CN104958061B - The optical fundus OCT image method of binocular stereo vision three-dimensional imaging and system thereof - Google Patents
The optical fundus OCT image method of binocular stereo vision three-dimensional imaging and system thereof Download PDFInfo
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Abstract
The invention provides optical fundus OCT image method and the system thereof of a kind of near infrared binocular stereo vision three-dimensional imaging, solving the phase place of OCT signal and the coarse problem of three-dimensional correction of locus and angle, the method includes: binocular stereo vision imaging system, optical fundus OCT system carry out synchronous acquisition；Utilize Binocular Stereo Vision System self-calibration result, obtain OCT coordinate and be tied to spin matrix R between binocular stereo vision coordinate systemOIWith translation vector TOI, and to retinal surface vascular bifurcation point three dimensional reconstruction；Obtain binocular stereo vision coordinate and be tied to human eye coordinate system spin matrix RIEWith translation vector TIE；Extract retina B-scan image；Utilize spin matrix ROIWith translation vector TOI, it is achieved B-scan image is tied to the conversion of binocular stereo vision coordinate system from OCT coordinate；Utilize spin matrix RIEWith translation vector TIE, realize B-scan image and be tied to the conversion of human eye coordinate system from binocular stereo vision coordinate；By in human eye coordinate system to conversion after B-scan image interpolation, it is thus achieved that space uniform distribution three-dimensional OCT image.
Description
Technical field
The present invention relates to a kind of optical fundus OCT image method and system thereof, particularly relate to binocular stereo vision three-dimensional
The optical fundus OCT image method of picture and imaging system realize high-resolution, high-resolution, the on a large scale imaging of optical fundus OCT three dimensional structure and
Blood flow imaging.
Background technology
OCT i.e. Optical Coherence Tomography Imaging Technology (Optical Coherence Tomography) be continue X-ray, CT,
Another new tomography after nuclear magnetic resonance (Magnetic Resonance Imaging, MRI), ultrasonic diagnostic technique becomes
As technology.Compared with general medical Imaging Method, there is higher sensitivity and resolution；Can realize biological tissue
Not damaged, non-intruding, Non-ionizing radiation, the structure imaging of micron dimension and polarization OCT, Doppler OCT, spectrum OCT, elasticity
The functional imagings such as OCT, microstructure analysis and characterisitic parameter for vivo biological tissue are measured, at biomedical (eye, skin
The aspects such as skin, cardiovascular system, digestive system and the traditional Chinese medical science) and the field such as industrial detection start to be widely used.Existing market
On OCT product substantially from foreign vendor, the most ripe is the application of ophthalmology OCT, in retinal diseases, macula lutea disease
The medical researches such as disease, optic nerve disease, glaucoma and diabetes play an important role with clinical diagnosis aspect.Use clinically at present
OCT can only obtain the structural images of biological tissue, and blood flow imaging technology is also in the laboratory research stage.Fluorescein optical fundus
Angiography can show optical fundus blood vessel form, is to check the important method that fundus oculi disease is conventional, but somewhat expensive, to disease
People has wound, operating time length and easily produces untoward reaction.OCT blood flow imaging technology utilizes Motion Particles scattering to produce
Blood flow and static tissue are distinguished in the change of OCT signal phase, obtain three-dimensional flow perfusion image, measure blood flow rate, and glimmering
Light element Fundus angiography method can only obtain retinal surface vessel information.
Ocular angiogenesis has related disorders can change form and the structure of blood capillary network of blood vessel.Therefore, retina capillary
Vascularity and microcirculation detection have the clinical diagnosis of related disorders and observation of curative effect extremely important for retinal vessel.Work as utilization
Retina is carried out when bulk measurement by OCT, it is generally the case that patient can be allowed to stare at a fixing target, reduce the motion of eyes,
But many inevitable factor meetings such as the unconscious motion of Scan orientation precision, mechanical shaking, human eye and periodic heartbeat
Causing retinal structure image and the decline of blood-stream image quality, wherein the unconscious motion of human eye is to affect high-resolution OCT
The main cause of system imaging in vivo, often results in the distortion of image or imperfect, affects the diagnosis of ocular disease.Due to OCT
The phase place of signal is sensitiveer than amplitude, and the motion of human eye makes interference synthetic aperture microtechnique (Interferometric
Synthetic Aperture Microscopy, ISAM), calculate adaptive optics (Computer Adaptive Optics,
CAO), digital adaptation optics (Digital Adaptive Optics, DAO) and fresnel diffraction digital focus etc. and phase
The relevant technology in position can not play one's part to the full, and even makes image effect be deteriorated.Along with the fast development of electronic technology, linear array phase
The line frequency of machine improves, and shortens the data acquisition time of OCT, is readily available the B-scan image without motion artifacts, but in this feelings
Under condition, 3-D view still also needs to a certain amount of motion compensation or calibration.The flow velocity of blood capillary is relatively low, for improving OCT system
The sensitivity of system velocity measuring, needs the time interval between B-scan on the contrary can not be the shortest, therefore, and eyeball in scanning process
Motion is inevitable, and the correction to OCT image is essential.
Up to the present, in this field, many research worker propose correction OCT phase fluctuation, the method for site error.
