U.S. patent number RE42,998 [Application Number 12/691,645] was granted by the patent office on 2011-12-06 for multidimensional eye tracking and position measurement system for diagnosis and treatment of the eye.
This patent grant is currently assigned to Sensomotoric Instruments Gesellschaft fur Innovative Sensorik mbH. Invention is credited to Horia Grecu, Winfried Teiwes.
United States Patent |
RE42,998 |
Teiwes , et al. |
December 6, 2011 |
**Please see images for:
( Certificate of Correction ) ** |
Multidimensional eye tracking and position measurement system for
diagnosis and treatment of the eye
Abstract
The present invention relates to improved ophthalmic diagnostic
measurement or treatment methods or devices, that make use of a
combination of a high speed eye tracking device, measuring fast
translation or saccadic motion of the eye, and an eye position
measurement device, determining multiple dimensions of eye position
or other components of eye, relative to an ophthalmic diagnostic or
treatment instrument.
Inventors: |
Teiwes; Winfried (Teltow,
DE), Grecu; Horia (Teltow, DE) |
Assignee: |
Sensomotoric Instruments
Gesellschaft fur Innovative Sensorik mbH (DE)
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Family
ID: |
27402022 |
Appl.
No.: |
12/691,645 |
Filed: |
January 21, 2010 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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PCT/EP02/01413 |
Feb 11, 2002 |
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60350684 |
Nov 13, 2001 |
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60277309 |
Mar 20, 2001 |
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60267931 |
Feb 9, 2001 |
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Reissue of: |
10630001 |
Jul 29, 2003 |
7480396 |
Jan 20, 2009 |
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Current U.S.
Class: |
382/117; 351/209;
351/240; 351/206; 351/208; 382/103 |
Current CPC
Class: |
A61B
3/113 (20130101); A61F 9/008 (20130101); A61F
9/013 (20130101); A61F 9/00804 (20130101); A61F
2009/00846 (20130101); A61F 2009/00851 (20130101) |
Current International
Class: |
G06K
9/00 (20060101) |
Field of
Search: |
;382/103
;351/206,208,209,240 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Strege; John
Attorney, Agent or Firm: Stevens Law Group Stevens; David
R.
Parent Case Text
.[.The present application is a regular patent application of, and
claims the benefit of priority from, the following U.S. Provisional
patent applications.]. .[.(1) U.S. Provisional Patent Application
Ser. No. 60/267,931 filed Feb. 9, 2001.]. .[.Method and apparatus
for tracking translations and rotations of the eye in 6 dimensions
in laser refractive surgery; Huppertz et al.,.]. .[.(2) U.S.
Provisional Patent Application Ser. No. 60/277,309 filed Mar. 20,
2001.]. .[.Method and Apparatus for real time, dynamic measurement
of corneal distance and pachymetry using eye tracking and optical
coherence tomography; Ralf Weise, Winfried Teiwes, Eberhard
Schmidt.]. .[.(3) U.S. Provisional Patent Application Ser. No.
60/350,684 filed Nov. 13, 2001.]. .[.Method and apparatus for
measuring eye movements and combining it with different eye
tracking technologies in order to maintain a fast, robust,
accurate, and absolute eye position during treatment or diagnosis
of the eye; Teiwes et al.,.].
.[.It also claims the benefit of priority from the following
International patent application.]. .[.(4) International Patent
Application #PCT/EP02/01413 filed Feb. 11, 2002.].
.[.Multidimensional Eye Tracking and Position Measurement System
for Diagnosis and Treatment of the Eye; Teiwes et al.,.]. .[.the
full disclosure of which is incorporated herein by
reference..].
.Iadd.The present application is a continuation of patent
application International Patent Application PCT/EP02/01413 filed
Feb. 11, 2002 Multidimensional Eye Tracking and Position
Measurement System for Diagnosis and Treatment of the Eye; Teiwes
et al. which directly claims the benefit of priority of each of the
following U.S. Provisional patent applications (1) U.S. Provisional
Patent Application Ser. No. 60/267,931 filed Feb. 9, 2001 Method
and apparatus for tracking translations and rotations of the eye in
6 dimensions in laser refractive surgery; Huppertz et al., (2) U.S.
Provisional Patent Application Ser. No. 60/277,309 filed Mar. 20,
2001 Method and Apparatus for real time, dynamic measurement of
corneal distance and pachymetry using eye tracking and optical
coherence tomography; Ralf Weise, Winfried Teiwes, Eberhard Schmidt
(3) U.S. Provisional Patent Application Ser. No. 60/350,684 filed
Nov. 13, 2001 Method and apparatus for measuring eye movements and
combining it with different eye tracking technologies in order to
maintain a fast, robust, accurate, and absolute eye position during
treatment or diagnosis of the eye; Teiwes et al..Iaddend.
Claims
We claim:
1. A System for determining the orientation of the eye consisting
of the following sub-systems: an x, y high-speed eye tracking
system, for measuring the very fast translation or saccadic motion
of the eye, relative to an ophthalmic surgical, diagnostic or
treatment device or instrument; a second position measurement
system for measuring slower eye movements, such as multiple
dimensions of eye position and / or position of eye parts, relative
to an ophthalmic surgical, diagnostic or treatment device or
instrument; and a system for combining the measurements of the two
previous systems for obtaining a multiple dimensional model of the
eye position that is more accurate than the model obtainable from
either system individually; wherein the x, y eye tracking system is
either a multiple imaging device solution in which one imaging
device is coaxial to the eye and either one or two off-axis imaging
devices using selective line readout, or a single high speed
imaging device using selective line readout, said system comprising
an imaging device sensor configured to individually address and
read a set of selected lines; a processing device for processing
data which has been transferred from said imaging device sensor to
said processing device; and a laser treatment device the position
of which is controlled by a laser position control, wherein, while
the rest of the image is being transferred, the set of selected
lines which has already been transferred is processed to obtain a
processing result which is used to position the laser position
control of said laser treatment device, and wherein after the image
has been fully transferred to a processing device, the full image
is processed in order to establish a future set of selected lines
based on a tracked landmark.
2. The system according to claim 1, wherein the second eye position
measurement system is a single coaxial imaging device or multiple
imaging devices for measuring the eye, or a non-image based depth
measurement system.
3. The system according to claim 1, where the system for combining
the measurements obtains the multiple dimensional model of the eye
position in order to calibrate one or both of the eye tracking
devices, such as set the region of interest, spot location, or
scanning limits for the other eye location device; or to provide 3
or more dimensions of eye position.
4. The system according to claim 1, which includes a structured
illumination and according filtering means to improve visibility of
a unique combination of trackable features.
5. The system of claim 1, said system comprising. a means for
making a reference measurement of three or more points on the eye,
in three dimensions; a means for measuring these same reference
points at a subsequent time in three dimensions; and a means for
determining the position of the eye from the change in position at
these multiple points.
6. The system of claim 1, said system comprising: a means for
tracking the translational eye position; a means for tracking the
translational head position; and a means for determining the
rotation of the eye from the variation of difference between head
position and eye position.
7. A use of the system according to claim 1, for the purpose of
laser refractive surgery in order to intra-operatively update the
pre-programmed shot pattern on the basis of the determined
orientation of the eye to correct for eye position and its effect
on correction efficacy.
8. The system of claim 1, wherein the lines used for selective line
readout are selected by picking up the lines with the highest
probability to be located on the tracked landmark.
9. A method for determining the orientation of the eye consisting
of the following steps: tracking eye movement at a tracking rate
that is sufficiently fast to follow the saccadic motion of the eye;
measuring other slower changing positions for the eye or parts of
the eye at a slow rate, relative to an ophthalmic surgical,
diagnostic or treatment device or instrument; combining the
measurements of the two previous systems to obtain a multiple
dimensional model of the eye position that is more accurate than
the model obtainable from either system individually; wherein the
step of eye tracking is performed by either multiple imaging
devices and the use of selective line readout or by a single
imaging device using selective line readout; individually
addressing and reading out a set of selected lines of an imaging
device sensor and transferring them to a processing device for
processing; while the rest of the image is being transferred,
processing the set of selected lines which has already being
transferred to obtain a processing result which is used to position
the laser position control of said laser treatment device; and
after the full image has been transferred to a processing device,
processing the full image in order to establish the future set of
selected lines based on a tracked landmark.
10. The method according to claim 9, where the position measurement
of other components of eye movement comprises either detecting
foreign objects or compensating for pupil offset or measuring
torsion or measuring eye rotation or measuring depth or a
combination thereof.
11. The method according to claim 9, which includes structured
illuminating and filtering method to improve visibility of a unique
combination of trackable features.
12. The method of claim 9, said method comprising: making a
reference measurement of three or more points on the eye, in three
dimensions; measuring the same points at a subsequent time in three
dimensions; determining the orientation from the eye from the
change in position at these multiple points.
13. The method of claim 9, said method comprising: measuring the
translational eye position; measuring the translational head
position; and determining the rotation of the eye from the
variation of difference between head position and eye position.
14. A use of the method according to claim 9, for the purpose of
laser refractive surgery in order to intra-operatively update the
pre-programmed shot pattern on the basis of the determined
orientation of the eye to correct for eye position and its effect
on correction efficacy.
15. The method of claim 9, wherein the lines used for selective
line readout are selected by picking up the lines with the highest
probability to be located on the tracked landmark.
Description
FIELD OF THE INVENTION
The present invention relates to improved ophthalmic diagnostic
measurement or treatment methods or devices, that make use of a
combination of a high speed eye tracking device, measuring fast
translation or saccadic motion of the eye, and an eye position
measurement device, determining multiple dimensions of eye position
or other components of eye, relative to an ophthalmic diagnostic or
treatment instrument.
In particular, the invention relates to systems for diagnosis
and/or treatment of the eye, and more particularly where the eye
can move during the diagnostic and/or treatment procedure.
