CN106580239A - Cardiovascular three-dimensional optical coherence imaging system - Google Patents

Cardiovascular three-dimensional optical coherence imaging system Download PDF

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Publication number
CN106580239A
CN106580239A CN201710036413.9A CN201710036413A CN106580239A CN 106580239 A CN106580239 A CN 106580239A CN 201710036413 A CN201710036413 A CN 201710036413A CN 106580239 A CN106580239 A CN 106580239A
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unit
probe
optical
cardiovascular
picture frame
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CN201710036413.9A
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CN106580239B (en
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朱锐
曹挥
曹一挥
沈诚亮
刘海平
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Shenzhen Vivolight Medical Device Technology Co Ltd
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Shenzhen Vivolight Medical Device Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A61B5/0066—Optical coherence imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
    • A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6867—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive specially adapted to be attached or implanted in a specific body part
    • A61B5/6876—Blood vessel
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7235—Details of waveform analysis

Abstract

The invention provides a cardiovascular three-dimensional optical coherence imaging system. The system comprises a detection unit, a probe interface unit, an optical signal processing unit, a digital signal processing unit and a display which are connected sequentially, wherein the detection unit comprises a fiber-optic probe which is used for collecting a sample signal of a blood vessel according to the action of the probe interface unit and transmitting the sample signal to the optical signal processing unit through the probe interface unit; the optical signal processing unit is used for processing the sample signal to obtain an image frame; the digital signal processing unit comprises a data converter and a data corrector; and the data corrector is used for respectively performing data correction and three-dimensional reconstruction on the image frame after the image frame is converted by the data converter so as to obtain a three-dimensional image, and outputting the three-dimensional image to the display for displaying. The cardiovascular three-dimensional optical coherence imaging system can be used for improving the accuracy of three-dimensional optical coherence images.

Description

A kind of cardiovascular three-dimensional optical coherent video system
Technical field
The present invention relates to cardiovascular based endoscopic imaging technical field, more particularly to a kind of cardiovascular three-dimensional optical coherent video system System.
Background technology
Optical coherence image technology, is a kind of imaging technique that last decade is developed rapidly, and it is dry using weak coherent light The ultimate principle of interferometer, by the light that light source sends two beams are divided into, a branch of to be transmitted into tested tissue, are also sample arm, another beam It is transmitted into reference to illuminator, is also reference arm, then from tested tissue and from the two-beam letter returned with reference to mirror reflection Number superposition, interfere, the gradation of images of different powers are shown with the difference of tested tissue finally according to optical signal, so as to group It is imaged in knitting.
Optical coherence image can be divided into Time Domain Optical coherent video according to know-why and domain optical coherence image two is big Class.Domain optical coherence image due to its have that high-resolution, image taking speed are fast, non-invasively organize in the advantage such as imaging, by It is widely used in the imaging of the organs such as ophthalmology, digestive tract, cardiovascular.Comparatively speaking, cardiovascular optical coherence image system is the most Complexity, the cardiovascular optical coherence image documentation equipment of complete set needs to integrate：Light source, beam splitter, optical interdferometer, reference arm, Probe interface unit (probe interface unit, PIU), conduit, blood flushing liquor injection device, fibre-optical probe, high speed The resources such as data acquisition unit, signal processor, image processing software.The ultimate principle of cardiovascular optical coherence image scan imaging It is：Rotated at a high speed by PIU and pullback motion, and drive the fibre-optical probe of front end to do tomoscan in intravascular by bourdon tube Imaging.3D cardiovascular optical coherence images have huge potential advantages, 3D painstaking effort lightpipe optics phases compared with 2D optical coherence images The space three-dimensional structure information that dry image intuitively can provide blood vessel for doctor, can help doctor to be better understood from thrombosis The adherent situation of spatial shape, support, bifurcated lesions are assessed, is instructed and expand after support, instructs thrombectomby etc..
