold T can be set according to empirical values, or can be determined through experiments, which will not be repeated here.

Wherein, the image processing module 2-1 can calculate the pupil center coordinates according to the following process: obtain the number of white dot pixels in the binarized image; obtain the sum of the abscissas of all white dot pixels in the binarized image; obtain the binarized image The sum of the vertical coordinates of all white dot pixels in the binarized image; according to the ratio of the sum of the abscissas of all white dot pixels in the binarized image to the number of white dot pixels in the row, the abscissa of the center of the through hole is obtained; according to the binarized image The ratio of the sum of the vertical coordinates of all white dot pixels in the row to the number of white dot pixels in the row is obtained to obtain the vertical coordinate of the through hole center.

preferred embodiment

The hardware composition of the medical head-mounted eye-movement control operating lighting of the present invention mainly includes: an image acquisition unit, an image processing and function determination unit, and a peripheral equipment control unit. Wherein the image acquisition unit is responsible for collecting human eye images; the image processing and function determination unit includes an image processing module and a function determination module for processing the digital image signal output by the image acquisition unit, and extracting the coordinates of the center of the pupil, and according to the function determination module Determine the line of sight direction; the peripheral device control unit includes LED lighting module, motor drive module and motor module, and sends corresponding instructions on the bus through FPGA to realize the control of LED on and off and the drive of the motor, and then realize the adjustment of the direction of the light.

In this embodiment, FPGA is used as the main control chip, combined with digital image processing technology, to design and implement the medical head-mounted eye movement control surgical lighting of the present invention. That is to say, the FPGA is used to realize some or all of the functions in the image processing and function determination module unit and the peripheral device control module unit.

In this embodiment, the non-contact control method of eye tracking is used to adjust the direction of the light in real time, which shortens the operation time to a certain extent. And because manual adjustment is not required, it will not cause bacterial infection, so it is suitable for use in most medical institutions.

Its processing flow is shown in Figure 2.

The medical head-mounted eye movement control surgical lighting uses the FPGA chip of Cyclone IV as the core processor of the system to complete image acquisition, image processing, function judgment and control of peripheral equipment; determine the direction of sight according to the judgment result, and then control the motor The rotation; finally, realize the operating lighting system based on eye movement control. Wherein, the peripheral device control module unit is connected with the FPGA through an interface and a bus. The figure below is a workflow flow chart of controlling head-mounted surgical lighting based on eye movements.

1. Image acquisition unit:

The hardware block diagram of the image acquisition unit of the controller is shown in Figure 3:

The hardware part of the module consists of a CMOS OV7725 camera and an FPGA chip in the FPGA control circuit. After the CMOS camera captures the image of the human eye, it outputs a BT656 composite digital image signal, and inputs this signal into the FPGA for processing. First, the BT656 digital signal is decoded through the decoding sub-module; then the decoded effective digital signal is buffered in the FIFO sub-module; finally, image processing is performed on the FPGA bus through the reading sub-module (ie, the READ reading module).

2. Image processing and function determination unit

The image processing and function determination unit of the intelligent controller includes an image processing module and a function determination module, wherein the hardware block diagram is shown in Figure 4:

The image processing module and the function determination module share the FPGA chip and the SDRAM chip. The SDRAM chip is used to store the instructions and algorithms required for image processing and function determination.

The image processing module is used to input the eye digital image signal output by the image acquisition unit into the FPGA, and then perform the operation of the eye algorithm after decoding the effective digits. Pupil extraction and pupil center location were performed successively. The function determination module determines the direction of the user's line of sight in real time according to the position of the pupil, and achieves the purpose of motor driving by sending corresponding instructions on the FPGA bus. The eye image collected by the image acquisition unit is processed, and the position of the pupil is determined according to the processing result to determine the direction of the line of sight and execute corresponding instructions. Through the confirmed control signal, the sending of the corresponding command is completed on the FPGA bus, and finally the drive of the motor is realized.

Pupil extraction:

In order to separate the pupil from the surrounding background, this image processing module uses threshold technology to binarize the eye image on the basis of the grayscale image. First read the SDRAM image data on the data bus, and then use the threshold technology to binarize the eye image, so that the display module only displays the black and white image of the pupil. Set the pupil to be displayed as white and the background as a binary image.

The pupil extraction workflow is shown in Figure 5.

Pupil center point positioning:

In order to determine the direction of the line of sight, after extracting the pupil area through binarization of the eye image, it is necessary to calculate the coordinates of the center point of the pupil, and then send the obtained center point coordinates to the host computer for testing, so that the line of sight can be tracked in real time direction. After binarizing the eye image, the image processing module uses the center of gravity method to extract the pupil center coordinates. The principle and method are as follows: in a two-dimensional image, the formula for the center of the target area is:

Among them, f(x,y) is a binarized image, and its value can only be 0 or 1. At design time, a 20-bit counter NUM_counter can be used to count the number of pixels with a value of "1" in f(x,y), and two 30-bit registers (SUM_X, SUM_Y) can be used to store pixels with a pixel value of 1 The accumulated value of coordinates, using two counters X_counter and Y_counter to represent the coordinates of the current pixel. When the read value f( _xi ,y _j ) is 1, perform the following operations:

NUM_counter=NUM_counter+1

SUM_X=SUM_X+X_counter

SUM_Y=SUM_Y+Y_counter

When the entire image is scanned, the center of the current pupil can be obtained

The workflow of pupil center positioning is shown in Figure 6.