Use high-velocity scanning light source, high speed acquisition device, vibration isolation and measures such as shortening fiber lengths of trying one's best can reduce thermal drift etc. and draw
The phase fluctuation risen.Additionally, take free space or Common-path method, the feedback being made up of fiber stretcher or piezoelectric modulator
Control the structures such as loop and can also compensate phase fluctuation.But these bearing calibrations simply consider the correction of OCT signal phase, or
Person is in quickly scanning, slow scanning and the correction of axial three direction translational motions, and actually eyeball exists rotary motion,
The bearing calibration proposed at present cannot realize the three-dimensional accurately correction of phase place, locus and angle to eye OCT signal.
Summary of the invention
The technical problem to be solved in the present invention is to OCT structural images, rheography based on binocular stereo vision imaging technique
As three-dimensional space position and angle are corrected, it is achieved the accurate three-dimensional school of the phase place of OCT signal and locus and angle
Just.
For solving above-mentioned technical problem, the present invention is by by binocular stereo vision 3-D imaging system and optical fundus OCT system
Integrated, utilize binocular stereo vision 3-D imaging system to follow the tracks of the three-dimensional motion of eyeball, and utilize the three-dimensional motion information of eyeball
OCT structural images and blood-stream image are corrected, eliminate the OCT image quality caused due to ocular movement, mechanical shaking etc.
Decline, pattern distortion phenomenon；By solving the transition matrix between retinal surface three-dimensional blood vessel bifurcation point, it is achieved many times of OCT
The splicing of the three-dimensional data block that scanning obtains.The method can realize high-resolution, on a large scale, clearly optical fundus OCT three-dimensional knot
Constitute picture and blood flow imaging, for optical fundus structure and blood flow change about the diagnosis effective foundation of offer of disease.Propose simultaneously
In OCT light path, use telescopic system, reduce the moving range of scanning light spot on OCT reflecting mirror, by OCT scan light beam, binocular
Stereo vision imaging light beam and the common optic path of illuminating bundle composition such as public object lens, eyeglass etc., it is achieved binocular tri-dimensional
Feel imaging system and the OCT system integration；Utilize cola lighting system to make fundus illumination uniform, and reduce the direct reflection on cornea
Light, in order to get a distinct image；Owing to using near-infrared illuminator, have and exempt from mydriasis advantage.Regarding with OCT system further
One group of near-infrared quick scanning spot on nethike embrane is feature point for calibration, by extracting the centre coordinate of hot spot in two dimensional image,
Using stochastic sampling concordance (RANSAC) method and planeand parallax method to solve Binocular Stereo Vision System list should
Property matrix H and fundamental matrix F, it is achieved to the whole binocular stereo vision imaging system parameters including eyes imaging optics
Self-calibration；Utilize the three-dimensional coordinate that feature point for calibration is corresponding in stereoscopic vision coordinate system and OCT coordinate system, use least square
Method principle realizes the self-calibration of transformational relation between stereoscopic vision coordinate system and OCT coordinate system.This self-calibrating method solve by
The optical imagery parameters of operating part unknown problem of detection human eye, it is achieved the on-line proving of system.And utilize medium filtering and 8 not
Image is filtered and edge extracting by equidirectional dimensional Gaussian Laplace operator (LoG), utilizes principal component analysis (PCA)
Method estimates the initial position of vascular bifurcation point, and mates with the vascular bifurcation point model set up, it is achieved vascular bifurcation point
Accurate extraction, establish for improving the precision of vascular bifurcation point three-dimensional reconstruction, OCT image three-dimensional correction precision and three-dimensional splicing precision
Determine basis.The method simultaneously utilizing static tissue PHASE DISTRIBUTION characteristic matching, it is achieved between OCT scan signal, phase place is accurate
Coupling, reduces what the many factors such as Scan orientation precision, mechanical shaking, the unconscious motion of human eye and periodic heartbeat caused
The OCT signal phase fluctuation impact on blood flow imaging；Accurately extract B-scan two dimension blood-stream image, utilize binocular stereo vision three
Dimension tracking technique obtains eyeball three-dimensional motion information, and to the locus of OCT two dimension B-scan blood-stream image and the carrying out of angle
Accurate calibration, improves blood flow imaging quality.
Further the technical scheme is that
A kind of optical fundus OCT image method of binocular stereo vision three-dimensional imaging, including,
Step 1, integrated near infrared binocular stereo vision imaging system, optical fundus OCT system and light path design, build OCT
Imaging system；Wherein, described binocular stereo vision imaging system, optical fundus OCT system carry out synchronous acquisition；
Step 2, carries out the self-calibration of described binocular stereo vision imaging system, set up binocular stereo vision coordinate system and
Transformational relation between OCT coordinate system；
Step 3, utilizes described Binocular Stereo Vision System self-calibration result, and obtains OCT coordinate and be tied to binocular tri-dimensional
Spin matrix R between feel coordinate systemOIWith translation vector TOI, and the reconstruction to retinal surface vascular bifurcation point three-dimensional coordinate；
Step 4, by retinal surface vascular bifurcation point carries out three-dimensional reconstruction, obtains binocular stereo vision coordinate and is tied to
Human eye coordinate system spin matrix RIEWith translation vector TIE；
Step 5, extracts retina B-scan image；
Step 6, utilizes OCT coordinate to be tied to spin matrix R between binocular stereo vision coordinate systemOIWith translation vector TOI, real
Existing B-scan image is tied to the conversion of binocular stereo vision coordinate system from OCT coordinate；
Step 7, utilizes binocular stereo vision coordinate to be tied to spin matrix R between human eye coordinate systemIEWith translation vector TIE,
Realize B-scan image and be tied to the conversion of human eye coordinate system from binocular stereo vision coordinate；
Step 8, by human eye coordinate system to conversion after B-scan image interpolation, it is thus achieved that space uniform distribution three-dimensional
OCT image.