But, 3D cardiovascular optical coherence images are absolutely not simply to arrive 2D optical coherence image sequence image stacks 3D pictures are rendered to together, because so reconstruct can have error, the serious understanding that can also mislead doctor.In real work In, because the frictional force between bourdon tube and conduit can shake when high speed rotates, cause the three-dimensional optical that actual acquisition is arrived Coherent video image can be axially formed it is rotary shifted, if so directly carrying out three-dimensionalreconstruction to sequence image, in three-dimensional space Between in be exist dislocation, therefore, such result is that inaccurate, serious meeting causes examining for mistake for clinical analysiss Disconnected result.
The content of the invention
In order to solve the above problems, the present invention proposes a kind of cardiovascular three-dimensional optical coherent video system, it is possible to increase The degree of accuracy of three-dimensional optical coherence imaged image.
Concrete technical scheme proposed by the present invention is：A kind of cardiovascular three-dimensional optical coherent video system, the heart are provided Blood vessel three-dimensional optical coherent video system includes probe unit, probe interface unit, optical signal processing unit, the number being sequentially connected Word signal processing unit and display；The probe unit includes fibre-optical probe, and the fibre-optical probe is used for according to the probe The action of interface unit gathers the sample signal of blood vessel, and the sample signal is sent to into institute by the probe interface unit State optical signal processing unit；The optical signal processing unit obtains picture frame for carrying out process to the sample signal；It is described Digital signal processing unit includes data converter and data corrector；The data corrector is used to respectively turn the data Picture frame after parallel operation conversion carries out Data correction and three-dimensionalreconstruction obtains 3-D view, and exports to the display and shown Show.
Further, the data corrector includes reference points detection unit, image correction unit and three-dimensionalreconstruction unit； The reference points detection unit is used to obtain the position mark point of the picture frame after the data converter conversion, described image school The picture frame that positive unit is used for after being changed to the data converter according to the position mark point carries out rotation transformation and obtains school Picture frame after standard, the three-dimensionalreconstruction unit obtains graphics for carrying out three-dimensionalreconstruction to the picture frame after the calibration Picture.
Further, the digital signal processing unit also includes feedback controller, and the feedback controller is used for basis The monochrome information and gradient information of the picture frame after the data converter conversion control the motion shape of the probe interface unit State；The feedback controller includes starting module of pulling back；It is described to pull back starting module for detect whether vessel lumen rinses dry Only the probe interface unit starting pullback motion is controlled and when the vessel lumen is rinsed well.
Further, the starting module of pulling back includes computing unit, judging unit and pulls back to begin to respond to unit, described Computing unit is used to calculate the equal of brightness of the picture frame after the data converter conversion in predetermined flushing detection zone Value and variance；The judging unit is used to judge whether the average meets trigger condition with the variance, and is meeting triggering Send back during condition and pull open beginning trigger；Described pulling back begins to respond to unit for according to the beginning trigger control of pulling back Make the probe interface unit starting pullback motion.
Further, the feedback controller includes stopping modular of pulling back, and the stopping modular of pulling back is used to detect described Whether fibre-optical probe moves to precalculated position and the probe is controlled when the fibre-optical probe moves to the precalculated position connects Mouth unit stops pullback motion.
Further, the stopping modular of pulling back is including the second computing unit, the second judging unit and stopping response of pulling back Unit, second computing unit is used to calculating the average of the picture frame maximum brightness value after data converter conversion and most The average and variance of big Grad；Second judging unit is used to judge the average of the maximum brightness value and the maximum ladder Whether the average and variance of angle value meets the second trigger condition, and stopping triggering letter of pulling back is sent when the second trigger condition is met Number；The stopping response unit of pulling back is used to be stopped back according to the stopping trigger control probe interface unit of pulling back Roping is moved.
Further, the probe unit also includes conduit, optical fiber, transparent outer sleeve and bourdon tube, the optical fiber, spring Pipe and fibre-optical probe are located in the conduit, and the conduit includes internal portion and external body, and flushing is provided with the external body Liquid inlet, the internal portion is additionally provided with flushing liquor outlet away from one end of the external body；The fibre-optical probe passes through institute State optical fiber to be connected with the probe interface unit, the bourdon tube is sheathed on the optical fiber, and the transparent outer sleeve is coated at In the internal portion and between the fibre-optical probe and the external body.