BACKGROUND OF THE INVENTION
The present invention is generally related to measurement of eye
movements, and in particular embodiments provides methods, systems,
and devices for measuring the position of the eye relative to
diagnostic devices and/or treatment devices such as laser systems
for refractive surgery of the cornea or other parts of the eye.
Ophthalmic diagnostic devices, such as Topography, Pachymetry,
Optical Coherence Topography (OCT) and Wavefront sensing systems
measure the shape, thickness and optical parameters of different
surfaces of the eye. With the advances in methods, systems and
devices in the ophthalmic diagnosis an accurate measurement of the
exact location of each diagnostic measurement on the eye is highly
desired in order to combine, compare or map succeeding measurements
with the same or different devices over time together. Some
techniques, such as OCT provide only one measurement (i.e. distance
and thickness of the cornea) at a specific location on the eye at a
time. In order to allow an assessment over a specific section
(line) or are area, several measurements are taken consecutively at
different locations on the eye over a certain period of time by
scanning the diagnostic measurement device over the eye.
Ophthalmic treatment devices, here in more specific laser systems,
perform treatments on different surfaces of the eye (i.e. cornea,
lens, iris or retina). In refractive surgery, laser systems are
used to achieve a desired change in corneal shape, with the laser
removing thin layers of corneal tissue at specific locations on the
cornea using a technique generally described as ablative
photodecomposition. Laser eye surgeries are useful in procedures
such as photorefrative keratectomy, phototherapeutic keratectomy,
laser in situ keratomileusis (LASIK), and the like. Newer
Femto-second laser systems perform specific procedures on the
cornea to create flap on the cornea or perform direct treatment
with the corneal material. Laser treatment procedures require
several specific ablations at a defined position on the eye over
the treatment time to create the intended result. The laser may or
may not be directed towards different locations onto the eye and
the laser beam may be modified in size, form (i.e. slit, circular)
and energy profile throughout the ablation procedure.
To position a diagnostic measurement or treatment procedure onto
the eye, the location of the eye needs to be known. The eye
position may therefore be adjusted according to the instrumentation
to align the eye in a defined position relative to the optical axis
of the diagnostic or treatment system. During the procedure, which
may take seconds or minutes, the patients eye or head can move the
away from this initial aligned position. Therefore, the ability to
automatically track or follow the eye position throughout the
diagnostic or treatment procedure is recognized as a highly
desirable, if not a necessary feature within these systems.
Movements of the eye include voluntary and involuntary--primarily
rotational--movement of the eye in the head. Even if the patient is
cooperative and can sharply visualize and fixate on a specific
fixation target, certain eye movement will still occur, such as eye
rotation in yaw (horizontal), pitch (vertical) and roll (torsion).
Head motion can also occur during the treatment, resulting
primarily into a horizontal and vertical translational movement
relative to--and rotational movement around--the optical axis of
the diagnostic or treatment system. In specific treatment
procedures, such as treatment of irregular astigmatism or cutting
the flap with a femtosecond laser system the absolute translational
and rotational position of the eye in all six dimensions is
required relative to the treatment system for accurate and secure
treatment.
Therefore, tracking the eye has been proposed to avoid
uncomfortable structures, which attempts to achieve total
immobilization of the eye and locate the eye at a defined position
relative to the diagnostic or treatment device. A variety of
structures and techniques have been proposed for tracking the eye
during the diagnosis and/or treatment, and to position the
diagnostic measurement or treatment position to a certain position
on the eye. For this purpose a sensor device fixed relative to the
diagnostic or treatment system observes the eye or its specific
features. Two different general approaches, Closed-loop and
Open-loop tracking Eye Tracking Methods have been introduced.
Closed-Loop Eye Tracking Methods provide a horizontal and vertical
stabilization of an optical projection of the eye towards the
diagnostic or treatment system. Movements of the eye are sensed by
means of detecting one or multiple specific feature of the eye
(i.e. mostly a specific section of the pupil iris boundary is used)
with a sensor device via a position controllable x-y mirror device.
The sensor provides an position error signal if the tracked feature
of the eye is moved, which is then used by a controller to create a
feedback positioning signal to control an x-y mirror position to
project the tracked feature back onto the same location on the
sensor device. This technique is also called closed loop tracking
and performs a stabilization of the target relative to the sensor.
If the sensor device is mounted fixed to the diagnostic and
treatment device, the projected image of the eye is stabilized
relative to the diagnostic or treatment device. The sensor with its
applied method senses a deviation of the projected eye from its
indented stabilized position and controls the mirror to project the
eye back into the intended stabilized position. A measurement of
the actual x and y position may be obtained indirectly from the
control output positioning the x-y mirror device.
One specific implementation of these Closed-loop Eye Tracking
Methods is described in the patent U.S. Pat. No. 5,632,742 (Eye
Movement Sensing Method and System, Frey et al.), hereafter called
LADAR tracker, which applies through an motorized x/y mirror device
sequentially 4 light spots onto 4 different locations of the
pupil-iris boundary, and measures the returned light from each
location. Eye motion relative to the light spots result into a
change of brightness returned by each spot caused by different
light energy reflected by iris and pupil. This analysis of the
returned light intensity by each of the four spots provides an
error position signal used to control the motorized x-y mirror
position to reposition the spots centered on the pupil-iris
boundary. As a result the x-y mirrors are always in a fixed
orientation relative to the pupil-iris boundary, which the laser
treatment device can now use to project its ablation laser spot
stabilized onto the eye. A relative positioning of the treatment
location onto different locations onto the eye can be accomplished
using a second set of controllable mirrors. Limiting the analysis
of the eye to the intensity of light returned from 4 small discrete
areas of the eye, allows fast processing and positioning of the
mirrors, to stabilize the projection of the eye for treatment even
during fast eye movements.
To initiate the tracking with this technique the pupil size needs
to be known to adjust the relative position of the spots onto the
pupil-iris boundary, which requires manual or semi-automatic
adjustment procedures. Furthermore, the pupil size needs to be
constant throughout the procedure, since the light spots projected
onto the pupil-iris boundary are fixed relative to each other.
However, pupil size changes generally occur and therefore need to
be omitted as much as possible by dilating the pupil
pharmaceutically before the treatment. This requires another
treatment step in the overall procedure and creates uncomfortable
temporary side effects for the patient (less visual acuity during
the dilation period) and can influence the clinical outcome of the
diagnostic or treatment procedure. Firstly, widening the pupil--the
target to be tracked--is not symmetrical relative to any fixed
point on the cornea--the target to be treated--and therefore a
positioning error may occur. This may be compensated with a
specific calibration procedure. Secondly, dilation may change
physical characteristics of the eye, which then may affect the
treatment process (i.e. cutting the flap) itself.
Another technique of Closed-loop Eye Tracking Methods combines the
optical technique of Confocal Reflectometry with the electronic
technique of phase-sensitive detection, hereafter called CRP
Tracker, as described in the patent U.S. Pat. No. 5,943,115. It
utilizes a high-bandwidth feedback signal derived from the light of
a low-power "tracking beam" scattered off the surface of the
tracked object (i.e. retina or iris of the eye). The tracking beam
is directed onto the tracked surface of the eye by fast x-y
position controlled tracking mirrors. The feedback signal
continually adjusts the mirror orientations to lock the tracking
beam to a target on the tracked surface of the object and the
tracking mirror surfaces follow the motion of the tracked surface
of the object. The diagnostic or treatment device may therefore be
applied fixed to the eye through the tracking mirrors. Relative
positioning of a diagnostic or treatment location onto different
location onto the eye can then be accomplished using a second set
of controllable mirrors.
One benefit of the CRP tracker is, that it tracks only a single
small target area, which provides sufficient contrast changes, i.e.
a specific area of the iris or retina. This eliminates the need of
relative positioning of several areas and compensation of distances
during the procedure as need with the LADAR tracker. Although the
CRP tracker has been primarily applied for tracking of retinal
features for diagnosis and/or treatments of the retinal surface,
this technique may be applied to track a feature close to the
surface to be diagnosed or treated. As with the LADAR tracker, this
technique provides no automated method to identify which feature on
which surface shall be tracked. In addition, there is no objective
control available that a specific feature is lost or another
similar feature clos by is tracked, which would result into a
position error.
The above-described Closed-loop Eye Tracking Methods provide a fast
two dimensional tracking and stabilization of the projected eye to
the diagnostic or treatment device. However, the tracking of the
eye is performed on only specific features undergoing both
translational and rotational movement of the eye. These methods
cannot discriminate between translational and rotational movement
of the eye, which is becoming recently of more interest.
Furthermore, the distance of the eye relative to the diagnostic
and/or treatment device is not measured and torsional rotations of
the eye are either not detected (LADAR tracker) or may create an
error in horizontal and vertical tracking (CRP tracker).
Furthermore, the introduction of other objects into the field of
view such as surgical instruments occluding the tracked featured
may create a false measurement or loss of tracking.
Open-Loop Eye Tracking Methods sense the eye directly or via a
fixed mirror system, and process the sensor information to identify
a specific feature and its location in the sensor information.
The most common approach of Open-Loop Eye Tracking Methods,
hereafter called VIDEO tracker, uses imaging devices, i.e. a CCD
camera, which is mounted in such a way that it observes the eye
within the optical axis of the diagnostic or treatment device. The
eye is illuminated with infrared light from light sources which are
mounted non-coaxial from the optical-axis. Using infrared filters
the imaging device integrates an image of the eye from the infrared
light, which provides a higher image contrast between the dark
pupil and surrounding iris and sclera than with other visible
light. The obtained images are transferred to an image processing
system where each image is digitized in picture elements (pixels)
and processed to determine the center of the pupil. In these
systems the pupil is detected as a circular formed dark area within
an otherwise brighter image of the eye from the iris and sclera.
