Stand for an optical observation unit, optical observation apparatus, method for calibrating an optical observation apparatus, and computer program

Patent metadata

Field	Value
Publication number	US-11977212-B2
Application number	US-202017100406-A
Country	US
Kind code	B2
Filing date	Nov 20, 2020
Priority date	Nov 22, 2019
Publication date	May 7, 2024
Grant date	May 7, 2024

Abstract

To simplify the optical calibration of an optical observation apparatus, a stand for an optical observation unit including a calibration object arranged directly on the stand in a fixed location is specified. Moreover, an optical observation apparatus, which includes such a stand and an optical observation unit connected to the stand, a method for calibrating such an optical observation apparatus, and a computer program are specified.

First claim

What is claimed is:

1. A stand for positioning, aligning and holding an optical observation unit, the stand comprising:
a stand body including a mount for said optical observation unit;
a calibration object arranged directly on said stand body at a fixed location;
said optical observation unit having a plurality of cameras; and,
said calibration object being arranged so as to be observable from different viewing angles by said plurality of cameras of said optical observation unit.

2. The stand of claim 1 , wherein said calibration object is a two-dimensional calibration pattern.

3. The stand of claim 1 , wherein said calibration object is a three-dimensional calibration body.

4. The stand of claim 1 , wherein said calibration object is part of said stand body.

5. An optical observation apparatus comprising:
an optical observation unit having a plurality of cameras;
a stand for positioning, aligning and holding said optical observation unit and said stand including a mount for said optical observation unit;
a calibration object arranged directly on said stand at a fixed location;
said optical observation unit being connected to said stand via said mount; and,
said calibration object being arranged so as to be observable from different viewing angles by said plurality of cameras of said optical observation unit.

6. The optical observation apparatus of claim 5 further comprising:
a control unit configured to output control signals to at least one of said stand and said optical observation unit in order to carry out a calibration method.

7. The optical observation apparatus of claim 5 , wherein said optical observation unit is a surgical microscope.

8. An optical observation apparatus comprising:
an optical observation unit having a camera;
a stand for positioning, aligning and holding said optical observation unit and said stand including a mount for said optical observation unit;
a calibration object arranged directly on said stand at a fixed location;
said optical observation unit being connected to said stand via said mount; and,
said calibration object being arranged so as to be observable from different viewing angles by said camera of said optical observation unit.

9. A method for calibrating an optical observation unit apparatus including: an optical observation unit having a camera; a stand for positioning, aligning and holding the optical observation unit and the stand including a mount for said optical observation unit; a calibration object arranged directly on the stand at a fixed location; the optical observation unit being connected to the stand via the mount; and, the calibration object being arranged so as to be observable from different viewing angles by the camera of the optical observation unit, the method comprising:
making recordings of the calibration object via the camera of the optical observation unit; and,
evaluating the recordings to provide evaluated recordings.

10. The method of claim 9 further comprising:
aligning the optical observation unit with respect to the calibration object.

11. The method of claim 10 , wherein said aligning the optical observation unit is performed in an automated manner.

12. The method of claim 9 further comprising:
carrying out an adjustment of a diopter setting on an eyepiece of the optical observation unit using the evaluated recordings.

13. The method of claim 9 further comprising:
calibrating the camera of the optical observation unit using the evaluated recordings.

14. The method of claim 9 further comprising:
performing an intrinsic calibration of the camera of the optical observation unit using the evaluated recordings.

15. The method of claim 9 further comprising:
performing a hand/eye, calibration of the camera of the optical observation unit using the evaluated recordings.

16. The method of claim 9 further comprising:
performing an extrinsic calibration of internal cameras for at leas one of topography applications and augmentation applications using the evaluated recordings.

17. The method of claim 9 further comprising:
calibrating kinematics of the stand using the evaluated recordings.

18. The method of claim 9 , wherein the optical observation unit has a plurality of cameras and the plurality of cameras is used for making the recordings of the calibration object.

Assignees

• Zeiss Carl Meditec Ag

Inventors

• Raab Andreas
• Essig Jonathan
• Scherer Dominik
• Voigt Christian
• Saur Stefan

Classifications

• G02B21/0012 Primary

  Surgical microscopes (counterbalanced structures for surgical microscopes G02B7/001) · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• G05B2219/39045

  Camera on end effector detects reference pattern · CPC title

• G02B7/001

  Counterbalanced structures, e.g. surgical microscopes · CPC title