Further, the probe interface unit includes motor, and the motor is connected with the bourdon tube.
Further, the optical signal processing unit include light source, interferometer and with the interferometer be connected respectively point Light device, detector and illuminator, the light source is connected with the beam splitter, and the interferometer is connected with the probe interface unit The detector is connected with the data signal processing unit.
Cardiovascular three-dimensional optical coherent video system proposed by the present invention has advantages below：
(1) the cardiovascular three-dimensional optical coherent video system includes data corrector, and data corrector can be right respectively Picture frame after data converter conversion carries out Data correction and three-dimensionalreconstruction obtains 3-D view；
(2) the cardiovascular three-dimensional optical coherent video system includes feedback controller, and it can control the probe and connect The kinestate of mouth unit；The feedback controller includes starting module of pulling back, and starting module of pulling back can detect vessel lumen Whether rinse and control in the case where vessel lumen is rinsed well the probe interface unit starting pullback motion well；
(3) feedback controller also includes stopping modular of pulling back, and the stopping modular of pulling back can detect the optical fiber Whether probe moves to the position of the transparent outer sleeve and moves to the position of the transparent outer sleeve in the fibre-optical probe When control the probe interface unit and stop pullback motion.
Description of the drawings
By combining the following description that accompanying drawing is carried out, above and other aspect of embodiments of the invention, feature and advantage Will become clearer from, in accompanying drawing：
Fig. 1 is the structural representation of cardiovascular three-dimensional optical coherent video system；
Fig. 2 is the structural representation of feedback controller in Fig. 1；
Fig. 3 is the structural representation of starting module of pulling back in Fig. 2；
Fig. 4 is the schematic diagram for rinsing detection zone；
Fig. 5 is the structural representation of stopping modular of pulling back in Fig. 2；
Fig. 6 is coordinate transform schematic diagram；
Fig. 7 is the structural representation of data corrector in Fig. 1；
Fig. 8 is the process schematic being corrected according to position mark point；
Fig. 9 is the three-dimensionalreconstruction interface schematic diagram in the present embodiment；
Figure 10 is the schematic flow sheet of the imaging method of cardiovascular three-dimensional optical coherent video system.
Specific embodiment
Hereinafter, with reference to the accompanying drawings to describing embodiments of the invention in detail.However, it is possible to come real in many different forms Apply the present invention, and the present invention should not be construed as limited to the specific embodiment that illustrates here.On the contrary, there is provided these enforcements Example is in order to explain the principle and its practical application of the present invention, so that others skilled in the art are it will be appreciated that the present invention Various embodiments and be suitable for the various modifications of specific intended application.
With reference to the cardiovascular three-dimensional optical coherent video system that Fig. 1, the present embodiment are provided, for obtaining the optics phase of three-dimensional Dry imaged image, wherein, three-dimensional optical coherence imaged image is made up of multiple images frame.Cardiovascular three-dimensional optical coherent video System include be sequentially connected probe unit 1, probe interface unit 2, optical signal processing unit 3, digital signal processing unit 4 and Display 5.Probe unit 1 includes fibre-optical probe 11, and fibre-optical probe 11 is used to gather blood vessel according to the action of probe interface unit 2 Sample signal and sample signal is sent to into optical signal processing unit 3 by probe interface unit 2, probe interface unit here 2 action includes rotation and pulls back that the sample signal of blood vessel includes blood vessel wall and endovascular signal.Optical signal processing unit 3 Picture frame is obtained for carrying out process to sample signal.Specifically, digital signal processing unit 4 includes feedback controller 41, number According to corrector 42 and data converter 44, the brightness of the picture frame that feedback controller 41 is used for after being changed according to data converter 44 Value and Grad control the kinestate of probe interface unit 2, and here the kinestate of probe interface unit 2 is pulled back including startup Motion and stopping two states of pullback motion, data corrector 42 is used to respectively enter the picture frame after the conversion of data converter 44 Row Data correction and three-dimensionalreconstruction obtain 3-D view, and display 5 is used to show 3-D view.Three-dimensional optical coherence Imaged image is made up of the mapping of multiple images frame interpolation, and display shows the three-dimensional optical coherence imaged image after mapping.
