AU2006246323B2 - Fast response eye tracking - Google Patents

Abstract

An apparatus (10) for monitoring the position of an eye during a laser ablation treatment of the eye is provided. The apparatus includes optic means (110) for directing an incident light beam (102) along an optical path (104) onto the external surface of the eye (35) so as to illuminate a region of said surface that includes a segment of the limbus of the eye, and for directing back along said optical path (104), a return beam (122) comprising light of said incident beam scattered by said surface region; beam separation means (125) for separating the return beam (122) from the incident beam (102). The apparatus also includes at least one detector (120), having one or more detector segments (120a, 120b), for detecting said return beam (122), said detector segment(s) (120a, 120b) recording first and second values for light scattered respectively by the sclera and iris in said illuminated region. Movement of said limbal segment, and therefore of the eye (35), produces a change in at least one of said first and second values allowing such movement of the eye (35) to be monitored. A method corresponding to the apparatus is also disclosed.

Description

WO 2006/119584 PCT/AU2006/000639 FAST RESPONSE EYE TRACKING Field of the invention This invention relates generally to the determination of the position of the eye during ophthalmic procedures, and is particularly useful for fixing and tracking eye 5 position during ophthalmic surgery by laser ablation, which is most commonly carried out for refractive correction purposes. Background of the invention Refractive correction by laser ablation has evolved into a highly customised procedure in which an accurate topographical aberration map of the patient's eye is 10 obtained, eg. using wavefront techniques, and a precision ablation profile pre determined to a high degree of dimensional accuracy. The ablation profile is carried out by programming the laser surgical machine to apply multiple successive laser pulses with great precision to the corneal area being treated. The pulses may be of smaller uniform cross-section but scanned over controlled ablation patterns, or of larger cross 15 section but masked to varying cross-sections, with or without scanning. Whichever ablation procedure is adopted, there is a requirement that the position of the eye be known initially with great accuracy, and that, during the procedure, any movements of the eye be accurately compensated for in the aiming of the laser pulses. It will be appreciated that patients are awake during the procedure and that movements 20 that may arise include both voluntary and involuntary movements of the eye, and head movements: any of these movements can occur even when, as is normally the case, the patient is holding a steady gaze on a fixation target. Total immobilisation of the eye is not considered practical. The conventional approach to eye tracking during ophthalmic surgery by ablation 25 has been to focus on the pupil as an object readily detectable in an image or from reflection patterns, and to. determine and track the location of the pupil's centre. Examples of this approach are provided by US patents 5,345,281 and 5,980,513, and by international patent publication WO 00/27273, which also cites other references WO 2006/119584 PCT/AU2006/000639 2 reliant on a pupil-based technique. US patent 5,980,513 describes a system in which the treatment laser optics are employed to project an infrared sensor beam in multiple spots onto the pupil boundary, and to recover the reflected beam. It is well recognised that a pupil varies in size with ambient light and other 5 influences, and this is addressed by artificial dilation or by making allowance in the pattern recognition algorithms. However, what is not so well recognised is that the geometrical or mathematical centre of the pupil actually moves by up to 0.7 mm as the pupil expands and contracts in size. These shifts in the pupil centre may have been tolerable in conventional "broad-scale" ablations but are wholly unacceptable in high 10 precision custom ablations. Pupil-based eye tracking is also adversely affected in surgical situations by the fluid changes that occur adjacent the pupil: the required drier environs diminishes the clarity of the pupil boundary. The present applicant considers that the better reference point for accurate eye tracking is the limbus, the boundary between the iris and the sclera regions, because 15 the limbus maintains a fixed relationship and a close circularity with respect to the lens of the cornea, which is of course the object of the ablation. There have been a number of patents that propose limbus-based eye tracking or position detection, including US patents 5,865,832, 5,966,197, 6,095,648, 6,179,422, 6,299,307, 6,604,825, and 6,702,809, and US patent publication 2002/0013575. These arrangements typically 20 involve detection of an intensity difference between light reflected from the sclera, which is of course white, and the iris, which is coloured. It is not to be inferred that, by referring to or discussing herein specifically identified documents by number, the applicant is suggesting that these documents constitute common general knowledge. 25 US patents 5,865,832, 5,966,197, and 6,702,809 disclose eye tracking systems in which the limbus is statically illuminated by lateral light sources, and a lune-shaped image of the whole limbus is projected onto a multiple element detector system. The system of US patent 5,966,197 employs pairs of detectors on a pair of mutually orthogonal diameters to detect the two limbus positions on each diameter, by monitoring 30 spatially for steps on the detected image.