Further, described method also has a characteristic that
Described step 2 carries out the self-calibration of described binocular stereo vision imaging system, farther includes: by controlling
OCT scan galvanometer, chooses 20 equally distributed scanning element P1-P20, gather the OCT spectral signal of these points and at retina
The hot spot P that surface is formed1′-P20', as self-calibration characteristic point；Extract described hot spot P1′-P20' centre coordinate, and profit
With corresponding relation known to self-calibration characteristic point, stochastic sampling concordance RANSAC method is used to estimate homography matrix H；Use
Plane parallax plane and parallax method obtains fundamental matrix F.
Further, described method also has a characteristic that
Described step 2 carries out the self-calibration of described binocular stereo vision imaging system, farther includes: by controlling
OCT scan galvanometer, chooses 20 equally distributed scanning element P1-P20, gather the OCT spectral signal of these points and at retina
The hot spot P that surface is formed1′-P20', as self-calibration characteristic point；Extract described hot spot P1′-P20' centre coordinate, and profit
With corresponding relation known to self-calibration characteristic point, stochastic sampling concordance RANSAC method is used to estimate homography matrix H；Use
Plane parallax plane and parallax method obtains fundamental matrix F.
Further, described method also has a characteristic that
Described step 2 sets up transformational relation between binocular stereo vision coordinate system and OCT coordinate system, wraps further
Include:
Spatial point P coordinate p under OCT coordinate systemO=(xO,yO,zO)TWith the coordinate p under stereoscopic vision coordinate systemI=
(xI,yI,zI)TBetween transformational relation be expressed as:
pI=ROIpO+TOI(1)；
Wherein, parameter ROIAnd TOISolution procedure is:
The homography matrix H and fundamental matrix F that utilize binocular stereo vision imaging system realize characteristic point P1′-P20' vertical
Three-dimensional reconstruction under body vision coordinate system；
To scanning element P1-P20Corresponding A sweep signal processes, and extracts retinal surface characteristic point P1′-P20' z sit
Mark, obtains characteristic point P1′-P20' the three-dimensional coordinate in OCT coordinate system；
Utilize characteristic point P obtained1′-P20' three-dimensional coordinate corresponding in OCT coordinate system and stereoscopic vision coordinate system, asks
Take spin matrix ROIWith translation vector TOI, set an object function
Utilize principle of least square method to solve transformation matrix parameter, make object function OF residual sum of squares (RSS) minimum, thus ask
Obtain parameter ROIAnd TOI。
Further, described method also has a characteristic that
Described step 4 carries out three-dimensional reconstruction to retinal surface vascular bifurcation point, farther includes:
Set up model X=(x, y, the θ of the vascular bifurcation point of 8 parameters1,θ2,θ3,w1,w2,w3), wherein x, point centered by y
Coordinate, θ1,θ2,θ3It is the angle of three vessel branches, w1,w2,w3Being the width of three vessel branches, the length of blood vessel is fixing not
Become；Utilize the seed points of vascular bifurcation point that principal component analysis PCA method estimates to obtain as the initial position of model, by intending
Fitness function minimizes the exact position of search vascular bifurcation point
Use the coupling of two width two dimensional image medium vessels bifurcations about the realization of co-information entropy method, at left side battle array camera two
Dimension image is chosen and comprises vascular bifurcation dot image window sLThe near zone window corresponding with the battle array camera two dimensional image of the right side
Mouth sRMating, the bifurcation of the co-information entropy maximum of left and right two dimensional image medium vessels bifurcation image is match point, window sL
With window sRBetween co-information entropy be
MI(sL,sR)=H (sL)+H(sR)-H(sL,sR) (3)
Wherein, H (s)=-∫ p (s) lnp (s) ds is the Shannon entropy of image window s, and p is intensity profile letter in image window
Number；
Further, the homography matrix H and fundamental matrix F of the Binocular Stereo Vision System retinal vessel to coupling is utilized
Bifurcation carries out three-dimensional reconstruction.
Further, described method also has a characteristic that
Described retina B-scan image in described step 5 farther includes to extract B-scan structural images or B-scan blood
Stream picture.
Further, described method also has a characteristic that
Described extraction B-scan blood-stream image farther includes:
By OCT 2-D vibration mirror system, focusing light beam being carried out transversal scanning on the retina, X scanning galvanometer is at sawtooth waveforms
Driving under carry out the scanning of X-direction, a sawtooth period completes a B-scan, comprises N number of A sweep in a B-scan
For A1-AN, i.e. carrying out n times sampling in X-direction, each sampling i.e. can get the interference spectrum data that this scan position is corresponding, Y scan
Galvanometer makes focusing light beam scan in the Y direction under the driving of oblique wave step signal, will be divided into M equal portions, i.e. in Y-direction sweep length
Arranging M B-scan position is B1-BM, and in each B-scan position continuous acquisition 5 width B-scan data Bm1-Bm5(m=1,2,
3...M),
Seek 5 width two-dimensional spectrum interference signal S of each B-scan positioni(xO, k), i=1-5；
Si(xO, k) subtracting background signal carry out inverse fourier transform (IFFT) and obtain two-dimensional complex number signalI=1-5；
Utilize OCT signal phase method for registering, rightWithCarry out registrating (i=1-4)；
Utilize the difference of two width B-scan complex signals, seek B-scan blood flow signal；
Ablow,i(xO,zO)=Ai+1(xO,zO)-Ai(xO,zO) i=1-4 (4)
4 width B-scan blood-stream images of same B-scan position are carried out sum-average arithmetic, improves picture quality；
Ablow(xO,zO)=| [Ablow,1(xO,zO)+Ablow,2(xO,zO)+Ablow,3(xO,zO)+Ablow,4(xO,zO)]/4| (5)。
Further, described method also has a characteristic that
Described step 5 farther includes:
The method shown in formula (2) is utilized to solve the coordinate p under current binocular stereo vision coordinate systemI=(xI,yI,zI)T
Coordinate p under human eye coordinate systemE=(xE,yE,zE)TSpin matrix RIEWith translation vector TIE, transformational relation is
pE=RIEpI+TIE (6)。
Further, described method also has a characteristic that
By B-scan image interpolation after conversion being farther included in human eye coordinate system in described step 8:
Formula for interpolation is
WhereinFor the gray value after interpolation, k be participate in around selected uniform reference position interpolation point
Number, iFor the gray value of the point of selected participation interpolation, diDistance for the point of each participation interpolation of interpolation point to surrounding.