Probe unit 1 also include conduit 12, optical fiber 13, transparent outer sleeve 14 and bourdon tube 15, optical fiber 13, bourdon tube 15 and Fibre-optical probe 11 is located in conduit 12.Conduit 12 is connected with probe interface unit 2, and conduit 12 includes internal portion and external body, body Inside is used to insert in internal blood vessel.Flushing liquor inlet 12a, the one end of internal portion away from external body are provided with external body Flushing liquor outlet 12b is additionally provided with, flushing liquor injection device from flushing liquor inlet 12a is injected into flushing liquor in conduit 12 simultaneously Discharge from flushing liquor outlet 12b.Fibre-optical probe 11 is located at the one end of internal portion away from external body, and it passes through optical fiber 13 with probe Interface unit 2 connects, and bourdon tube 15 is sheathed on optical fiber 13, and transparent outer sleeve 14 is coated in internal portion and positioned at fibre-optical probe Between 11 and external body.
Probe interface unit 2 includes motor (not shown), and motor is connected with bourdon tube 15, and motor is used for driving spring pipe 15 There is elastic deformation and be tightly sheathed on optical fiber 13 and by between optical fiber 13 in rotation and Return spring pipe 15, bourdon tube 15 Frictional force drives optical fiber 13 and fibre-optical probe 11 to rotate together and pull back optical fiber 13 and fibre-optical probe 11, so that fibre-optical probe 11 In the motion of the internal coiling of conduit 12, spiral three-dimensional scanning is formed.
Optical signal processing unit 3 includes light source 31, beam splitter 32, detector 33, interferometer 34 and illuminator 35.Light source 31 The light beam for sending is divided into the duplicate light of two beams Jing after the effect of beam splitter 32, and light beam is transmitted into illuminator by interferometer 34 35, referred to as reference arm, a branch of to be sent to probe interface unit 2 by interferometer 34, probe interface unit 2 again passes through the light beam Optical fiber 13 transmits and is concurrently incident upon internal blood vessel to fibre-optical probe 11 and is detected, referred to as sample arm.Light Jing in reference arm is reflective The reference light that mirror 35 is formed after reflecting incides interferometer 34, is formed after the reflection of light menses inside pipe wall and scattering in sample arm Sample signal receives and is back to interferometer 34 by fibre-optical probe 11.Interferometer 34 is overlapped to reference signal and sample signal The optical signal after optical interference is interfered is produced, wherein, different tissue profiles forms the light letter after the interference of different powers Number, the power of optical signal can reflect endovascular construction featuress.Optical signal that detector 33 is used for after detection is interfered and by its turn It is changed to the corresponding signal of telecommunication.
Digital signal processing unit 4 also includes data acquisition unit 43.Data acquisition unit 43 is connected with detector 33, and it is used for Receive the signal of telecommunication and the signal of telecommunication is converted to into the corresponding digital signal of picture frame, data converter 44 is used to receive institute State digital signal and the digital signal is converted to into cartesian coordinate space from polar coordinate space.Wherein, in the present embodiment Data converter 44 can be in many different forms realization, including but not limited to processor (CPU), graphic process unit (GPU), Programmable gate array (FPGA), microprocessor (such as ARM), digital signal processor (DSP) device or their combination in any.
In optical coherence video imaging, generally require and vessel inner blood is rinsed, otherwise blood has stronger to light Absorption and scattering process, affect image quality.Before triggering cardiovascular optical coherence image scan, clinician's injecting blood Flushing liquor, and observe optical coherence video imaging preview screen, when confirming that blood is rinsed well, manually triggering PIU pulls back instruction Carry out three-dimensional imaging.Bring very big inconvenience to clinical practice operation however, manually triggering PIU and pulling back, pull back triggering too early often Vessel inner blood is not rinsed well, causes image quality to be deteriorated, it is impossible to meet clinical diagnosises demand；Conversely, pull back triggering In evening, will give patient injection excessive blood flushing liquor, to patient unnecessary side effect is brought.