Detection of the pupil area is performed using a brightness
threshold to detect all pixels, which are below this threshold.
Thereafter, all pixels may be analyzed for horizontal and vertical
connectivity to other pixels, which are below this threshold,
resulting in an identification of several objects containing
connected pixel elements, which are below this threshold level. All
objects are thereafter analyzed according to several geometric
parameters to identify the pupil. If an object in the image fulfils
all these geometric requirements for a pupil, the center of gravity
(COG) or other geometric calculations are preformed to obtain a
center position from this pupil object.
The obtained horizontal and vertical pupil position relative to the
optical axis is provided to the diagnostic and/or treatment system
as horizontal and vertical position of the eye during the
procedure. This information is then used in different ways,
depending on the requirements from the diagnostic and/or treatment
procedure, ranging from only registering where a diagnostic
measurement or treatment was performed on the eye, performing a
diagnostic measurement or treatment only within a certain position
range of the eye, or offsetting the diagnostic measurement and/or
treatment position with the eye position using a x/y mirror system.
The latter case is often used for example in scanning laser system,
where the eye position is used to offset to the indented scanning
position of the treatment.
An improvement towards the above-described VIDEO tracker has been
proposed in Patent U.S. Pat. No. 6,322,216, where 2 off axis
imaging devices are used to overcome challenges integrating the
imaging devices within the optical path. The images of each imaging
device may be used to determine the overall horizontal and vertical
position of the eye from the perspective of each camera. However,
due to the off-axis viewing of the eye, a change of eye distance
relative to the laser system--even along the optical z axis with no
change of horizontal and vertical position--results in a different
horizontal and vertical position measurement obtained by each off
axis imaging device. To overcome this limitation the position
obtained from both imaging devices must be combined in order to
determine also the distance of the eye relative to the laser
device, allowing a means of correcting the parallax error and
providing a correct horizontal and vertical position of the
relative to the treatment device. Therefore, if depth changes of
the eye relative to the treatment device can occur, always the
image analysis of both imaging devices is needed for an accurate
measurement of horizontal and vertical position.
VIDEO trackers have been proven effective for several applications
in diagnostic and/or treatment applications. In the field of
refractive surgery, VIDEO trackers currently have several
advantages and limitations compared with the other Eye Tracking
Methods. An advantage of the VIDEO tracker over the LADAR tracker
is, that VIDEO tracker can track the pupil at different sizes of
the pupil. This advantage however has a certain limitation, since
pupil size changes do not occur symmetrically relative to the
cornea, which may creates a positioning error on the cornea at
different pupil sizes. The setup of video trackers is simpler and
can be automatic, however the speed of the VIDEO tracker is limited
to the image rate of the sensors and the processing of the image.
More specificly, the time needed to integrate an image on the
sensor, to transfer the sensor information to the processing unit,
and to process the image to obtain the pupil position information,
results in a latency of position information within which the eye
may continue to move, resulting in a dynamic positioning error of a
succeeding diagnosis or treatment. This latency has been minimized
using faster image sensors with faster image rates to have
approximately the same overall latency period as with the LADAR
tracker.
Although the known Eye Tracking devices have proven effective and
safe for the current state of art in diagnostic or treatment of the
eye, recent improvements and developments in ophthalmic diagnostic
and/or treatment devices as well as the procedures involved using
this technology have an increased demand on resolution, accuracy,
dimensions, robustness and security for the registration of eye
position and to control for it change during the procedure. This
demand cannot be fulfilled by the current Eye Tracking Methods,
primarily limited by its overall simplified measurement of a
"projected" pupil based position onto a sensor device and not
taking into account the different translational or rotational state
of the eye in space relative to the diagnostic and/or treatment
device.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is an overview of typical system integrations of the
invented Eye Monitor with diagnostic and/or treatment devices.
FIG. 2 provides overall block diagram of the Eye Monitor, including
the High Speed Tracking Subsystem and the Multidimensional Eye
Position Measurement Subsystem
FIG. 3 is a block diagram of the multi-dimensional Eye Position
Measurement System.
FIG. 4 shows the integration of the simplest version of the Eye
Position Measurement System within the diagnostic and/or treatment
device.
FIG. 5 is a block diagram showing stabilized image based
tracking.
FIG. 6 shows the preferred embodiment of filtering for
illumination.
FIG. 7 shows possible features or landmarks of the eye that may be
measured or tracked.
FIG. 8 illustrates the integration of the high speed pupil based
tracking system with the eye position measurement system.
FIG. 9 shows the image templates relative to the pupil center for
limbus tracking.
FIG. 10 illustrates torsion measurement with automatically detected
reference points.
FIG. 11 is a block diagram showing the combination of eye tracking
and head tracking for rotation measurements.
FIG. 12 is a block diagram showing the combination of eye tracking
and head tracking for rotation measurements, when the same physical
system is used for imaging the head and eye.
FIG. 13 is a block diagram of foreign object detection with 1
camera based on motion and appearance.
FIG. 14 shows in greater detail the security zone image acquisition
component from FIG. 13.
FIG. 15 shows the multiple camera system, with one direct viewing
on-axis camera.
FIG. 16 is the top view of the same system shown in FIG. 16.
FIG. 17 shows a technique for compensating limited focal depth and
geometric distortion of the off-axis imaging device by tilting
imaging sensor chip to the optical axis.
FIG. 18 is a block diagram of the information flow required for
three dimensional stereo reconstruction from multiple cameras.
FIG. 19 is a block diagram of the system for tracking a guided
laser reflection in order to measure treatment or diagnosis
position.
FIG. 20 illustrates the method of finding eye rotation from depth
measurement at multiple points.
FIG. 21 shows how multiple reflected light sources can be used as
reference points in the technique described in FIG. 20.
FIGS. 22a and 22b show how foreign objects an be detected using
range segmentation.
FIG. 23 is a block diagram of the integration of a non-image based
measurement system with a video eye tracker.
FIG. 24 shows a single high speed camera can be used for both high
speed eye tracking and low speed multidimensional eye position
measurement.
FIG. 25 shows the concept for low latency motion detection using
selective line readout for a single high-speed camera
FIG. 26 is a timing diagram of the latency reductions using motion
detection with selected line readout, for a single high-speed
camera.
FIG. 27 shows the concept for low latency motion detection using
selective line readout and multiple cameras.
FIG. 28 is a timing diagram of the latency reductions using motion
detection with selected line readout, for a multiple cameras.
FIG. 29 is a block diagram detailing the image processing and
control for the low latency motion detection for multiple
cameras.
FIG. 30 shows how the multiple high speed cameras used for the high
speed tracking, could also provide the video stream and required x,
y data for the low speed multi-dimensional eye position measurement
system.
FIG. 31 is a block diagram of the integration of multiple cameras
with a non-image based tracker such as the LADAR tracker. One
camera views the stabilized image of the eye, while another camera
system directly views the eye.
FIG. 32 illustrates an improved technique for calibrating a laser
using a guidance laser.
SUMMARY OF THE INVENTION
The present invention proposes improved diagnostic and/or treatment
of the eye such as with laser surgery and/or eye tracking systems,
methods and devices.
To improve the resolution of diagnostic and/or treatment of the eye
a higher positioning accuracy is proposed by measuring more
dimensions of eye position than just tracking the eye horizontal
and vertical projection of the eye and its distance position with
previously described systems and methods. The proposed advanced eye
tracking system, hereafter called Eye Monitor, provides a
multidimensional eye position measurement independent of pupil size
changes and takes into account that iris landmarks are not always
be visible in the diagnostic and/or treatment procedure.
Translational movement of the eye are separately determined to
provide a true rotation measurement of the eye relative to the
diagnostic and/or treatment device in terms if pitch (vertical
rotation), and yaw (horizontal rotation) and roll (torsional
rotation) position of the eye. Furthermore, a measurement of the
distance (depth) of the eye relative to the diagnostic and/or
treatment device and measurement of thickness of specific materials
such as the cornea can be provided. Foreign objects, such as
surgical instruments need to be securely identified to prevent
these instruments obstructing the surgical or measuring beam and
therefore reducing the effectiveness of the correction or
measurement.
In addition to the improved static accuracy, the accuracy during
dynamic movement of the eye is improved through a combination of
the above advanced Eye Position Measurement System with a High
Speed Tracking system. The system proposed supports stabilized
(closed-loop) and non-stabilized (open-loop) embodiments. In
addition, automatic adjustment and calibration procedures for
user-friendly and service-friendly maintenance of the above
specifications are proposed.
To fulfill these requirements this invention proposes an advanced
eye tracking system and multidimensional eye position measurement
system and method to be integrated into the diagnostic and/or
treatment systems for the eye.
The invention proposes an advanced Eye Monitor 10 providing fast
eye tracking information for stabilization 11 and enhanced eye
positioning information 12 which can be integrated in different
ways with diagnostic and/or treatment devices 15 and 16 as shown in
FIG. 1. Diagnostic and/or treatment devices consist of a technique
14 to perform either: a diagnostic measurement of the eye like
Topography, Wavefront, Pachymetry, Optical Coherence Tomography; or
a treatment technique to treat the eye at the cornea or other
surfaces of the eye such as with refractive laser systems, or
combination of diagnostic and treatment technique such as a
refractive laser together with a diagnostic method such as
Pachymetry or Topography or others, to provide a diagnostic
measurement during the treatment.
Some diagnostic and/or treatment devices--as shown in FIG.
1a--perform a measurement or treatment at a fixed location or area
relative to this optical axis. Here the information from the Eye
Monitor can be used to limit the measurement or treatment range to
a certain range of eye position relative to the device, either
electrically or optically with 13 or to register the location where
a certain diagnostic measurement or treatment was performed on the
eye.