1000062173 3 US patent 6,179,422 employs a different approach: instead of static illumination of the whole limbus, an illuminating beam is scanned radially across a segment of the limbus, using the same scanning optics as for the ablation beam. The scattered beam is recovered by separate optics and directed to a photo-detector that monitors for an 5 amplitude step indicative of the limbal boundary. An emerging challenge for eye tracking systems in refraction correction surgery by laser ablation is to match the dynamic capabilities of the ablation process in terms of both responsive times and spatial accuracy. Pulse rates of 300Hz are now being achieved, for which a tracking response rate of the order of 1 kilohertz is desirable. 10 Higher response rates, e.g. tens of kilohertz, may be sought in future. it is an object of the invention to provide improved methods for determining and/or tracking the position of an eye, that are capable of the response times and spatial accuracy required for modern ophthalmic laser ablation surgery. Summary of the invention 15 The invention provides apparatus for monitoring the position of an eye during a laser ablation treatment of the eye, the apparatus including: means to record an instantaneous image of a first region of the eye of the patient, which first region traverses the limbus of the eye; means to analyse said image to derive a first indication of the location of the 20 llmbus in said first region at first intervals; first optic means configured to direct an Incident beam along an optical path onto the external surface of the eye so as to illuminate a second region of said surface, which second region includes a segment of the limbus of the eye, and to receive a return beam comprising light of said incident beam scattered by said 25 surface region; at least one detector, configured to detect said return beam and to determine a second Indication of the location of the limbus in said second region of Baid surface, at second intervals substantially shorter than the first intervals 1000052173 4 means responsive to said first indication to accurately monitor the position of the eye at said first or greater intervals, and to said second indication to update that position within said first or greater intervals. The invention further provides a method of monitoring the position of an eye 5 during a laser ablation treatment of the eye, the method including: recording an instantaneous image of a first region of the eye of the patient that traverses the limbus of the eye; analysing said Image to derive a first indication of the location of the limbus, in said first regions at first intervals; 10 directing an incident beam along an optical path onto the external surface of the eye so as to illuminate a second region of said surface that includes a segment of the limbus of the eye; detecting a return beam comprising light of said incident beam scattered by said second region of said surface and determining a second indication of the location 15 of the limbus in said second region of said surface, at second Intervals substantially shorter than the first intervals; and determining in response to said first Indication the position of the eye at said first or greater intervals, and in response to said second indication updating the position of the eye within said first or greater intervals. 20 BrIef description of the drawings The invention will be further described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 is a highly schematic representation of certain components of an ophthalmic laser ablation apparatus that incorporates a solid state laser engine 25 and is modified and programmed for carrying out the method of the invention; and Figure 2 is a ray diagram illustrating an element of the inventive concept.