Additionally, current existing cardiovascular optical coherence image is often by a fixed distance of pulling back is arranged, i.e., PIU triggerings stopping after certain distance of pulling back is pulled back.However, when fibre-optical probe is withdrawn in transparent outer sleeve, it is collected Data be invalid, the data in transparent outer sleeve have not only brought unnecessary money to Data Post, data storage Source wastes, and after three-dimensional rendering, also can cause erroneous judgement to diagnosis.
With reference to Fig. 2, the feedback controller 41 in the present embodiment includes pull back starting module 410 and stopping modular 411 of pulling back. Starting module of pulling back 410 is used to detect whether vessel lumen is rinsed well and control probe connects when vessel lumen is rinsed well Mouth unit 2 starts pullback motion, and probe interface unit 2 starts after pullback motion, and motor starts to pull back and driving spring pipe is pulled back Optical fiber 13 and fibre-optical probe 11, fibre-optical probe 11 starts screw in conduit 12 and starts three-dimensional spiral scanning.Pull back and stop Only module 411 is used for whether detection fiber probe 11 to move to the position of transparent outer sleeve 14 and move in fibre-optical probe 11 Probe interface unit 2 is controlled during the position of transparent outer sleeve 14 and stops pullback motion, probe interface unit 2 stops pullback motion Afterwards, motor stops the rotation and stops driving spring pipe 15, and now, fibre-optical probe 11 stops scanning.
Specifically, with reference to Fig. 3, Fig. 4, starting module of pulling back 410 includes the first computing unit 100, the first judging unit 101 And pull back and begin to respond to unit 102, for the ease of distinguishing, here the computing unit pulled back in starting module is named as into the first meter Unit 100 is calculated, the judging unit pulled back in starting module is named as into the first judging unit 101.First computing unit 100 is used for Calculate the brightness I of the digital signal in the cartesian coordinate space in predetermined flushing detection zone1Average and variance, First threshold th is preset with one judging unit 1011And Second Threshold th2, the first judging unit 101 is used to judge the average Whether first threshold th is less than1And whether the variance is less than Second Threshold th2And it is less than first threshold th in the average1And The variance is less than Second Threshold th2When send back and pull open beginning trigger and give back to pull open beginning response unit 102, pull back and start to ring Unit 102 is answered for according to pulling back the startup pullback motion of beginning trigger control probe interface unit 2, i.e., described average and institute State variance and meet following trigger condition：
mean(I1) ＜ th1
std(I1) ＜ th2。
By 2 times (as shown in Figure 4) that the width setup of predetermined flushing detection zone is conduit diameter in the present embodiment, when So, predetermined flushing detection zone can determine according to practical situation, not limit here.If vessel lumen is rinsed well, Then the average and variance of the brightness of annular detection zone should be less, therefore, when the average and the variance meet above two During individual condition, the first judging unit 101 produces one and pulls back and starts trigger and send the beginning trigger of pulling back Give back to pull open beginning response unit 102, the motor begun to respond in the control probe interface of unit 102 unit 2 of pulling back starts rotation at a high speed Turn and drive bourdon tube 15 to rotate, bourdon tube 15 occurs elastic deformation and drives optical fiber 13 by the frictional force between optical fiber 13 Rotate and pull back optical fiber 13 and fibre-optical probe 11 with fibre-optical probe 11, so that fibre-optical probe 11 is moved in the internal coiling of conduit 12, Spiral three-dimensional scanning is formed, endovascular three-dimensional spiral scanogram is finally obtained.
With reference to Fig. 5, Fig. 6, stopping modular 411 of pulling back includes the second computing unit 103, the second judging unit 104 and pulls back Stop response unit 105.Second computing unit 103 is used to be converted to the digital signal in the cartesian coordinate space in Fig. 6 Digital signal in polar coordinate space (ρ, θ), wherein, ρ is polar diameter, and θ is polar angle.Second computing unit 103 is additionally operable to calculate pole Maximum brightness value I on digital signal in coordinate space every string radiallydAnd greatest gradient value G and calculate it is all of most Big brightness value IdAverage and all of greatest gradient value G average and variance.