Further, described method also has a characteristic that
Described step 4 farther includes:
By retinal surface vascular bifurcation point being carried out three-dimensional reconstruction, obtaining binocular stereo vision coordinate and being tied to human eye seat
Mark system spin matrix RIEWith translation vector TIE, obtain the eyeball three-dimensional motion information that different B-scan is corresponding；Three-dimensional by eyeball
Motion amplitude size differentiates the effectiveness of these OCT scan data.
Further present invention also offers following technical scheme:
A kind of optical fundus OCT image system of binocular stereo vision three-dimensional imaging, including,
OCT image system light path, Binocular Stereo Vision System imaging optical path and illumination path, data-driven card, linear array phase
Machine capture card and two dimensional image capture card, synchronous data sampling unit and data processing unit；
Synchronous data sampling unit passes through scanning and the illumination path of data-driven card control OCT image system scanning galvanometer
Work, by line-scan digital camera capture card gather OCT line-scan digital camera spectroscopic data, by two dimensional image capture card gather binocular stand
Body vision system left and right camera two dimensional image；Illumination path Uniform Illumination optical fundus, for Binocular Stereo Vision System imaging, OCT sweeps
The light beam retouched is for OCT image and system self-calibration；Data processing unit mainly realizes system self-calibration, three-dimensional reconstruction and school
Just；
Described system is further used for implementing above-mentioned method.
One or more embodiments that the present invention provides, by near-infrared binocular stereo vision 3-D imaging system and optical fundus
The OCT system integration, utilizes OCT image system to obtain the three-dimensional tomographic image on optical fundus, uses near-infrared illumination, utilizes binocular solid
3 D visual imaging technique is exempted from mydriasis and is obtained retinal surface three-dimensional appearance；Eyeball is followed the tracks of based on binocular stereo vision imaging technique
Three-dimensional motion, utilize the three-dimensional motion information of eyeball that OCT structural images, blood-stream image three-dimensional space position and angle are carried out
Correction, eliminates owing to ocular movement causes the phenomenon of OCT image Quality Down, pattern distortion, and registrates with OCT signal phase
Method combines, it is achieved the accurate three-dimensional correction of the phase place of OCT signal and locus and angle, reduces the scanning of OCT system
The many factors such as the unconscious motion of positioning precision, mechanical shaking, human eye and periodic heartbeat are to OCT three-dimensional imaging quality
Impact, improves OCT structure imaging and blood flow imaging quality；Set up objective ocular movement amplitude size criterion, early
Identify that OCT sampled data is the most effective；By the retinal surface vascular bifurcation characteristic point three-dimensional of different sampling stages is mated,
The three-dimensional data block splicing that repeatedly OCT scan is obtained, it is achieved optical fundus OCT three-dimensional imaging on a large scale.Pass through above-described embodiment
There is provided on a large scale, high-quality structure imaging and blood flow imaging set up retinal surface three-dimensional appearance, provide more for ophthalmologist
Add fundus oculi disease diagnostic techniques the most reliably, grasp ophthalmic course of disease development and change process, control for pathological study and medical diagnosis
Treat and reliable basis is provided.Meanwhile, to Binocular Stereo Vision System and OCT system integration technology and include eyes imaging optics
The whole imaging system parameters of parts carries out the technology of self-calibration, phase place and the technology such as position, pose correction techniques and proposes into one
Step development and optimization.
Accompanying drawing explanation
Fig. 1 is the OCT image block diagram of system of the present invention；
Fig. 2 is the method flow diagram that the OCT image system of the present invention is implemented；
Fig. 3 (a) to Fig. 3 (c) is the optical fundus OCT system light path with binocular stereo vision three-dimensional imaging function of the present invention
Schematic diagram
Fig. 3 (a) is the front view of object lens；
Fig. 3 (b) be in Fig. 3 (a) object lens along AA direction sectional views；
Fig. 3 (c) be in Fig. 3 (a) object lens along BB direction sectional views and the view of relevant light paths；
Fig. 4 is three kinds of coordinate systems of the present invention；
Fig. 5 is the diagram choosing 20 equally distributed scanning elements under OCT coordinate system of the present invention；
Fig. 6 is the illustraton of model of the vascular bifurcation point of the present invention；
Fig. 7 is that the spatial distribution of the B-scan picture position after the motion correction to eyeball of the present invention and angle is non-homogeneous
Three-dimensional OCT image；
Fig. 8 is the three-dimensional OCT image of the uniform spatial distribution after interpolation of the present invention.