Other devices--as shown in FIGS. 1b and 1c--provide also means to
position the diagnostic measurement or treatment at different
locations onto the eye using a x/y position controllable device 17,
i.e. a x-y scanning mirror. In these devices the information 11 and
12 from the Eye Monitor can be used--in addition to the functions
described for systems in FIG. 1a--to offset the intended diagnostic
or treatment location relative to the eye with the eye position in
the position control module 19. With the information from the Eye
Monitor the position may be corrected not only for horizontal and
vertical movement, but also taking into account the enhanced
degrees of eye movements such as torsional position changes or
rotation and translation of the eye, changes in pupil center
position relative to the eye due to pupil dilation, parallax errors
due to tracking of features at different depth and position of the
eye relative to other instruments, which may hinder treatment or
diagnosis, such as those detected using foreign object detection
techniques.
Some diagnostic and or treatment devices, for example refractive
laser treatment devices, require a high dynamic accuracy during
fast eye movements which occur primarily during horizontal (yaw)
and vertical (pitch) rotations of the eye during saccades. For this
purpose, the faster available tracking information 11 can be used
to control an additional position controllable mirror 18--as shown
in FIG. 1c--to stabilize the projection of the eye as seen by the
diagnostic/treatment device 16 through this mirror 18. This
eliminates complex synchronization aspects of the Eye Monitor 10
with the diagnostic and/or treatment device 16, while still
providing high dynamic position accuracy for relevant fast eye
movements. Slower positional changes such as center shifts due to
pupil size changes or other rotational movements of the eye
provided from the Eye Monitor as enhanced position information 12,
can still be corrected with the position control module 19 and
position controllable mirror system 17 of the diagnostic/treatment
device.
The Eye Monitor 10 proposed by this invention consists of several
subsystems as shown in FIG. 2. A first subsystem, the High Speed
Tracking Sub-System 21, tracks fast translational motion or
saccadic motion of the eye by tracking a specific feature of the
eye. The second subsystem, 20, performs a multidimensional eye
position measurement, which determines accurately the location and
orientation of the eye as well as specific features of the eye
relative to the diagnostic and/or treatment device using different
image processing methods normally at a lower speed. A further
subsystem, 22 combines the measurements of the two systems for
obtaining a multiple dimensional model of the eye position that is
more accurate than the model obtainable from either system
individually.
The Multidimensional Eye Position Measurement Subsystem makes use
of one imaging device aligned coaxially with the optical axis of
the diagnostic and/or treatment system. The images obtained are
processed with specific image processing methods to obtain multiple
degrees of freedom of eye position relative the diagnostic and/or
treatment device with enhanced accuracy. An enhanced, optionally
structured illumination and optical filtering facilitates the
imaging of a high contrast image of the relevant features of the
eye. These images are then processed by these specific image
processing methods to obtain horizontal and vertical measurement of
eye position based on both pupil center and limbus boundary, or
other eye fixed features, to determine and correct for pupil center
shift due to pupil size changes. Roll rotations of the eye relative
to the diagnostic and treatment device are obtained by methods
using iris features, blood vessels on the cornea and corneal
markings applied to the eye including colored markings and surgical
markings such as the borders of the flap cut. Differentiation of
horizontal (x) and vertical (y) translational movements from pitch
and yaw rotations of the eye can be determined by methods of
determining head fixed features in addition to eye fixed features
within the image. Furthermore a method is proposed to determine
foreign objects introduced into the optical paths of diagnostic or
surgery treatment for secure handling of diagnostic and/or
treatment.
Optionally, one or multiple additional off-optical axis imagimaging
devices, acquiring an image of the eye from an oblique angle, may
be used by the slower Multidimensional Eye Position Measurement
Subsystem to utilize methods for depth measurement on various
locations of the eye by combining the results from different images
with triangulation techniques. While the coaxial imaging device
provides a measurement independent of depth changes the optional
combination with the image of one off-axis imaging device provides
a depth measurement. Depth based measurements of different
locations of the eye can further be used for eye rotation
estimation, and improved methods for depth based foreign object
detection.
With an additional integration of a guiding beam (i.e. a guiding
laser) within the optical path of the diagnostic and/or treatment
device, which is visible also to the above described eye position
measurement system, further methods are proposed to provide
calibration of the coordinate systems from the eye position
measurement system and diagnostic and/or treatment device as well
as a method to register the diagnostic and or treatment position
during normal operation with this Multidimensional Eye Position
Measurement Subsystem.
For the High Speed Tracking Sub-System this invention proposes the
use of different alternative techniques and methods.
The first approach is using a fast imaging device mounted coaxially
with the optical path of the treatment device and providing a high
contrast image of the pupil versus the iris using infrared
illumination. The obtained images are transferred to an image
processing system where each image is digitized and processed to
determine the center of the pupil. Depending on the illumination
used, the pupil is detected as a circular formed dark area within
an otherwise brighter image of the eye from the iris and sclera, or
alternatively a bright pupil against a darker iris. Hence,
detection of the pupil area can be performed at high speed using a
brightness threshold for detection of all pixels, which are below
or alternatively above this threshold, analyzing their horizontal
and vertical connectivity, and analyzing the resulting objects
according geometric parameters to identify the pupil and its center
either by computing the center of gravity (COG) or other geometric
calculations such as circular fittings.
A second approach for high speed tracking is proposed by this
invention using specific imaging devices which support selective
readout out of lines or areas at higher speed than the full image.
This allows higher frequency acquisition, faster transfer of
relevant image information and faster processing. The selected area
or lines can be positioned around the tracked object, i.e. the
pupil, in the field of view of the image based on previous position
information of the high speed tracking system or even from position
information of the lower speed tracking system. This results in
faster eye position determination at much lower latency than with
the full image without losing significant spatial resolution and
accuracy.
The above two imaging device based approaches for high speed
tracking can be integrated with the Multidimensional Eye Position
Measurement Subsystem described before, to obtain a more accurate
model of eye position than is possible with one system alone. While
the High Speed tracking system tracks for example fast eye movement
using a high image rate or selective line readout and simple high
contrast detection of the pupil center, the Multidimensional eye
tracking systems determines at a slower rate pupil center shifts
due to the slower pupil size changes and other dimensions of slower
eye movement. The slower rate of center shift for example can be
used by the high speed tracking system as a corrective offset for
more accurate tracking between two slower--more
complex--measurements.
One integration method for the high speed tracking system using an
imaging device and the Eye Position Measurement system consists of
one separate coaxial imaging device for each of the subsystems
(i.e. one high resolution slower speed sensor and one higher speed
imaging sensor) by dividing the optical path using a beam splitter
or separate filtering of different illumination wavelengths (i.e.
IR light for high speed tracking and visible light for
Multidimensional Eye Position Measurement). Alternatively, a single
high resolution imaging device can be used which supports also high
image rate or selective line/area readout and slower speed eye
position measurement. In this case every high speed image or the
selected lines/areas is processed using the high speed tracking
method. A sub-sampled full image from the same imaging device is
used for the Multidimensional Eye Position Measurement System. A
further integration is possible by using one or multiple off-axis
mounted imaging devices with high image rate or selective line/area
readout for the high speed processing system, and the coaxial high
resolution imaging device for the Multidimensional Eye Position
Measurement Subsystem.
As an alternative to imaging devices for high speed tracking of the
eye, the use and integration of other non-image based eye tracking
methods for high speed tracking with the Multidimensional Eye
Position Measurement Subsystem is proposed by this invention.
Specifically, the integration of the fast non-image based LADAR
tracking system combined with the imaging device based Eye Position
Measurement system is proposed to overcome certain limitations of
the LADAR tracker, such as the requirement for constant pupil size
and providing a method to determine and correct for pupil center
shifts due to pupil size changes. The LADAR tracker provides a fast
pupil based tracking of the eye using a stabilization device. The
Multidimensional Eye Position Measurement Subsystem may observe the
eye either through the stabilized mirror or directly along the
optical axis and provide a measurement of pupil size and an offset
measurement of the pupil center due to pupil size changes by
examining other landmarks on the eye with described methods (i.e.
limbus features). The pupil size is measured with the imaging
device based Eye Position Measurement system and is provided to the
LADAR tracker to adjust its spacing of the spots tracked on the
pupil/iris boundary. This allows the LADAR tracker to track fast
eye movements even with different pupil sizes. Pupil size changes
occur only at a lower speed, hence the pupil center shift obtained
with the slower imaging device based Eye Position Measurement
system is sufficient as a positioning offset to the laser
positioning control system to offset the intended ablation position
with the pupil center shift during the surgery. Similarly, other
enhanced position information such as depth, torsional rotations
may be used to correct the laser positioning of the treatment. The
stabilized image of LADAR tracker may be used by the
Multidimensional Eye Position Measurement Subsystem to image the
eye at higher spatial resolution (less field of view is required
since the measurement range is extended through the moving mirrors)
and reducing the processing effort for several of the described
methods. The combination of these systems allows accurate and very
fast tracking of the eye with the LADAR tracker independent of
pupil size and its change, and further dimensions and security
measures provided from the Multidimensional Eye Position
Measurement Subsystem.
A similar combination is proposed by this invention with the CRP
trackers, where the image based measuring device provides the
absolute orientation measurement relative to the CRP tracker and
optionally also selective position to be used by the CRP tracker to
track fast movements of the eye. The CRP tracking system provides a
fast stabilization of the eye relative to the selected target on
the eye.