The 3rd threshold value th is preset with second judging unit 1043, the 4th threshold value th4And the 5th threshold value th5, second judges single Unit 104 is used to judge maximum brightness value IdAverage whether be more than the 3rd threshold value th3, greatest gradient value G average whether more than the Four threshold values th4And whether the variance of greatest gradient value is less than the 5th threshold value th5And in maximum brightness value IdAverage be more than the 3rd threshold Value th3, greatest gradient value G average be more than the 4th threshold value th4And the variance of greatest gradient value G is less than the 5th threshold value th5When send Stopping trigger of pulling back gives back to draw and stops response unit 105, pulls back in the stopping control probe interface of response unit 105 unit 2 Motor stop pulling back fibre-optical probe 11, i.e. maximum brightness value IdAverage, the average of greatest gradient value G and greatest gradient value G Variance meet following three conditions：
mean(Id) ＞ th3
Mean (G) ＞ th4。
Std (G) ＜ th5
Wherein, by using the Prewitt boundary filters to vertical edge sensitivity to the numeral letter in polar coordinate space Number processed, obtained gradient image, then detected greatest gradient value G on every string radially, then calculate it is all of most The gradient mean value and variance of big Grad G.When maximum brightness value IdAverage, the average of greatest gradient value G and greatest gradient value G Variance when meeting three formulas above simultaneously, then illustrate that the image frame in includes transparent outer sleeve 14, i.e. fibre-optical probe 11 Predetermined position is moved to.
With reference to Fig. 7, Fig. 8, in order to improve the degree of accuracy of the optical coherence imaged image of three-dimensional, the data in the present embodiment Corrector 42 includes reference points detection unit 420, image correction unit 421 and three-dimensionalreconstruction unit 422.Reference points detection unit 420 are used to obtain the position mark point of the digital signal in cartesian coordinate space, and it is especially by detection in pre-set radius area The gray value of the digital signal in cartesian coordinate space in domain, if multiple points meet gray threshold, then takes maximum ash Mark point of the location point corresponding to angle value as the digital signal in cartesian coordinate space.
Image correction unit 421 is used to carry out school to the digital signal in cartesian coordinate space according to position mark point The picture frame that will definitely be arrived after calibration, it carries out school especially by rotational transformation matrix to the digital signal in cartesian coordinate space Standard, the rotation transformation that the present embodiment is adopted is rotated based on picture centre, and the matrix of rotation transformation is：
Rotation transformation formula is as follows：
In formula, (x0, y0) for the coordinate of original coordinate system, (x, y) is the coordinate of pixel in postrotational picture frame, θ tables Show the anglec of rotation, clockwise turn to just, rotate counterclockwise is negative.As shown in figure 8, after calibration, all images in sequence The mark point of frame is longitudinally being based on identical direction.
Three-dimensionalreconstruction unit 422 obtains 3-D view for carrying out three-dimensionalreconstruction to the picture frame after calibration, its concrete general Picture frame after calibration is mapped and opacity mapping function, by the figure after calibration by three-dimensionalreconstruction algorithm according to color As frame is mapped to projected image plane by object plotting method.
With reference to Fig. 9, Fig. 9 shows the three-dimensionalreconstruction interface according to the present embodiment.It comprises cardiovascular 3D to show Show window, longitudinal cross-section display window, lateral cross section display window and control panel.By the present embodiment, it can be seen that right After Cardiovascular data calibration, its three dimensional structure can accurately reflect out blood vessel and each component of Ink vessel transfusing (such as conduit, seal wire) Actual position.
With reference to Figure 10, the present embodiment additionally provides the imaging method of above-mentioned cardiovascular three-dimensional optical coherent video system, uses In three-dimensional optical coherence imaged image is obtained, three-dimensional optical coherence imaged image is made up of multiple images frame, methods described Comprise the following steps：
Step S1, fibre-optical probe 11 gather the sample signal of blood vessel and believe sample according to the action of probe interface unit 2 Number optical signal processing unit 3 is sent to by probe interface unit 2.
Wherein, step S1 is specifically included first under the guiding of seal wire and X-ray radiography, by PCI Fibre-optical probe 11 is inserted into position to be scanned, then flushing is injected in flushing liquor inlet 12a by flushing liquor injection device Liquid is rinsed to the blood in vessel lumen, meanwhile, the collection sample signal of fibre-optical probe 11 simultaneously will by probe interface unit 2 Sample signal is sent to optical signal processing unit 3.