Detailed description of the invention
Below according to accompanying drawing, describe embodiments of the invention in detail.If to relevant the leading to of this invention when the present invention is described
Know the explanation that can omit this part when illustrating unnecessary of function or structure.Function described later is also had all to allow for the present invention
And the function defined, this function is variable, so this definition is should be based on this specification according to wish or the convention of fortune user
Full content and determine.
The OCT image block diagram of system is as it is shown in figure 1, by light path (OCT image system light path, Binocular Stereo Vision System
Imaging optical path and illumination path), in computer board (data-driven card, line-scan digital camera capture card and two dimensional image capture card) and
Algorithm (synchronous data sampling unit and data processing unit) forms.Synchronous data sampling unit passes through data-driven card control
The scanning of OCT galvanometer and the work of illumination path, gather OCT line-scan digital camera spectroscopic data by line-scan digital camera capture card, pass through
Two dimensional image capture card gathers Binocular Stereo Vision System left and right camera two dimensional image.Illumination path Uniform Illumination optical fundus, for vertical
Body vision system imaging, OCT scan light beam is for OCT image and system calibrating.Data processing unit mainly realizes system mark
Calmly, three-dimensional reconstruction and correction scheduling algorithm.
Method flow that OCT image system is implemented is as in figure 2 it is shown, near infrared binocular stereo vision imaging system, eye
On the basis of end OCT system integration collectivity Scheme Design and light path design (step 1), build and pilot scale study system (step 2)；If
Meter scaling scheme (step 3), it is achieved the self-calibration (step 4) of binocular stereo vision imaging system, and set up stereoscopic vision coordinate
Transformational relation (step 5) between system and OCT coordinate system；Design binocular stereo vision imaging system is adopted with OCT system image synchronization
Collection scheme (step 6), and utilize Binocular Stereo Vision System self-calibration result, it is achieved retinal surface vascular bifurcation point three-dimensional is sat
Target rebuilds (step 8) and the reconstruction of retinal surface 3-D view and display (step 7)；By to retinal surface blood vessel
Bifurcation three-dimensional is mated, and obtains stereoscopic vision coordinate and is tied to human eye coordinate system spin matrix RIEWith translation vector TIE, obtain difference
The three-dimensional position of the eyeball that B-scan is corresponding and angle (step 9)；Differentiate that this OCT sweeps by eyeball three-dimensional motion amplitude size
Retouch the effectiveness (step 10) of data；Extract retina B-scan structural images (step 11) or blood-stream image (step 12), utilize
OCT coordinate is tied to spin matrix R between stereoscopic vision coordinate systemOIWith translation vector TOI(step 5), it is achieved B-scan image from
OCT coordinate is tied to the conversion (step 13) of stereoscopic vision coordinate system；Further with the stereoscopic vision coordinate that different B-scan are corresponding
It is tied to spin matrix R between human eye coordinate systemIEWith translation vector TIE(step 9) realizes B-scan image from stereoscopic vision coordinate system
Conversion (step 14) to human eye coordinate system；Finally, by human eye coordinate system to OCT 3-D view interpolation, it is thus achieved that space
Equally distributed three-dimensional OCT image (step 15).If carrying out repeatedly OCT scan, then by retinal surface vascular bifurcation point
3 D stereo mates, it is achieved the splicing of OCT three-dimensional data block.
Specific embodiment is further described below:
1) there is the optical fundus OCT design of Optical System of binocular stereo vision imaging function
Fig. 3 show the optical fundus OCT system light path schematic diagram with binocular stereo vision three-dimensional imaging function, wherein OCT
Imaging optical path, near-infrared fundus illumination light path and stereo vision three-dimensional imaging optical path share object lens, and OCT scan measures light
Bundle, near infrared illumination bundle and realize the left and right lens barrel light beam of stereo vision three-dimensional imaging path such as Fig. 3 by object lens
Shown in (a).
OCT wideband light source (such as super luminescence diode, SLD) generation centre wavelength is 842nm, broadband letter with a width of 46nm
Number, by being divided into measurement light and reference light after 2X2 fiber coupler, reference light forms collimated light beam after lens 1 collimate, then
Returned through same path by the reflecting mirror of reference arm after dispersion correction device (water cavity, glass etc.).Measure light through lens 3
Form directional light after collimation, under the effect of two scanning galvanometers of X and Y, produce two-dimensional scan light beam, then through lens 4 and lens
After the telescopic system imaging of 5 compositions, the reflection of OCT reflecting mirror, incide optical fundus by object lens, lens 6, eyepiece and eyes imaging group
Plane S.The light returned from the reflection of optical fundus different depth and scattering is coupled to 2X2 fiber coupler through original route, with reference light
The light wave on road interferes superposition in fiber coupler, and enters the light being made up of collimating lens 2, grating, lens 7 and linear array camera
Spectrometer.Spectral signal is taken Fourier transform and obtains a certain scan position scattered field signal along depth direction, by control X and
Y scan galvanometer makes measuring beam, in XY horizontal direction, optical fundus be carried out two-dimensional scan, it is thus achieved that the three-dimensional tomographic image on optical fundus.