Advanced diagnostic and/or treatment methods and procedures, such
as Femto-second laser systems for refractive surgeries require a
highly accurate distance measurement of the corneal surface
relative to the laser device and its thickness at the current
treatment location. For this purpose this invention includes--in
addition to the eye tracking system--an optional integration of an
Optical Coherence Tomography (OCT) system for enhanced depth and
thickness measurement. The OCT measurement beam can be embedded
coaxially with the optical axis of the diagnostic and/or treatment
system and hence positioned with its position device to the
intended location on the eye with the offset position of the eye
from the eye tracking system. The OCT technique provides a
measurement of the distance of the cornea and its thickness at this
location on the eye. The diagnostic and/or treatment device may now
record the depth and thickness measurement or control for example
the focus of a Femto-second laser system to perform an appropriate
ablation at the intended depth within the cornea using the distance
and thickness information at this location. Repeating this
procedure at different locations relative to the eye--stabilized by
the eye tracker--provides a diagnostic measurement map without eye
motion artifacts (i.e. to measure the thickness of the cornea
either before a flap cut, to decide appropriate thickness of the
cut or after the cut to determine residual thickness for secure
treatments) or enables a secure intra-corneal treatment (i.e. cut a
flap). For a stabilized embodiment the OCT beam may be embedded
also through the stabilization mirror hence providing a measurement
always at a fixed location on the eye.
DETAILED DESCRIPTION OF THE INVENTION
The general description of the Eye Monitor is described already in
the summary of the invention as well as the functional overview of
the subsystems of the Eye Monitor. In this section we will now
describe first the Eye Position Measurement Subsystem and its
overall integration into the Diagnostic and/or Treatment device,
followed by the description of High Speed Tracking Subsystems and
the joint integration with Eye Position Measurement Subsystem into
the into the Diagnostic and/or Treatment device.
1 Eye Position Measurement Subsystem
1.1 Overview of System Components
The Eye Position Measurement System is detailed in FIG. 3. It
consists of one imaging device 32 (e.g. CCD, CMOS imaging devices)
that observes the eye coaxially along the optical axis of the
diagnostic and/or treatment device 37a. It provides means to
determine various measurements like pupil and non-pupil based
horizontal and vertical eye position measurement, torsional eye
position (roll position around the visual axis of the eye),
separated measurement of pitch rotation (vertical rotation) and yaw
rotation (horizontal rotation) through additional registration of
head translation, and foreign object detection.
Optionally, one or more additional imaging devices 33 are imaging
the eye from an oblique position. The role of the additional module
33 is to allow enhanced measurements of eye position such as
distance of the eye to the diagnostic and/or treatment device
(depth) or determining the pitch and yaw rotation of the eye (tilt)
by use of stereo imaging and triangulation methods. The optical
path of system 33, referred symbolically as 37b, consist of one or
more distinct optical paths that are usually off-axis with respect
to optical axes 37a.
Another optional component 34, used in addition to either 32 or 32
& 33, provides an alternative non-image based measurement of a
specific dimension, such as distance to specific surface (depth) or
thickness between two distinct surfaces (thickness). Depth is
defined here as eye position along the optical axes 37c used for
integrating the 34 into the diagnostic and/or treatment device.
The image processing system 35 collects and analyses the
consecutive images from imaging devices 32, 33. The image
processing is performed by a number of algorithmic modules, each
implemented as either a hardware or combined software &
hardware solution. The modules can run in parallel or sequentially
depending on the characteristics of the image processing hardware
support. In a preferred embodiment the modules are implemented as a
collection of software routines running on a dedicated image
processing hardware platform and/or a PC system with a frame
grabbing device. The system 35 outputs the measured position
information to data fusion system 36 and can also send digital or
analogical commands to the imaging devices 32, 33 to control the
function of the imaging devices such as sampling rate, contrast,
control of readout area, or optical adjustments. The data fusion
system combines together the multidimensional measurements from
module 35, 34 and computes based on the x-y pupil position 39
(determined from the High Speed Tracking System 21) a pupil offset
correction information.
The coaxial mounting of the imaging device 32 with the optical axis
of the diagnostic and/or treatment device provides accurate
horizontal and vertical position measurement of the eye independent
of depth changes. Furthermore, accurate torsional measurement is
provided since the visual axis of the eye is normally aligned with
the axis 37a. (may be supported by a fixation target), and
therefore imaging of the eye is provided without geometrical
distortions. In oblique eye positions geometric corrections can be
applied using the known rotation and translation information of the
eye.
The integration of imaging device 32 with the diagnosis and or
treatment device can be made in either fixed (open loop) or eye
stabilized (closed loop) embodiments.
In one possible embodiment described in FIG. 4, the imaging device
32 is viewing the scene directly--or if mechanically not
possible--via a mirror or beam splitter 40. The scene is
illuminated by the device fixed illumination system 38. The images
obtained from imaging device 32 are then transferred to the image
processing system 35. The eye position data, including compensated
pupil position, torsion and rotation, are expressed in device-fixed
coordinates, and then fed into the positioning control system 19 of
the diagnostic and/or treatment device. This type of control
usually requires synchronization between the ablation laser system
and the eye tracker. If asynchronous communication is performed the
overall latency may increase.
In another possible embodiment is described in FIG. 5: The imaging
device 32 is viewing the scene via an x-y position controlled
mirror system 18. The x-y position controlled mirror system 18 is
controlled by the Stabilization information 11 forming a
closed-loop tracking with the High Speed Tracking System 21. The
closed-loop system insures that the image viewed by the imaging
device 32 is always centered on the pupil by feeding an error
position information to the x-y position controlled mirror system
18. In order to be effective, this information has to be provided
from the high speed tracking System at considerably higher sampling
rate than from system 20. An advantage of such a system is, that
the diagnostic and/or treatment device is decoupled from the
stabilization of fast horizontal and vertical eye movements, which
has the effect of lowering the overall latency of the system.
However, in order to correct for other types of eye position
changes (such as torsion, pitch & yaw rotations, depth, or
foreign object presence), the enhanced position information 12
provided by system 20 needs to be provided to diagnostic and/or
treatment device.
1.2 Enhanced Imaging and Illumination
Referring to FIG. 6, the imaging device 32, as well as all other
additional imaging devices, can be either a color or a monochrome
sensor chip 63 equipped with specific optical lenses 62, spectral
filters 60 and/or polarization filters 61. The sensor chip 63 is
sensitive to the specific spectrum of the light but not limited to
IR in order to obtain specific features of the eye clearer. As
example, if blood vessels on the sclera 73, or limbus border 71
shall be tracked, the invention uses green illumination and a
monochrome sensor chip with a green color filter, or blue
illumination and monochrome sensor chip with blue filter
respectively. Alternatively, if illumination with white light is
preferred, the blue or green color channel of a color sensor chip
is used.
When several discrete aligned spectral responses have to be
analyzed, e.g. different features from one imaging device, the
invention uses monochrome sensor chip equipped with a multi-modal
filter (e.g. IR & green) and structured illumination as a
combination of modal wavelengths (e.g. IR & green).
Alternatively, the normal color filtering of commercial 3 chip RGB
sensors is adapted to three other different selective wavelength
areas. For example: 1 channel/sensor chip for IR to obtain a good
contrast image of the pupil using IR light; 1 selective green or
blue channel/sensor chip to obtain an image of blood vessels and/or
the limbus using green/blue light; 1 channel/chip with a broad
visible spectrum to obtain good image of the iris features using
broad spectral light.
In a preferred embodiment, sensor chip 63 is a monochrome IR
sensitive sensor and filter 60 is a bimodal passband filter (IR
& green).
In addition to the light sources, which illuminate the eye from
oblique angles, IR illumination sources can be optionally mounted
normal to the eye to illuminate the eye directly from above and
create a bright pupil effect (`red eye effect`). By alternated
operation of this coaxial illumination between subsequent images
and grey level difference estimation between subsequent images
within the pupil area a more robust detection of the pupil is
provided. In addition to standard imaging devices new CMOS sensors
may be used to allow faster and more frequent selective readout of
specific areas, lines or just pixels at specific areas.
The illumination 38 consists of one or several light sources at
specific angles with selected wavelengths and polarization in order
to provide maximum contrast of the specific features used.
Due to the optical characteristics of the cornea, the illumination
creates specular and diffuse reflection components. Using polarized
light and accordingly polarizing filters in front to the imaging
devices, specular reflection (maintaining primarily the
polarization) can be differentiated from diffuse reflection. As an
example the imaging device 32 is equipped with a horizontal
polarizing filter 61, while the illumination 38 is vertically
polarized using a polarizing filter or other polarizing elements.
This enhances the visibility of for example limbus and pupil due to
attenuation of specular components.
With structured illumination a monochrome imaging device can be
used to acquire a high contrast image with different landmarks. if
the structured illumination illuminates each landmark with its
optimum wavelength, i.e. an optimized structured illumination would
illuminate the sclera with blue/green light to enhance visibility
of blood vessels, near infrared illumination would be used for
illumination of the pupil(-border) and more or less visible light
would be used for illumination of the iris.
In a preferred embodiment, illumination 38 is a combination of IR
and Green light produced using LED and/or laser diodes.
This setup also ensures that each feature can be illuminated with
the appropriate intensity without increasing the total amount of
light that falls into/onto the eye.
1.3 Image Processing
Image processing of the image obtained from imaging device 32
enables measurement of horizontal, vertical and torsional positions
of the eye by determining the position of natural or artificial
landmarks on the eye as shown in FIG. 7, such as among others
pupil, iris structures, iris/limbus border, blood vessels, applied
markers/marks, reflections of the illumination, LASIK flap borders
of the cornea and also laser applied markings on the cornea.
1.3.1 Pupil Size Independent Tracking of the Eye
Pupil size independent tracking is obtained by periodically
correcting any offsets of pupil center introduced by pupil dilation
or other factors (optical distortions). The correction is realized
by means of parallel tracking of reference points, which are known
to be stable with respect to the cornea during surgery, such as for
example limbus border 71. Due to fact that pupil size changes are
rather slow (compared to horizontal and vertical eye movement), the
required update rate can be significantly lower than the x/y
tracking rate with the high speed tracking system.