Step S2, optical signal processing unit 3 carry out process to sample signal and obtain picture frame and picture frame is sent to into number Word signal processing unit 4.
Step S3, digital signal processing unit 4 carry out Data correction respectively to picture frame and three-dimensionalreconstruction obtains graphics Picture.
Step S4, display 5 receive and show 3-D view.
Specifically, digital signal processing unit 4 carries out Data correction respectively to picture frame and three-dimensionalreconstruction is obtained in step S3 Comprise the following steps to 3-D view：
Gray value of the described image frame in pre-set radius region is calculated, gray threshold and the maximum point of gray value will be met As the position mark point of described image frame；
Picture frame after rotation transformation is corrected is carried out to described image frame according to the position mark point；
Three-dimensionalreconstruction is carried out to the picture frame after the correction and obtains 3-D view.
Specifically, step S3 also includes monochrome information and gradient information control of the digital signal processing unit 4 according to picture frame The kinestate of probe interface unit 2 processed；Wherein, first threshold and Second Threshold are preset with digital signal processing unit 4, number Word signal processing unit 4 includes according to the kinestate that the monochrome information and gradient information of picture frame control probe interface unit 2 Following steps：
Calculate brightness I of the described image frame in predetermined flushing detection zone1Average and variance；
Judge the average whether less than first threshold th1And whether the variance is less than Second Threshold th2If, it is described equal Value is less than first threshold th1And the variance is less than Second Threshold th2, then control probe interface unit 2 and start pullback motion.
If the average is not less than first threshold th1Or the variance is not less than Second Threshold th2, then step S3 also include：
Described image frame is converted to into the picture frame under polar coordinate system；
Calculate maximum brightness value I of picture frame under the polar coordinate system every string image radiallydAnd greatest gradient Value G；
Calculate all of maximum brightness value IdAverage and all of greatest gradient value G average and variance；
Judge maximum brightness value IdAverage whether be more than the 3rd threshold value th3, greatest gradient value G average whether more than the Four threshold values th4And whether the variance of greatest gradient value G is less than the 5th threshold value th5If, maximum brightness value IdAverage be more than the 3rd threshold Value th3, greatest gradient value G average be more than the 4th threshold value th4And the variance of greatest gradient value G is less than the 5th threshold value th5, then control Probe interface unit 2 processed stops pullback motion.
The cardiovascular three-dimensional optical coherent video system and its imaging method that the present embodiment is proposed has advantages below：
(1) cardiovascular three-dimensional optical coherent video system includes data corrector 42, and data corrector 42 can be to data Picture frame after the conversion of transducer 44 carries out Data correction respectively and three-dimensionalreconstruction obtains 3-D view, improves the optics of three-dimensional The degree of accuracy of coherent video image；
(2) cardiovascular three-dimensional optical coherent video system includes feedback controller 41, and it can control probe interface unit 2 Kinestate；Feedback controller 41 includes starting module 410 of pulling back, and starting module of pulling back 410 can detect that vessel lumen is It is no to rinse and control in the case where vessel lumen is rinsed well the startup pullback motion of probe interface unit 2 well；
(3) feedback controller 41 also includes stopping modular 411 of pulling back, and stopping modular 411 of pulling back being capable of detection fiber probe 11 positions for whether moving to transparent outer sleeve 14 and the control spy when fibre-optical probe 11 moves to the position of transparent outer sleeve 14 Head interface unit 2 stops pullback motion.
Although illustrating and describing the present invention with reference to specific embodiment, it should be appreciated by those skilled in the art that： In the case of without departing from the spirit and scope of the present invention limited by claim and its equivalent, can here carry out form and Various change in details.