Fig. 3 (b) show in Fig. 3 (a) object lens along AA direction sectional views, and Fig. 3 (c) show in Fig. 3 (a) object lens along BB
Direction sectional views and relevant light paths.Fundus illumination cell schematics includes that near infrared illumination source is (by near-infrared luminous device
Part or Halogen light add light filter and realize), aperture diaphragm, lens 8 and illumination reflector etc., send near infrared illumination source
Light illuminated reflecting mirror reflection after aperture diaphragm limit bundle and lens 8, then through object lens, lens 6, eyepiece and eyes imaging group
Ratio is so more uniform that to incide optical fundus.Actual light path uses the cola lighting system improved, and makes optical fundus uniform-illumination.From fundus reflex
Light by eyes imaging group, eyepiece plane S ' formed intermediate image, intermediate image is formed parallel through lens 6 after object lens
Light beam, and import left and right lens barrel and carry out binocular stereo vision imaging.Each lens barrel comprises the one-tenth of zoom system, pancreatic system dough-making powder battle array camera
As lens, adjust zoom system, pancreatic system and can adjust face battle array camera areas imaging size.
As shown in Fig. 3 (c), when Y scan galvanometer rotates, OCT scan light beam forms certain scanning model in optical fundus S plane
Enclose, it is achieved the scanning of Y-direction.In like manner, it is also possible to realize the scanning of X-direction；Distance between lens 4 and lens 5 is its focal length
Sum, for typical telescopic system, the midpoint P of X scanning galvanometer and Y scan galvanometer line and the center P ' of OCT reflecting mirror is common
Yoke point, when vibration mirror scanning, on OCT reflecting mirror, the moving range of hot spot is the least, it is therefore possible to use the little OCT of diameter is anti-
Penetrating mirror, beneficially OCT system is integrated with Binocular Stereo Vision System；The reflecting mirror of OCT system reference arm is fixed on translation work
In station, adjust reference arm by translatable mirror and measure the optical path difference of arm；Entered by the spacing adjusting human eye and eyepiece
Row focusing.
OCT technology index: employing centre wavelength is 842nm, wideband light source with a width of 46nm, then the longitudinal direction of OCT system
Resolution is 8 μm；If spectrogrph resolution adjustment is 0.055nm, the most theoretical investigation depth is 3.2mm；If sweeping at Y
The time interval retouched between the same scan position B-scan of direction is 3.3ms, then blood flow detection sensitivity is 4 μm/s；OCT system
The lateral resolution of system is relevant with numerical aperture, and numerical aperture is the biggest, and lateral resolution is the highest, but depth of focus is the least, numerical aperture
The least, lateral resolution is the lowest, but can increasing depth of focus.
2) establishment of coordinate system and scaling method
A) establishment of coordinate system
Set up the coordinate system shown in Fig. 4, wherein OI-xIyIzIFor stereoscopic vision coordinate system, by binocular stereo imaging system
Determine；OO-xOyOzOFor OCT coordinate system, being made up of M B-scan plane, each B-scan plane includes N number of A sweep line；OE-
xEyEzEBehaviour eye coordinates system, along with motion itself and the O of eyeballI-xIyIzIAnd OO-xOyOzOBetween coordinate system, transformational relation changes
Become.
B) self-calibration characteristic point produces
Owing to the optics of the cornea of detected human eye, aqueous humor, crystalline lens and vitreous body formation cannot be obtained in advance
Inside and outside parameter, it is therefore proposed that be characterized a little with OCT infrared diaphanoscopy luminous point on the retina, to including that human eye becomes
The method carrying out self-calibration as the whole binocular stereo vision imaging system of optics, set up simultaneously stereoscopic vision coordinate system with
Transformational relation between OCT coordinate system.By controlling OCT scan galvanometer, choose 20 equally distributed scanning element P1-P20(Fig. 5),
The OCT spectral signal gathering these points and the hot spot P formed at retinal surface1′-P20The binocular picture of ' (feature point for calibration)
Machine two dimensional image.
C) binocular stereo vision imaging system self-calibration
Extract scanning light spot P in the camera two dimensional image of left and right1′-P20' centre coordinate；
Utilize corresponding relation known to these characteristic points, use stochastic sampling concordance (RANSAC) method to estimate homography
Matrix H；
The plane and parallax method using the propositions such as Kumar obtains fundamental matrix F.
D) OCT coordinate is tied to stereoscopic vision coordinate system spin matrix ROIWith translation vector TOIDemarcate
Spatial point P coordinate p under OCT coordinate systemO=(xO,yO,zO)TWith the coordinate p under stereoscopic vision coordinate systemI=
(xI,yI,zI)TBetween transformational relation be expressed as
pI=ROIpO+TOI (1)
Parameter ROIAnd TOISolution procedure is:
The homography matrix H and fundamental matrix F that utilize binocular stereo vision imaging system realize characteristic point P1′-P20' vertical
Three-dimensional reconstruction under body vision coordinate system；
To scanning element P1-P20Corresponding A sweep signal processes, and extracts retinal surface characteristic point P1′-P20' z sit
Mark, obtains characteristic point P1′-P20' the three-dimensional coordinate in OCT coordinate system；
Utilize characteristic point P obtained1′-P20' three-dimensional coordinate corresponding in OCT coordinate system and stereoscopic vision coordinate system, asks
Take spin matrix ROIWith translation vector TOI, set an object function
Utilize principle of least square method to solve transformation matrix parameter, make object function OF residual sum of squares (RSS) minimum.
3) retinal vessel bifurcation three-dimensional reconstruction
Eye fundus image has that Strength Changes is big, surface smooth and feature, the conventional three-dimensional method of estimation effect such as texture is less
The poorest.But there are optic disc, blood vessel and vascular bifurcation point etc. can registrate and the geometric properties of three-dimensional reconstruction as two dimension in human eye.