An integration of such system providing both fast and pupil size
independent tracking is shown in FIG. 8. The image from imaging
device 32 is fed into the non-pupil tracking system 80 that
measures the non-pupil landmark position. The adder 81 computes the
difference between the corneal-fixed feature and pupil center. The
result, namely the offset compensation, is fed to the buffer 82.
The corrected result is obtained by summing the current pupil
position 83 with the offset compensation value stored in buffer 82.
The update rate of the buffer is usually determined by the
processing speed of the Eye Position Measurement system and
normally slower than the sampling rate of the High-Speed Pupil
Tracker 21.
The parts 80 and 81 are modules of the image processing system 35.
The parts 82 and 83 are belonging to system 22.
The algorithm for non-pupil tracking consists of two phases:
initialization and tracking.
In the initialization phase, an eye image snap shot is taken as the
"reference frame", defining reference point (the pupil center of
this image) and time to which further pupil center shifts will be
reported thereafter. The reference image is then analyzed in order
to determine meaningful and detectable features present in the
image. Meaningful refers to the property of the feature to be
immobile with respect to the cornea. This is done by a priori
knowledge of the eye model incorporated in the image processing
algorithm (for example it is known that limbus is a meaningful
feature and therefore model of limbus, including expected limbus
diameter is incorporated for easy recognition). Detectable refers
to the property of the feature to be visible and feasible to be
tracked by image processing means. The detection is done by search
of regions with high gradient in both horizontal and vertical
directions, or combinations of areas or templates with high
gradient in either the horizontal or vertical directions. Usually
this corresponds to limbus border together with blood vessels. A
number of such regions are stored as image templates T1, T2, T3, T4
together with their position relative to pupil center. An example
for the location of such templates is shown in FIG. 9. Knowledge of
the iris diameter and maximum expected pupil center shift can be
used to set a Region of Interest from the pupil center, as
determined either by a separate pupil-based tracking algorithm on
the same image or by the High Speed Pupil based tracking Sub-System
21.
In the tracking phase, each previously stored region is localized
in the incoming new image by means of two dimensional
cross-correlation techniques. The similarity measure for
correlation used in the preferred embodiment is normalized cross
correlation (NCC) for its properties of invariance to moderate
changes in global illumination and robustness to noise. Other
techniques, like sum of squared difference or sum of absolute
differences, can be also used. Sub-pixel resolution is obtained
through interpolation of correlation values The position of each
template relative to current pupil center can be weighted using the
confidence level of the template match to calculate the pupil
center shift.
1.3.2 Torsional Eye Tracking
FIG. 10 shows the eye torsion measurement by means of registration
of at least two distinct landmarks on the eye as shown in FIG. 7.
The algorithm consists in two steps: initialization and
tracking
In the initialization step, a reference image 100a is acquired and
analyzed in order to determine the suitable landmarks for
registration 101, 102. The selection criteria of tracking
registration points is based on the local intensity of the gradient
along radial direction together with possible a priori knowledge
about their approximate position, color or shape (like in the case
of artificial markers 102).
A number of such reference points are stored as image templates
together with their position relative to pupil center.
In the tracking step, the template of each reference point 103a, is
searched in the incoming image by means of cross-correlation
techniques, depicted as dotted line in FIG. 10. Once the
correspondent position 103b is obtained for each reference point,
the torsion between the reference and current image is computed by
optimal least-squared approximation of rotation matrix of the
reference template and correspondent template.
In a preferred embodiment, the scleral blood vessels are used as
landmarks. The visibility of blood vessels is insured by the use of
enhanced structured illumination with IR-Green wavelength
combination. The location of blood vessels is based first on
knowledge about pupil position and iris dimensions. This limits the
search area to the outside parts of limbus border.
Further on, the selection of vessels is based on the local contrast
and directionality properties of the image.
1.3.3 Eye Rotation from Combination of Head Tracker and Eye
Tracker
The method and apparatus of measuring eye rotation is depicted in
FIG. 11. The head x/y position, computed by subsystem 111 is
subtracted from the eye x/y position delivered by subsystem 110
(i.e. using the limbus tracking module described before).
The head tracking functionality is realized by placing a small
marker 232 fixed to the head in a place visually accessible by a
imaging device. Candidate locations are: eye-lid clamps, eye
corners or the forehead of the patient. A specific image processing
module tracks the marker in the obtained image. Instead of markers
specific characteristics of clamps may be directly used for
tracking.
The amount of eye rotation is proportional with the variation of
difference between head position and eye position,
R.sub.x=x.sub.H-x.sub.E, R.sub.y=y.sub.H-y.sub.E.
In one possible embodiment shown in FIG. 12, the marker 112 is
placed on the eye-lid clamp, the head tracking system 111, and eye
tracking 110 are accomplished with same imaging device, 32, and
image processing system 35.
Alternatively, the two functional blocks can be implemented with
distinct imaging devices if, for example, the position of head
marker 112 does not allow to be imaged together with the eye.
1.3.4 Foreign Object Detection
Presence of foreign objects in the ablation area is flagged by
system described in FIG. 13. The system 131 is able to detach and
normalize a specific region from an eye--so called "Security Zone"
normally located outside and around the diagnostic or treatment
zone, and usually corresponding with the limbus boarder location in
the image. The system 131 is used first to store a reference image
of the security area 130b, in the storage device 132 and t. The
time of acquiring the reference image may be triggered by the
operator or automatically determined during the procedure. After
the "Reference Security Zone" a similar security zone may be
extracted from the following images, centered around the detected
eye position (Current Security Zone Image 130a). The images 130a
and 130b are then compared by system 133. If the difference exceeds
a maximal admitted value, the comparator 134 flags the presence of
foreign objects.
Referring to image 14, the system 131 consists of one imaging
sensor, for example imaging device 32, and the image processing
system, 35. The image processing system analyses first the eye
position in terms of translation and torsion with system 140. Then,
image is aligned/normalized by performing a digital translation and
rotation, 141. The aligned/normalized image is then cropped 142 in
order to produce the security zone image.
The image comparison 133 can simply consist in performing a digital
difference of the two images. Alternatively, if the analysis is
extended on multiple frames, more complex methods, like coherency
of optical flow, can be used.
1.4 Additional Off-axis Imaging Devices
Referring to FIG. 3, the preferred embodiment of the subsystem 33
together with subsystem 32 is shown in FIG. 15 and FIG. 16. Here,
two additional imaging devices L and R are viewing the eye from an
oblique position, having their optical path tilted against the
optical axis of the imaging device 32 which is coaxial with the
diagnostic and/or treatment device.
The purpose of using at least one off-axis mounted imaging device
in addition to the coaxially mounted imaging device is to provide
an enhanced depth measurement. If multiple off-axis imaging devices
are used, they have to be positioned in such a way that the eye
does not lie on the same plane. Furthermore, the optical path of at
least two imaging devices has to be distinct in order to allow use
of binocular or trinocular stereopsis methods. In the preferred
embodiment all optical paths are distinct.
Images from Imaging device L and R are transferred to the image
processing system 35. All three imaging devices may be synchronized
in order to allow image acquisition at the same time or at a
precise time delay between imaging devices 32, L, R.
As shown in FIG. 17, best results for the tilted imaging devices
(i.e. Imaging device R and L) are achieved, if the light sensing
sensor 170 of the imaging device (i.e. CCD- or CMOS sensor) are
tilted against the optical axis 171 of the used lens. This sensor
tilt is adjusted in such a way that the focal depth 172 of the
corresponding imaging device in the plane of the iris or cornea
(plane perpendicular to visual axis of the eye in the normal
position) is constant, resulting in equally focused acquired image
of the eye. Furthermore this positioning allows a better
transformation of position data obtained for landmarks in the three
sensor coordinate systems.
1.4.1 Depth Measurement
Distance of various eye-points along the optical path of the
diagnosis and/or treatment device 37a (referred here as depth) can
be measured whenever at least two optical axes of sensors 32 and 33
are distinct.
In the preferred embodiment, as shown in FIG. 15 and FIG. 16, all
three optical axes are distinct from each other. The method of
obtaining depth is illustrated in FIG. 18. Two images from
different angles are acquired synchronously from the imaging
devices 32 and imaging device 33 (R). Optionally additional images
from imaging device 33 (L) may be acquired at the same time.
Although not required, an increased number of sensors allows more
robust and more accurate measurements. The absolute 2 dimensional
position of a certain landmark of the eye (here for example shown
for the pupil) is computed for each of the acquired images by
module 180 in the pixel coordinate system of each imaging device.
The imaging device calibration information 181 contains data
describing the geometry and characteristics of the imaging device
system, such as distance and orientation between imaging devices,
focal length, etc. The set of 2D pixel positions delivered by 180,
along with the imaging device calibration information 181, is fed
into the stereo reconstruction module 182. Based on well-known
formulas of 3 dimensional reconstruction, the position of the
specific landmark in real world coordinates (mm) is obtained from
each pair of images. If more than two imaging devices are used,
redundant information is obtained. This redundant information is
used to obtain increased robustness and accuracy by filtering the
data such as averaging for increased precision, or median filtering
for elimination of seriously corrupted data.
Depth measurement can be performed in multiple eye points using the
above mentioned method and system and other landmarks such as iris
features, limbus, scleral blood vessels and artificial markers.
Measurements of depth to the corneal surface can be obtained also
using an additional guidance laser beam pointing on the desired
point on the cornea as shown in FIG. 19. The guidance laser beam
190 may be optionally oriented relative to the diagnostic/treatment
axis using an additional x/y positioning system 191. The diffuse
part of the reflected light from the corneal surface is imaged by
imaging devices 32 and 33 using according polarization filters.