5 Detailed description of the embodiments A suitable apparatus 10 (Figure 1) for carrying out laser ablation on a patient to effect refractive correction, includes a solid state laser 12 that emits a primary laser 5 beam 14 in the Infra-red region of the electromagnetic spectrum. Primary laser beam 14 is guided by optical elements, represented as mirrors 16, 17, along an optical alignment or axis 21, through a harmonic generation module 50 comprising a series of non-11near optical (NLO) crystals 20 from which emerges a multi-wavelength output beam 18. Beam 18 comprises the original beam 14 and several harmonics generated by crystals 10 20. The desired harmonic 26 Is separated out by a prism 30, a dichroic mirror arrangement or other suitable means. Beam 26 is directed by a beam delivery scanner system 32 and further optics 33 onto the cornea 34 of an eye 35 of a supine patient accommodated on a bed (not shown) forming part of the system. Controller 54, typically a computer system, controls at least the output beam 15 parameters of laser 12, module 50 and the elements of the beam delivery system 32 so as to apply a customised ablation profile to each eye of the patient, A suitable microscope 80, focussed on the comea, Is provided to allow the surgeon to inspect and monitor the procedure. A particularly suitable laser 12 Is a Q-switched neodymium:YAG laser producing 20 a 2-10mm diameter pulsed laser beam 14 of fundamental wavelength 1064nm. The beam 14 is collimated, resulting in a collimated harmonically generated beam downstream. A variety of other laser sources are suitable but preferred sources are Nd 3 " doped laser media such as Nd:YLF, Nd:glass and Nd:YV0 4 . In order to ensure that the ablation profile is delivered with precision to the 25 corneal surface, controller 54 must know with precision the Initial position of the eye and must track the position of the eye during the procedure: any detected displacement of the cornea must be reflected either by an adjustment of the ablation profile or by suspension of the ablation. The tracking is for the purpose of detecting any lateral 6 movement of the eye, whether voluntary or involuntary on the part of the patient, and including movement arising from movement of the head. The apparatus Is fitted with two separate eye tracking sub-systems 100, 200, respectively producing an indication that is less accurate but a faster response on the 5 one hand, and slow but more accurate on the other. The first responsive sub-system 100, the fast response eye tracker, Is typically but not essentially a pair of similar sub-systems, one for each of two orthogonal axes in the plane of the eye. It is proposed here to describe a single sub-system, but It is emphasised that there will usually be two. Each sub-system 100 comprises a secondary 10 light source 101, a confocal optic system 110, and a plural-segment detector 120. Light source 101 Is conveniently an ultra-bright white, yellow, green or blue LED, and outputs an incident beam 102 that Is directed by optic system 110 along an optical path 104 onto the external surface of the eye so as to illuminate a region 112 of this surface that includes a segment 114 of the limbus of the eye. 15 Optic system 110 Includes a focussing lens 115 and a scanning mirror 116 controlled by a piezo-electric actuator 117 for scanning beam 102 over the eye region of interest. A return beam 122, comprising light of incident beam 102 scattered by surface region 112, is returned along optical path 104 to a scraping mirror 125 that separates return beam 122 from the incident beam 102 to be focussed (by lens 115 and via optics 20 represented by mirror 129) onto detector 120. In an alternative arrangement, element 125 might be a beamsplitter. As explained in the ray diagram of Figure 2, one half of etch of lens 115 and scanning mirror 116 transmits half of the incident beam 102, while the other half transmits the return beam 122 to scraping mirror 125 (which blocks the other half of 25 incIdent beam 102). Thus, reference herein to the same optical path includes the illustrated arrangement in which the incident and return beams traverse complementary halves of the same optical components. Detector 120 is a spilt photosensor having two detector segments 120a, 120b that, at an optimum neutral setting of the sub-system, respectively receive light 7 scattered by the solera and Iris in region 112. Detector segments 120a, 120b record first and second values for light scattered by the sclera and iris in region 112. A suitable form of detector 120 is a standard segmented photodiode detector or other detector, e.g. a CCD detectorthat is spatially pixellated on Its receiver Interface. 5 It will be appreciated that any movement or variation of the limbal boundary from the ideal location - le. where the "imaged" boundary in return beam 122 Impinges the boundary between the detector segments 120a, 120b - will cause a detectable change in the output values recorded by the detector segments 120a, 120b. Since movement of the limbus or limbal boundary indicates movement of the eye, the detector output is 10 highly and rapidly sensitive to any movement of the eye. As the image of the limbus moves, say, to the Iris, light from the iris will be shifted onto detector segment 120a. The net result is a decrease in the response from detector segment 120a, A similar Increase in the response from detector segment 120b Indicates a movement in the other direction. Assuming uniform intensity of the iris side and of the 15 sclera side, and a sharp transition between, the movement is given by: du =x ~ 0 +V,-(1) M V'AO-VO where du is the movement in the direction of detector segment 120a to detector segment 120b, L is the size of the detector and M Is the optical magnification of the image, VA and Vq are respectively the responses from detector segment 120a, 120b 20 after the movement, and VAo and Veo are respectively the responses from detector segment 120a, 120b prior to the movement. For any given L, M, VAO and V 5 o, the root-mean-square error In du due to noise In VA and VB is L 2 M IVA -VB| (2) 8 where , is the root-mean-square noise level in VA and Vs. Equation (2) specifies the required noise levels (including quantisation noise due to digitisation) in VA and VD to achieve a given error performance in du, Now consider the situation where the image has moved to the extreme position 5 where it lies only over the iris. In this case, VA=VB=Vao and du = -LM. At the other extreme, VA=V=VAo and du = +-LM. It follows that the maximum movement that can be quantified is (3) if the movement is greater than dumx, the sign of du still gives the direction of the 10. movement. If the imbus is receritted at time intervals of T by periodically adjusting the alignments of the optics, then the maximum velocity that can be quantified is IV x I = Id '= L T WT, (4) In the event that the limbus image moves completely off the detector, both 15 detector segments have the same response as the two above mentioned extremes. The direction of movement can be Inferred from the intensity of the responses. If the limbus image is not properly focused onto the detectors, both detectors have the same response. The light source 101 will be pulsed so that it can be distinguished from the 20 various other light sources in the ablation system. The light intensity scattering off the surface of the patient's eye is detected using a low noise photo amplifier, a bandpass filter and an amplitude detector. A minimum of two light-source / detector-paIr systems are required to track eye movements In two dimensions. Ideally they will be positioned 90* apart around the 25 lmbus.

