Surgical optical zoom system

• US 10,481,373 B2
• Filed: 10/04/2018
• Issued: 11/19/2019
• Est. Priority Date: 10/06/2017
• Status: Active Grant

• Current Assignee: Synaptive Medical (Barbados) Inc.
• Original Assignee: Synaptive Medical (Barbados) Inc.
• Inventors: Lee, Tammy Kee-Wai, La, William, Quevedo, Paul, Taub, Aryeh Benjamin, Bismilla, Yusuf, Leitch, Sam Anthony, Kuzyk, Yuri Alexander, Yao, Ze Shan, Wood, Michael Frank Gunter
• Primary Examiner(s): Kalapodas, Dramos
• Application Number:
  US16/152,264
• Publication Number:
  US 20190107700A1
• Time in Patent Office: 411 Days
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 90/20 Surgical microscopes characterised by non-optical aspects
• CPC Class Codes: A61B 90/25 Supports therefor
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G02B 21/0012 Surgical microscopes counterbalanced structures for surgical microscopes G02B7/001
• CPC Class Codes: G02B 21/025 with variable magnification variable magnification G02B15/00
• CPC Class Codes: G02B 21/245 using auxiliary sources, detectors
• CPC Class Codes: G02B 21/36 arranged for photographic purposes or projection purposes G02B21/18 takes precedenceor digital imaging or video purposes including associated control and data processing arrangements image data processing per se G06T
• CPC Class Codes: G02B 21/362 Mechanical details, e.g. mountings for the camera or image sensor, housings G02B21/364 takes precedence
• CPC Class Codes: G02B 21/365 Control or image processing arrangements for digital or video microscopes G02B21/361, G02B21/362 take precedence
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: H04N 23/55 Optical parts specially adapted for electronic image sensors; Mounting thereof

Abstract

Methods and systems for controlling a surgical microscope. Moveable optics of the surgical microscope are controlled using two sets of control parameters, to reduce jitter and image instability. Shifts in the image due to changes in temperature or due to the use of optical filter can also be compensated. Misalignment between the mechanical axis and the optical axis of the surgical microscope can also be corrected.

Claims

1. A surgical microscope for capturing a high optical zoom image of a target during a surgical procedure, the surgical microscope comprising:

an optical assembly including at least one moveable optics;

an actuator for positioning the moveable optics, the actuator including a pulley system for moving the optics along a set of rails;

a sensor for detecting the position of the moveable optics;

a controller for controlling the actuator in response to received control input; and

a camera for capturing the image of the target from the optical assembly;

wherein the controller is configured to;

receive control input indicating a target position for the moveable optics;

control the actuator to position the moveable optics towards the target position, the actuator being controlled according to a first set of control parameters;

upon receiving signals from the sensor indicating that the moveable optics is within a threshold range of the target position, switch to a second set of control parameters for controlling the actuator; and

control the actuator to maintain the moveable optics at the target position at steady state;

the first and second sets of control parameters being, respectively, first and second sets of proportional (P), integral (I) and derivative (D) terms for dual-PID control of the actuator.

2. The surgical microscope of claim 1 wherein the moveable optics includes moveable zoom optics and moveable focus optics, wherein the surgical microscope comprises at least two actuators for positioning the moveable optics, the at least two actuators including a zoom actuator for positioning the zoom optics and a focus actuator for positioning the focus optics, wherein the first set of control parameters include a first set of zoom control parameters and a first set of focus control parameters and the second set of control parameters include a second set of zoom control parameters and a second set of focus control parameters, and wherein the controller controls the zoom actuator and focus actuator independently according to the first and second sets of zoom control parameters and the first and second sets of focus control parameters.

3. The surgical microscope of claim 1 wherein the second set of control parameters has an I term smaller than the I term of the first set of control parameters by a factor in the range of about 2 to 3.

4. The surgical microscope of claim 1 further comprising a filter wheel, the filter wheel being positionable by a filter wheel actuator to position a selectable optical filter in an optical path of the optics.

5. The surgical microscope of claim 1 wherein use of a selectable optical filter causes a shift in an optical path in the optical assembly, and wherein the controller is further configured to determine a compensation amount to adjust the target position for the moveable optics, to compensate for the shift, and to adjust the target position accordingly.

6. The surgical microscope of claim 1 further comprising a temperature sensor, wherein the controller is further configured to determine a compensation amount to adjust the target position for the moveable optics, to compensate for temperature-dependent shift in an optical path of the optics, and to adjust the target position accordingly.

8. The method of claim 6 wherein the moveable optics includes moveable zoom optics and moveable focus optics, wherein there are at least two actuators of the moveable optics, the at least two actuators including a zoom actuator for positioning the zoom optics and a focus actuator for positioning the focus optics, and wherein the first set of control parameters include a first set of zoom control parameters and a first set of focus control parameters and the second set of control parameters include a second set of zoom control parameters and a second set of focus control parameters, the method further comprising:

controlling the zoom actuator and focus actuator independently according to the first and second sets of zoom control parameters and the first and second sets of focus control parameters.

9. The method of claim 6 wherein the second set of control parameters has an I term smaller than the I term of the first set of control parameters by a factor in the range of about 2 to 3.

10. The method of claim 6, further comprising:

when a optical filter is positioned in an optical path of the optics, determining a compensation amount to adjust the target position for the moveable optics, to compensate for a shift in the optical path caused by the optical filter; and

adjusting the target position accordingly.

11. The method of claim 6, further comprising:

receiving information from a temperature sensor indicating a surrounding temperature of the optics;

determining a compensation amount to adjust the target position for the moveable optics, to compensate for a temperature-dependent shift in an optical path of the optics; and

adjusting the target position accordingly.

7. A method for controlling a surgical microscope for capturing a high optical zoom image, the method comprising:

receiving control input indicating a target position for a moveable optics of the surgical microscope;

controlling an actuator of the moveable optics to position the moveable optics towards the target position, the actuator being controlled according to a first set of control parameters, the actuator including a pulley system for moving the optics along a set of rails;

upon receiving signals from a position sensor indicating that the moveable optics is within a threshold range of the target position, switching to a second set of control parameters for controlling the actuator; and

controlling the actuator to maintain the moveable optics at the target position at steady state;

the first and second sets of control parameters being, respectively, first and second sets of proportional (P), integral (I) and derivative (D) terms for dual-PID control of the actuator.