Image processing on order to determine the location of the
reflection on the cornea in multiple camera images and subsequent
3D reconstruction provides a 3D position of the cornea at the
reflection on the cornea. If the guidance laser is coaxially
aligned to the ablation laser beam, a continuous measurement of a
3D position of the treatment point on the cornea can be obtained.
It also allows automated and objective calibration and verification
of the calibration between the two coordinate systems of the
tracking system and diagnosis/treatment system.
Alternatively, the guidance laser can be moved with respect to the
ablation one, by either a fix or variable displacement.
The height information (z) can be used for adjusting the energy and
focus of subsequent laser shots. Alternatively, height can be
measured just before the ablation laser shot with the guidance
laser.
Furthermore, using the 3D position information on multiple specific
points on the eye, additional measurements, like eye rotation
and/or foreign object detection, can be performed.
1.4.2 Eye Rotation Measurement
The method and apparatus for eye rotation measurements is presented
in FIG. 20. It consists of a set of eye fixed landmarks 202, and a
3D position measurement system 201 that is capable of delivering 3D
positions of each of these landmarks. The number of landmarks
should be at least 3 for allowing the determination of all three
rotation angles (pitch, yaw and roll) of the eye. Any of the
previously mentioned landmarks may be used by this method. The
method consists of three steps:
1. Acquire the 3D reference position of a set of landmarks on the
eye in a defined reference position or time (for example at the
beginning of a treatment or diagnosis) or at a reference position
(for example when optical axes of the eye is aligned with the
optical path of the treatment/diagnosis device)
2. Acquire the 3D position of the same set of landmark at each of
the following "current" images.
3. Compute the change of orientation between the reference and
current set of 3D positions using three-dimensional registration,
for which well-known algorithmic solution exists.
The method above described results in the 3 angular rotations
around x, y, and z axes.
In a preferred embodiment the 3D positioning system and method is
the one in FIG. 18. The landmarks are chosen to lie in the same
plane. The plane is chosen to be perpendicular to the optical path
of treatment/diagnosis device when eye is in "null" rotation
position. For example the landmarks can be various structures of
iris or parts of limbus border. In this way the orientation problem
is simplified since it resumes to finding the orientation of the
plane which best approximates the 3D positions of set of
landmark.
Optionally, the landmarks can be virtually created by imaging the
diffuse reflection of multiple guidance laser beams. The system is
described in FIG. 21. The guidance laser 1901 uses a wavelength
visible by sensors 32 & 33, (e.g. near IR). The laser beam is
split into four or more spatially displaced beams by the optical
splitter 210. The four outputs of the optical splitter are directed
to the eye via the x/y position controlled mirror 18. This provides
an eye stabilized optical path for the laser beams. This means that
the reflections of the laser beams 227 (referred as virtual
landmarks) are always formed in the same horizontal and vertical
position with respect to the eye, which now can be used by the
above described rotation measurement apparatus and method.
Foreign object detection can also be accomplished using a general
depth measurement system as shown in FIG. 22. The method consists
of measuring the depth with system 220 (distance along system's
optical axis) using a large number of test points, 224, distributed
over the surface of the eye. The distribution of test points can be
either regular (e.g. rectangular mesh), random, or following a
certain boarder (e.g. along pupil or limbus border). Since eye
position variations along optical axis are small, any foreign
object can be detected, if a certain number of test points are
detected to closer to the treatment/diagnosis device (Foreign
Object Zone 221) than a defined Threshold depth 222. Objects inside
the Eye Zone 223 are considered belonging to the eye. In order to
clearly distinguish between the eye and foreign objects, the volume
of the eye zone shall be minimized. This can also be accomplished
by the use of non-planar borders, for example a curved surface
parallel to the cornea.
In a preferred embodiment, the depth measurements are performed
using the method and apparatus described already in FIG. 18. The
number of points in which the depth measurement is performed is
fixed as a rectangular grid of 3.times.3 points as shown in FIG.
22b.
Alternatively, the depth measurements can be performed using
specialized depth measurement devices like range sensors or
OCT.
1.5 Additional Non-Image Based Sensors for Depth Measurement
The Multidimensional Eye Position Measurement Subsystem described
in FIG. 3 can optionally be extended with additional non-imaging
devices to provide very precise depth measurement. Precision in the
order of 10 .mu.m can be obtained using for example the OCT
technique. As shown in FIG. 23, the OCT device 230 can be
integrated coaxially with the diagnostic and treatment device and
optionally positioned relative to the main diagnostic or treatment
axis using an additional position device. In case of coaxial
alignment of the OCT measurement beam with the treatment device
axis, a distance measurements of of the cornea or retina at the
treatment location can be obtained relative to the treatment
device. Furthermore OCT provides the possibility of measuring the
thickness of the cornea at this position. The measurements from
imaging devices 32 & 33 and the OCT are preferably
synchronized, so that the measurement of the OCT is taken as close
as possible if not simultaneously to the measurement of the eye
position. Depending on the application, either the eye position
from the system 35 is used to control the OCT measurement beam or
the eye position is just used to determine the measurement position
on the eye in eye coordinates without further adjustments.
The depth and thickness measurements obtained can be used in
femto-second laser applications to control the focus of the laser
within the cornea. as well as for in corneal thickness measurements
for diagnosis or online diagnosis during treatment. If
simultaneously multiple point measurements are possible, improved
accuracy on rotation measurements--based on the method described in
FIG. 20--and foreign object detection--based on the method
described in FIG. 22--may be obtained.
2 Integration with High Speed Tracking Systems
2.1 High Speed Imaging Device System and Integration
In one possible embodiment, the high-speed x/y tracking system
consists of a single high speed imaging device 240 which provides
an image rate of 200 Hz or more and an acquisition-processing
module 241, as shown in FIG. 24. In the preferred embodiment center
of the pupil is tracked using a high contrast infrared image
providing a clear differentiated pupil for robust detection of the
pupil area using thresholding techniques. Other fast implement-able
tracking functions using other features of the eye may be used as
an alternative. The tracking function of the high speed images are
performed on high speed image processing system in module 243.
The integration with the low-speed measurement system may be
performed by the device 242. This device subsamples the x/y
position data coming from 243 as well as the digital video stream.
The sub-sampling is performed to match processing rate of the lower
speed Eye Position Measurement Subsystem 20. For example, if
imaging device 240 has a frame rate of 250 Hz, a sub-sampling by
factor 5 will produce an output at 50 Hz for feeding a lower speed
Eye Position Measurement Subsystem with 50 Hz. The sub-sampled
video stream can be used in order to replace one of the imaging
sensors of system 20 and therefore reducing the complexity and cost
of system (number of imaging sensors). For example, if imaging
device 240 is an on-axis imaging device, the sub-sampled video
output may replace the imaging device 32. Alternatively, if 240 is
an off-axis imaging device it can replace one of the imaging
devices 33. The sub-sampled x/y position of the high speed pupil
tracking is provided also to the Eye Position Measurement Subsystem
as reference for pupil center shift calculations.
2.2 1 Imaging Device--Very Fast x/y Motion Sensing and Measurement
by Selective Line Readout
Furthermore, by use of a specific acquisition/processing
techniques, the processing time for the high speed tracking can be
significantly improved.
Referring to FIG. 25, certain imaging device sensors 250 allow an
individual addressing 253 and reading (via a line selector 252) of
lines of the image with and without clearing the information in
these lines. Some also allow continuing integration of light
intensity after readout.
The selected line readout may be implemented in such a way, that
the residual lines of the sensor may be integrated and transferred
and processed normally. Thus, image acquisition of the full images
of all imaging devices may not be affected; therefore full height
and tilt measurement is based on the full image with high spatial
resolution. In this way, the means for high speed eye tracking and
the means for eye position measurement can be implemented in the
same imaging device.
With such a subset of lines, a fast position measurement can be
realized. The timing diagram illustrating this process is described
below and shown in FIG. 26.
The entire image sensor 250 is first illuminated for a short period
of time so that the lines are integrating the light intensity
`integration (1)`. The lines are then transferred to the image
processing system. The transfer time of the full image is
illustrated as `transfer full image (1)`. The order in which the
lines are transferred is modified in such way that first the
selected lines SL1 are transferred. While the rest of the image is
transferred, the set of selected lines SL1 is processed. The result
can be used to position the laser Position Control 1. Since the
transfer and processing time of the selected lines is very small,
the overall latency `Position latency --SL` is also small. After
the transfer of full image is completed, the full image processing
can take place.
The full image processing has the role to establish the future set
of selected lines, SL2. The choice is made, for example, by picking
up the lines with the highest probability to be located on the
tracked landmark (e.g. close to the- of the landmark)
2.3 Multiple Imaging Device--Very Fast x/y Motion Sensing and
Measurement by Selective Line Readout
Another enhanced high-speed eye tracker consists of a one or
multiple additional off-axis imaging devices, as shown in FIG. 15
and FIG. 16, which support the selective line readout technique
described before.
The specific line readout functionality may be used for imaging
devices L and R, as shown in FIG. 27, and may also be used for
imaging device 32. The location of the selected subset of lines or
area is preferably determined from the location of the tracked
landmarks in the previous image of imaging device 32. The timing
diagram is shown in FIG. 28.
A full image (1) is acquired with the sensor 32 over the
integration period "Acquire Image 1". Within the sensors L and R,
at the end of the aquisition of Image 1, these lines are cleared
and then the lines integrate the light intensity for only a short
time (for example 0.5 ms). The intensity information in these lines
RL1 can be transferred quickly (for example 0.2 ms) and stored as
reference data for later comparison.
Thereafter the lines from the full image (1) can be transferred and
processed while a new image is acquired (2). The full image (1) of
sensor 32 is transferred and processed "process image 1". At the
end of processing the position data is transferred to control the
scanner position. The delay between the start of the image
integration and the laser ablation would be "Positioning Latency
1".