9 Because of the circular shape of the limbus, a movement In one axis (dy) will also register as a small movement in the orthogonal axis (dx). This can be corrected for by knowledge of the lmbal shape, which can be determined for each patient. Typically, a feedback loop is in place, managed by controller 54, In which the 5 direction of beam 102 Is adjusted until the limbus is re-centered at detector 120, by scanning mirror 116 of optic system 110. In this way, accurate coordinates for the eye's altered position can be rapidly determined. Controller 54 also responds appropriately In its management of ablation apparatus 10, eg. by suspending ablation or adjusting the direction of the beam 26. 10 By adopting the twin strategy of a confocal optical system and a plural segment detector, it is possible to achieve response times less than 1 maec with a high level of reliability and more than a match for an ablation repetition rate of 300Hz. Any loss of scattered beam Intensity arising from the optics of a confocal layout, especially at scraping mirror 125, relative to a dedicated return path, is not great enough to negate 15 the benefit of eliminating uncertainties that arlse from relative variations between two different optical paths. It will be appreciated that the position of the laser spot on the eye can be moved around by scanning mirror 116 without misaligning the detector 120. For achieving high positional accuracy as well as a rapid response time, eye tracking sub-system 100 Is complemented by and regularly calibrated or set by, eye 20 tracking sub-system 200. Sub-system 200 Includes a miniature digital video camera 210, is positioned for recording a full image of sufficient of the eye to Indicate the whole limbus and adjacent sclera, at predetermined intervals, eg. of the order of milliseconds. This camera is activated by, and delivers its digital recorded images to, the main controller 54 of the 25 apparatus. Controller 54 utilises appropriate image analysis techniques, of which there are a number known in the eye tracking art, for providing an accurate primary indication of limbus position, and therefore of eye position, at regular, relatively longer, Intervals. This primary eye position indication is then updated at a relatively much faster response rate, 10 i.e. at intervals within and much less than the aforementioned relatively longer Intervals, by the eye position Indication derived by sub-syatem 100, and Is therefore also employed to determine the incidence zone of beam 102, Initially and also by way of on the-run adjustment. 5 In an alternative utilisation, sub-system 100 may be used passively: when eye movement Is detected by It, ablation is suspended until sub-system 200 provides an accurate new position on which to base renewed ablation.