Owing to the distribution of vascular bifurcation point is wide and easily extracts, as the basic feature during binocular stereo vision three-dimensional reconstruction.
Retinal vessel bifurcation three-dimensional reconstruction include vascular bifurcation point position accurately extract, coupling, three-dimensional reconstruction etc. in two dimensional image.
A) vascular bifurcation point accurately extracts
The near-infrared image of binocular face battle array camera collection, compared with visible ray, generally there are noise spot big, target and background
Between gray scale difference little, ill-defined feature, image have to pass through the pretreatment such as denoising just can carry out target detection identification with
The computing such as join.In near-infrared image, modal noise is Gaussian noise and salt-pepper noise, therefore, filters initially with medium filtering
Except salt-pepper noise, then use dimensional Gaussian Laplace operator (the Laplacian of the of 8 different directions
Gaussian, LoG) image is carried out gaussian filtering and edge extracting, utilize principal component analysis (Principal Component
Analysis, PCA) the method 8x8 cross-correlation matrix that exports 8 wave filter is analyzed, and there is the 3rd big eigenvalue
The position of image is considered the seed points of vascular bifurcation point, it is ensured that at least there are three gradient directions near bifurcation.
Set up model X=(x, y, the θ of the vascular bifurcation point of 8 parameters1,θ2,θ3,w1,w2,w3), as shown in Figure 6.X, y are
Center point coordinate, θ1,θ2,θ3It is the angle of three vessel branches, w1,w2,w3It is the width of three vessel branches, the length of blood vessel
Immobilize.The seed points of the vascular bifurcation point obtained, as the initial position of model, passes through degree of fitting to utilize PCA method to estimate
The exact position of function minimization search vascular bifurcation point.
B) left and right two width two dimensional image medium vessels bifurcation coupling
Use two width two dimensional image medium vessels bifurcateds about the realization of co-information entropy (Mutual information, MI) method
The coupling of point.Left side battle array camera two dimensional image is chosen and comprises vascular bifurcation dot image window sLWith right side battle array camera X-Y scheme
Near zone window s corresponding in XiangRMate.The co-information entropy of left and right two dimensional image medium vessels bifurcation image is maximum
Bifurcation be match point.Window sLWith window sRBetween co-information entropy be
MI(sL,sR)=H (sL)+H(sR)-H(sL,sR) (3)
Wherein, H (s)=-∫ p (s) lnp (s) ds is the Shannon entropy of image window s, and p is intensity profile letter in image window
Number.
C) retinal vessel bifurcation three-dimensional reconstruction
Utilize the homography matrix H and fundamental matrix F of the stereo visual system that scaling method the obtains retina to coupling
Vascular bifurcation point carries out three-dimensional reconstruction.
4) the B-scan blood flow imaging method of OCT
In order to obtain optical fundus three-dimensional flow image, by OCT 2-D vibration mirror system, focusing light beam is carried out on the retina
Transversal scanning.X scanning galvanometer carries out the scanning of X-direction under the driving of sawtooth waveforms, and a sawtooth period completes a B and sweeps
Retouch, in a B-scan, comprise N number of A sweep (A1-AN), i.e. carrying out n times sampling in X-direction, each sampling i.e. can get this and sweeps
Retouch the interference spectrum data that position is corresponding.Y scan galvanometer makes focusing light beam scan in the Y direction under the driving of oblique wave step signal.
M equal portions will be divided in Y-direction sweep length, M B-scan position (B is i.e. set1-BM), and adopt continuously in each B-scan position
Collect 5 width (as a example by 5 width) B-scan data Bm1-Bm5(m=1,2,3...M).B-scan blood-stream image extraction step is:
Seek 5 width two-dimensional spectrum interference signal S of each B-scan positioni(xO, k), i=1-5；
Si(xO, k) subtracting background signal carry out inverse fourier transform (IFFT) and obtain two-dimensional complex number signalI=1-5；
Utilize OCT signal phase method for registering [27,28], rightWithCarry out registrating (i=1-4)；
Utilize the difference of two width B-scan complex signals, seek B-scan blood flow signal；
Ablow,i(xO,zO)=Ai+1(xO,zO)-Ai(xO,zO) i=1-4 (4)
4 width B-scan blood-stream images of same B-scan position are carried out sum-average arithmetic, improves picture quality；
Ablow(xO,zO)=| [Ablow,1(xO,zO)+Ablow,2(xO,zO)+Ablow,3(xO,zO)+Ablow,4(xO,zO)]/4| (5)
5) OCT image three-dimensional correction method
OCT image three-dimensional correction includes following key step:
Fundus coordinate system OE-xEyEzESet up.First, by initial fundus coordinate system OE-xEyEzEWith stereoscopic vision coordinate system
OI-xIyIzIOverlap；
Previously described retinal vessel bifurcation three-dimensional rebuilding method is utilized to obtain retinal surface vascular bifurcation point
Three-dimensional coordinate；
B-scan start time each time utilize vascular bifurcation point that Stereo Vision obtains and first B-scan open
The vascular bifurcation point that moment beginning obtains carries out Stereo matching；
The method shown in formula (2) is utilized to solve current stereoscopic vision coordinate system OI-xIyIzITo human eye coordinate system OE-
xEyEzESpin matrix RIEWith translation vector TIE, transformational relation is
pE=RIEpI+TIE (6)
Utilize formula (1) and (6) that B-scan structural images or blood-stream image in OCT coordinate system are converted to human eye coordinate system
In B-scan image, Fig. 7 show the B-scan picture position after the motion correction of eyeball and angle；
Non-homogeneous three-dimensional image shown in Fig. 7 is carried out interpolation, it is thus achieved that the three-dimensional OCT figure of uniform spatial distribution as shown in Figure 8
Picture.Formula for interpolation is
WhereinFor the gray value after interpolation, k be participate in around selected uniform reference position interpolation point
Number,For the gray value of the point of selected participation interpolation, diDistance for the point of each participation interpolation of interpolation point to surrounding.