Within sensors L and R, slightly before the ablation, the same
selected lines 27L, 27R are cleared and reintegrated for a short
period CL1. The information from these current lines, CL1, is
transferred and compared by C1 to the reference lines RL1.
If a significant change of the information between the reference
lines RL1 and current lines CL1 occurred, the ablation laser shot
will be inhibited to protect larger positioning errors.
Furthermore, the difference information between reference lines and
current lines may also be used to compensate the position obtained
from the full frame processing. In this case, the current lines CL2
and the comparison step C2, are placed before the positioning
control event, in order to allow the "Positioning Correction"
signal to be used. Since the time for processing and position
control is short, the range of eye movement occurred is small
enough to be corrected as shown in FIG. 28 as "Motion Corrected
Latency 2", which is significantly less than "Positioning Latency
1".
Since readout and processing of only a few video lines consumes
only a small amount of time (say 0.5 ms), very fast eye movements
can be captured. Compared to the time of a system using the imaging
device in usual mode, the method and system described can be couple
of times faster.
The selected line readout may be implemented in such a way, that
the residual lines of the sensor may be integrated and transferred
and processed normally. Thus, image acquisition of the full images
of all imaging devices may not be affected; therefore full height
and tilt measurement is based on the full image with high spatial
resolution. In this way, the means for high speed eye tracking and
the means for eye position measurement can be implemented in the
same imaging device.
Using the 3 imaging device system as a support for the selective
line readout technique, presents the advantage that higher accuracy
can be obtained in position measurement by specializing each of the
L and R imaging devices to measure a specific dimension (x or y) of
the movement.
Best results are achieved, if the corresponding video lines of each
imaging device are perpendicular for imaging device L and R in the
image plane (plane of the eye). In this case the spatial resolution
is best for movements in horizontal and vertical direction.
The method may be preferably used with the eye imaging device
system described above, but may be used also on other eye tracking
system configurations (i.e. one or two imaging device
configurations) and also other applications where low latency
position measurement is required.
In a preferred embodiment, the method is used with the 3 eye
imaging device system described above. The video lines of imaging
devices L and R are perpendicular. Referring to FIG. 29, the image
obtained from imaging device 32 is processed by the processing
module 290, which computes the position of tracked landmark (for
example the center of the pupil), and based on this position
computes the subset of lines 27L and 27R that will be read from the
imaging devices L and R. As example, the lines 27L and 27R may be
chosen to be the closest lines to the landmark center position. The
position of lines 27L and 27R are transmitted to an I/O circuit
292, which transforms them in digital lines addresses for the
imaging devices L and R. The I/O circuit also transmits the
synchronization signals for the imaging devices and possibly other
command signals like zoom/focus/position if necessary.
Alternatively the synchronization/commands signals for imaging
devices L and R can be provided directly by imaging device 32 that
than acts like a master imaging device.
The image data from imaging devices L and R are then transferred to
the processing module 291. Module 291 computes the motion
registered by the selected lines 27R, 27L. The data is transmitted
to module 293 together with the position measured by module 290.
The module 293 finally combines the two data and outputs the
position control and/or laser inhibit signal.
The integration of the High Speed Tracking X/Y tracking system
using multiple high speed imaging devices with the Multidimensional
Eye Position Measurement System is presented in FIG. 30. Using a
similar concept as for the single high-speed imaging device
integration shown in FIG. 24, the sub-sampling module 302 produces
3 video streams and one x/y data stream at the rate of the
low-speed system. Any one of the video streams as well as any
combination of them, can be used to replace partially or completely
the imaging devices of the low-speed system, namely modules 32
and/or 33.
2.4 Integration with LADAR Tracker
Non-imaging based tracking systems, such as laser based, linear
array based, or photodiode based tracking techniques can provide
very high sampling rates, low latency in x/y tracking and
consequently high dynamic positioning accuracy during fast eye
movements.
In another embodiment this invention proposes therefore the
integration of a non-image based fast tracking system, hereafter in
a specific example using the LADAR tracker, as the high speed
tracking system used in combination with the Eye Position
Measurement System to create the Eye Monitor.
Integration of the imaging based eye tracking with the LADAR
Tracker is shown in FIG. 31. The imaging device of the
Multidimensional Eye Position Measurement System can be integrated
in two locations: 314 and/or 315. In the stabilized position 314,
the sensor is viewing the eye via the tracking mirror 18. Since
this viewing is always aligned with the optical axes of treatment
312, the on axis imaging device 32 can be placed in this
position.
In device fixed position 315, the sensors are either viewing the
eye either directly, or via a fixed mirror 316. Depending on the
position of this mirror the viewing angle can be adjusted.
Therefore the module 315 can contain either the sensor 32 coaxial
with the optical axes of treatment 312, or the sensors 33 tilted
against the optical axes, or a combination of both.
In a preferred embodiment the imaging device 32 is placed in
position 314, while the imaging device 33 may be placed in position
315.
The LADAR tracker stabilizes fast x/y eye movements via the
tracking mirror 18, providing an almost "still" image to sensor 314
and also centered on the pupil position. This offers significant
advantages in terms of image processing complexity. The computation
time is drastically reduced by optimized areas of interest. Since
the analyzed features--limbus, blood vessels, iris--appear limited
in range of movement, the search ranges can be much smaller. Also
the exposure time of the sensor can be increased without
alterations caused by the motion blur effects since the main eye
movement is already compensated for. Only small offsets due to
pupil center shift have to be determined and provided to the LADAR
control unit. The image based tracker can identify any shift of
pupil size independent features in the image and therefore provide
a corrective information to the diagnostic or treatment device to
compensate the movements which are not compensated with the LADAR
tracker.
During initialization of the tracking the imaging based Eye
Position Measurement System provides information such as pupil
diameter and position of the pupil-iris boundary to adjust the
position and relative location of the spots of the LADAR tracker.
Pupil size changes measured continuously with the image based Eye
Position Measurement System allow continuous adjustment of the
LADAR tracker spot distance hence being able to track on the pupil
iris boundary with varying pupil sizes. a major limitation of the
LADAR tracker--currently resolved by the pupil dilation requirement
which could be removed with the imaging based tracker.
Optionally the reflection of the LADAR tracker spots may be
registered with the Eye Position Measurement System to allow
calibration of both tracking systems.
This Integration therefore combines the benefits of the fast LADAR
tracker to track fast saccades with the benefits of video-based
Multidimensional Eye Position Measurement System. Pupil size and
pupil center shift determination and compensation provided by
Multidimensional Eye Position Measurement System allows the LADAR
tracker to track fast and accurate even with varying in pupil
sizes. Measurement of other degrees of eye movements with the
Multidimensional Eye Position Measurement System can be corrected
with the laser positioning device of the LADAR tracker. This
integration also provides the advantage to be automated, more
accurate, robust and reliable (eye position is determined
twice).
2.5 Integration with CRP Tracker
Similar as with the LADAR tracker (replace LADAR sensor and control
unit 311, with CRP/sensor and control in FIG. 31), the image based
tracker may be integrated with other closed loop tracking systems
as the CRP. Instead of CRP also other tracking techniques may be
used by replacing the LADAR sensor and control unit 311 with the
alternative solution.
In this configuration the image based tracking provides measurement
of the absolute orientation of the eye relative to the diagnostic
and treatment device and provides means for automatic
identification of the specific area used on the object surface
which the CRP tracker is using for tracking to lock on (i.e. area
on the retina or area on the iris or blood vessels on the sclera).
After the CRP tracker has locked onto this feature, relative
horizontal and vertical movements are compensated at high speed and
the image of the eye may be obtained stabilized through the CRP
tracking mirrors.
This stabilized image may thus be used by the described image based
tracking system to provide all above described measurements and
functions.
3 Overall Laser System and Eye Tracker Calibration Technique
For absolute positioning accuracy, the coordinate system of the Eye
Tracking System has to be aligned and calibrated with the
coordinate system of the laser treatment system.
This kind of calibration is currently performed manually,
calibrating each process step separately. Therefore, calibration
errors for each individual process step are often significant and
the sum of errors of each calibrations step may be significant.
Furthermore, manual calibrations may include "subjective" errors or
require a certain time and therefore may be done not very
frequently.
For this reason and integrated calibration procedure calibration
the overall system with its own measurement devices, i.e. the eye
tracking system is proposed below. See FIG. 32 for a detailed
illustration. 1. Fix grey ablation square/pattern 93 with white
frame underneath laser in surgery plane so it is completely visible
within the field of view of the eye monitor device 10. It is best
to use a square with different length and width to allow also
identification of orientation of the square 2. Obtain image from
eye tracking imaging device of the square and measure by image
processing the length and width of this square and orientation in
eye tracking coordinates 3. Compute aspect ratio of the imaging
system from known width and height of the calibration square. 4.
Obtain calibration of imaging coordinate system (pixels) into
physical coordinate system (.mu.m) by the known size of the square.
5. Perform specific ablation pattern with 4 or more separate
targets within the square at known scanner settings. The ablation
pattern is designed in such a way that an ablation on the ablation
patterns changes significantly the brightness at that location. 6.
Alternatively or additionally, if a guiding laser is used, the
reflection of the guiding laser position is acquired with the eye
tracking device on the ablation pattern before each ablation spot
is created. 7. The centre position for each ablated spot is
measured with the eye tracking device. 8. Comparing the created
positions of the ablation targets obtained from the eye tracking
device (by means of image processing) with the position data
provided to the position control system as in detail 321, the
position control system can be calibrated in physical coordinates
and into the eye tracking coordinates. This allows calculation of
gain, offset for x and y axis as well as possible rotation of the
scanning system in the eye tracking coordinate system. 9. Comparing
the ablation target positions with the positions obtained from the
reflection of the guiding laser as in detail 322 (see step 6) a
possible misalignment of the ablation and guiding laser can be
measured and compensated for correct feedback control.
* * * * *