Claims (14)

1. An apparatus for monitoring the position of an eye during a laser ablation treatment of the eye, the apparatus including: means to record an instantaneous image of a first region of the eye of the 5 patient, which first region traverses the limbus of the eye; means to analyse said image to derive a first indication of the location of the limbus in said first region at first Intervals; first optic means configured to direct an incident beam along an optical path onto the external surface of the eye so as to illuminate a second region of said 10 surface, which second region includes a segment of the limbus of the eye, and to receive a return beam comprising light of said Incident beam scattered by said second region; at least one detector, configured to detect said return beam and to determine a second Indication of the location of the limbus in said second region of said 15 surface, at second intervals substantially shorter than the first intervals; means responsive to said first indication to accurately monitor the position of the eye at said first or greater intervals, and to said second indication to update that position within said first or greater intervals.

2. The apparatus of claim 1, wherein the return beam returns back along the optical 20 path and is separated from the incident beam at beam separation means, and wherein the at least one detector has one or more detector segments, said detector segment(s) recording respective first and second values for light scattered by the sclera and iris in the second region.

3. The apparatus of claim 2, wherein said at least one detector has plural detector 25 segments which record said respective first and second values for light scattered by the sclera and iris, whereby the detector segments may be monitored for change in either or both values, 0062173 12

4. The apparatus of claim 2, wherein said at least one detector has a single detector segment which records both of said first and second values for light scattered respectively by the sclera and iris, whereby the detector segment may be monitored for a change in the sum of the values.

5 5. The apparatus of any one of claims 1 to 4, wherein said limbal segment extends substantially radially across the limbus.

6. The apparatus of any one of claims 1 to 5, wherein the Incident and return beams are scanned over said region and/or limbus segment.

7. A method of monitoring the position of an eye during a laser ablation treatment of 10 the eye, the method including: recording an instantaneous Image of a first region of the eye of the patient that traverses the limbus of the eye; analysing said image to derive a first indication of the location of the limbus, in said first regions at first intervals; directing an incident beam along an optical path onto the external surface of the 15 eye so as to illuminate a second region of said surface that includes a segment of the limbus of the eye; detecting a return beam comprising light of said incident beam scattered by said second region of said surface and determining a second Indication of the location of the limbus in said second region of said surface, at second intervals 20 substantially shorter than the first intervals; and determining in response to said first indication the position of the eye at said first or greater Intervals, and in response to said second indication updating the position of the eye within said first or greater intervals

8. The method of claim 7, wherein the return beam returns back along the optical 25 path, the return beam is separated from the incident beam at beam separation means, and the return beam Is detected by at least one detector having one or more detector segments, said detector segment(s) recording respective first and second values for light scattered by the sclera and iris in the second region. 52173 13

9. The method of claim 8, wherein said at least one detector has plural detector segments which record said respective first and second values for light scattered by the sclera and iris, whereby the detector segments may be monitored for change in either or both values. 5

10. The method of claim 8, wherein said at least one detector has a single detector segment which records both of said first and second values for light scattered respectively by the sclera and iris, whereby the detector segment may be monitored for a change in the sum of the values.

11. The method of any one of claims 7 to 10, wherein said segment of the limbus of 10 the eye extends substantially radially across the limbus.

12. The method of any one of claims 7 to 11, wherein the incident and return beams are scanned over said second region and/or limbus segment.

13. A method of treating an eye by laser ablation, the method including determining and/or tracking the position of the eye by monitoring the position of the eye in 15 accordance with the method of any one of claims 7 to 12.

14. The method of claim 13, wherein the ablation is adjusted or modified responsive to the tracked eye position.