3. Peripheral equipment control unit

The peripheral device control unit includes an LED lighting module, a motor drive module and a motor module. As the core processor of the system, the Cyclone IV chip provides interfaces for peripherals. The FPGA sends corresponding instructions to the peripheral control module on the bus to realize its control and complete the lighting of the LED and the driving of the motor. Through the rotation of the motor, the adjustment of the direction of the lamp is finally completed. The specific work flow chart is shown in Figure 7.

While the invention has been described in terms of a limited number of embodiments, it will be apparent to a person skilled in the art having the benefit of the above description that other embodiments are conceivable within the scope of the invention thus described. In addition, it should be noted that the language used in the specification has been chosen primarily for the purpose of readability and instruction rather than to explain or define the inventive subject matter. Accordingly, many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. With respect to the scope of the present invention, the disclosure of the present invention is intended to be illustrative rather than restrictive, and the scope of the present invention is defined by the appended claims.

Claims (5)

1. the dynamic control operation illuminating lamp of medical wear-type eye, it is characterised in that the dynamic control surgical light of the medical wear-type eye Lamp includes image acquisition units (1), image procossing and function identifying unit (2), peripheral device control unit (3), head-mount Unit and power supply power supply unit；

Wherein, described image collecting unit (1), described image processing and function identifying unit (2) and the peripheral unit control Unit (3) is arranged on the head-mount unit；

The power supply power supply unit uses lithium battery power supply, and lithium battery is supplied to the dynamic control operation illuminating lamp of medical wear-type eye Electric energy needed for internal all units；

Described image processing and function identifying unit (2) include module reason module (2-1) and function at image and judge (2-2), institute Stating peripheral device control unit (3) includes motor drive module and motor module (3-1) and LED illumination module (3-2)；

Described image collecting unit (1) is used to gather people's eyes image；

People's eyes image that described image processing module (2-1) is used to collect described image collecting unit (1) is handled, And extract center coordinate of eye pupil from people's eyes image；

The function determination module (2-2) is used to determine current gaze direction based on the center coordinate of eye pupil, is deserved with basis Drive signal corresponding to the generation of preceding direction of visual lines is to drive the motor drive module (3-1) to adjust the LED illumination module (3- 2) illumination direction so that the illumination direction of the LED illumination module (3-2) is consistent with the current gaze direction.

2. the dynamic control operation illuminating lamp of medical wear-type eye according to claim 1, it is characterised in that described image gathers Unit (1) uses CMOS camera；Described image processing module (2-1) includes decoding sub-module (2-1-1), FIFO submodules (2-1-2) and reading submodule (2-1-3)；

The CMOS camera is used to capture people's eyes image to generate corresponding BT656 digital composite picture signals, to pass through The decoding sub-module (2-1-1) decodes to the BT656 digital composites picture signal, by the decoding sub-module (2- 1-1) the effective digital signal that decoding obtains is buffered in the FIFO submodules (2-1-2), and passes through the reading submodule (2-1-3) is read.

3. the dynamic control operation illuminating lamp of medical wear-type eye according to claim 1, it is characterised in that described image processing Module (2-1) extracts the center coordinate of eye pupil in the following way：

Image pixel traversal is carried out to people's eyes image to complete binary conversion treatment, is obtained corresponding to people's eyes image Binary image；

White point pixel in the binary image, determines pupil region；

Pupil region and non-pupil region in the binary image, calculate center coordinate of eye pupil.

4. the dynamic control operation illuminating lamp of medical wear-type eye according to claim 3, it is characterised in that described image processing Module (2-1) can carry out image pixel traversal to complete binary conversion treatment to people's eyes image in the following way：Pin To each pixel in people's eyes image,

The gray value of the pixel is obtained,

Judge whether the gray value of the pixel is more than predetermined threshold value T,

Stain is exported in the case where the gray value of the pixel is more than the predetermined threshold value T,

White point is exported in the case where the gray value of the pixel is less than or equal to the predetermined threshold value T.

5. the dynamic control operation illuminating lamp of medical wear-type eye according to claim 3 or 4, it is characterised in that described image Processing module (2-1) can calculate center coordinate of eye pupil in the following way：

Obtain the white point pixel quantity in the binary image；

Obtain the abscissa sum of all white point pixels in the binary image；

Obtain the ordinate sum of all white point pixels in the binary image；

The ratio between white point pixel quantity in the abscissa sum of all white point pixels in the binary image and the row, is obtained Obtain through hole center abscissa；

The ratio between white point pixel quantity in the ordinate sum of all white point pixels in the binary image and the row, is obtained Obtain through hole center ordinate.