Through above-mentioned process, finally give required three-dimensional OCT image.
Up to the present stress is about embodiments of the invention.Have in the technical field belong to the present invention
The people of conventional knowledge can be seen that the present invention not departing from essence, the simply one of a somewhat modification, so above-mentioned
Embodiment be not understood to limited viewpoint and be interpreted as illustrative viewpoint.The scope of the present invention be not above-mentioned explanation and
Embody within the scope of the claims, should be understood to be included in the present invention as other all of difference in same scope
In.
Claims (5)
1. an optical fundus OCT image method for binocular stereo vision three-dimensional imaging, including,
Step 1, integrated near infrared binocular stereo vision imaging system, optical fundus OCT system also carry out light path design, build OCT
As system；Wherein, described binocular stereo vision imaging system, optical fundus OCT system carry out synchronous acquisition；
Step 2, carries out the self-calibration of described binocular stereo vision imaging system, sets up binocular stereo vision coordinate system and OCT sits
Transformational relation between mark system；
Step 3, utilizes described Binocular Stereo Vision System self-calibration result, and obtains OCT coordinate and be tied to binocular stereo vision and sit
Spin matrix between mark systemAnd translation vector, and the reconstruction to retinal surface vascular bifurcation point three-dimensional coordinate；
Step 4, by retinal surface vascular bifurcation point carries out three-dimensional reconstruction, obtains binocular stereo vision coordinate and is tied to human eye
Coordinate system spin matrixAnd translation vector；
Step 5, extracts retina B-scan image；
Step 6, utilizes OCT coordinate to be tied to spin matrix between binocular stereo vision coordinate systemAnd translation vector, it is achieved B sweeps
Tracing as being tied to the conversion of binocular stereo vision coordinate system from OCT coordinate；
Step 7, utilizes binocular stereo vision coordinate to be tied to spin matrix between human eye coordinate systemAnd translation vector, realize B
Scanogram is tied to the conversion of human eye coordinate system from binocular stereo vision coordinate；
Step 8, by human eye coordinate system to conversion after B-scan image interpolation, it is thus achieved that space uniform distribution three-dimensional OCT figure
Picture.
Method the most according to claim 1, it is characterised in that carry out described binocular stereo vision one-tenth in described step 2
As the self-calibration of system, farther include: by controlling OCT scan galvanometer, choose 20 equally distributed scanning elements, adopt
The OCT spectral signal collecting these points and the hot spot formed at retinal surface, as self-calibration characteristic point；Carry
Take described hot spotCentre coordinate, and utilize corresponding relation known to self-calibration characteristic point, use stochastic sampling concordance
RANSAC method estimates homography matrix H；Plane parallax plane and parallax method is used to obtain fundamental matrix F.
Method the most according to claim 1, it is characterised in that in described step 4 to retinal surface vascular bifurcation point
Carry out three-dimensional reconstruction, farther include:
Set up the model of the vascular bifurcation point of 8 parameters, whereinCentered by point coordinates,It is the angle of three vessel branches,Being the width of three vessel branches, the length of blood vessel immobilizes；Utilize
The seed points of the vascular bifurcation point that the estimation of principal component analysis PCA method obtains is as the initial position of model, by degree of fitting letter
Number minimizes the exact position of search vascular bifurcation point；
Use the coupling of two width two dimensional image medium vessels bifurcations about the realization of co-information entropy method, at left side battle array camera X-Y scheme
Choose in Xiang and comprise vascular bifurcation dot image windowThe near zone window corresponding with the battle array camera two dimensional image of the right side
Mating, the bifurcation of the co-information entropy maximum of left and right two dimensional image medium vessels bifurcation image is match point, windowWith
WindowBetween co-information entropy be
(3)；
Wherein,For image windowShannon entropy,For distributed function in image window；
Further, the homography matrix H and fundamental matrix F of the Binocular Stereo Vision System retinal vessel bifurcated to coupling is utilized
Point carries out three-dimensional reconstruction.
Method the most according to claim 1, it is characterised in that the described retina B-scan image in described step 5 enters one
Step includes extracting B-scan structural images or B-scan blood-stream image.
5. an optical fundus OCT image system for binocular stereo vision three-dimensional imaging, including,
OCT image system light path, Binocular Stereo Vision System imaging optical path and illumination path, data-driven card, line-scan digital camera are adopted
Truck and two dimensional image capture card, synchronous data sampling unit and data processing unit；
Synchronous data sampling unit passes through scanning and the work of illumination path of data-driven card control OCT image system scanning galvanometer
Make, gather OCT line-scan digital camera spectroscopic data by line-scan digital camera capture card, gather binocular tri-dimensional by two dimensional image capture card
Vision system left and right camera two dimensional image；Illumination path Uniform Illumination optical fundus, for Binocular Stereo Vision System imaging, OCT scan
Light beam is for OCT image and system self-calibration；Data processing unit mainly realizes system self-calibration, three-dimensional reconstruction and correction；
The optical fundus OCT image system of described a kind of binocular stereo vision three-dimensional imaging is further used for implementing claim 1-4 and appoints
One described method.
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