Claims (9)

1. a kind of cardiovascular three-dimensional optical coherent video system, it is characterised in that connect including the probe unit, probe being sequentially connected Mouth unit, optical signal processing unit, digital signal processing unit and display；The probe unit includes fibre-optical probe, described Fibre-optical probe is used to gather the sample signal of blood vessel according to the action of the probe interface unit, and the sample signal is passed through The probe interface unit is sent to the optical signal processing unit；The optical signal processing unit is used for the sample signal Carry out process and obtain picture frame；The digital signal processing unit includes data converter and data corrector；The data school Positive device is used to carry out Data correction to the picture frame after data converter conversion respectively and three-dimensionalreconstruction obtains 3-D view, And export to the display and shown.
2. cardiovascular three-dimensional optical coherent video system according to claim 1, it is characterised in that the data corrector Including reference points detection unit, image correction unit and three-dimensionalreconstruction unit；The reference points detection unit is used to obtain described The position mark point of the picture frame after data converter conversion, described image correction unit is used for according to the position mark point pair Picture frame after the data converter conversion carries out the picture frame after rotation transformation is calibrated, and the three-dimensionalreconstruction unit is used Picture frame after to the calibration carries out three-dimensionalreconstruction and obtains 3-D view.
3. cardiovascular three-dimensional optical coherent video system according to claim 1, it is characterised in that at the digital signal Reason unit also includes feedback controller, and the feedback controller is used for according to the bright of the picture frame after data converter conversion Degree information and gradient information control the kinestate of the probe interface unit；The feedback controller includes initial mould of pulling back Block；It is described to pull back starting module for detecting whether vessel lumen is rinsed well and rinse time control well in the vessel lumen Make the probe interface unit starting pullback motion.
4. cardiovascular three-dimensional optical coherent video system according to claim 3, it is characterised in that the initial mould of pulling back Block includes computing unit, judging unit and pulls back to begin to respond to unit, and the computing unit is used to calculate the data converter The average and variance of brightness of the picture frame after conversion in predetermined flushing detection zone；The judging unit is used to judge institute State whether average meets trigger condition with the variance, and send back when trigger condition is met and pull open beginning trigger；It is described Pull back and begin to respond to unit for controlling the probe interface unit starting pullback motion according to the beginning trigger of pulling back.
5. cardiovascular three-dimensional optical coherent video system according to claim 1, it is characterised in that the feedback controller Including stopping modular of pulling back, it is described pull back stopping modular for detect the fibre-optical probe whether move to precalculated position and The fibre-optical probe controls the probe interface unit and stops pullback motion when moving to the precalculated position.
6. cardiovascular three-dimensional optical coherent video system according to claim 5, it is characterised in that the stopping mould of pulling back Block includes the second computing unit, the second judging unit and stopping response unit of pulling back, and second computing unit is used to calculate institute State the average and the average and variance of greatest gradient value of the picture frame maximum brightness value after data converter conversion；Described second sentences Disconnected unit is used to judge whether the average of the maximum brightness value and the average and variance of the greatest gradient value meet second and touch Clockwork spring part, and stopping trigger of pulling back is sent when the second trigger condition is met；The stopping response unit of pulling back is used for root The probe interface unit is controlled according to the stopping trigger of pulling back stop pullback motion.
7. cardiovascular three-dimensional optical coherent video system according to claim 1, it is characterised in that the probe unit is also Including conduit, optical fiber, transparent outer sleeve and bourdon tube, the optical fiber, bourdon tube and fibre-optical probe are located in the conduit, described Conduit includes internal portion and external body, and flushing liquor inlet is provided with the external body, and the internal portion is away from described external The one end in portion is additionally provided with flushing liquor outlet；The fibre-optical probe is connected by the optical fiber with the probe interface unit, institute State bourdon tube to be sheathed on the optical fiber, the transparent outer sleeve be coated in the internal portion and positioned at the fibre-optical probe with Between the external body.
8. cardiovascular three-dimensional optical coherent video system according to claim 7, it is characterised in that the probe interface list Unit includes motor, and the motor is connected with the bourdon tube.
9. cardiovascular three-dimensional optical coherent video system according to claim 1, it is characterised in that the optical signal prosessing Unit includes light source, interferometer and the beam splitter, detector and the illuminator that are connected respectively with the interferometer, the light source and institute Beam splitter connection is stated, the interferometer is connected the detector with the data signal processing unit with the probe interface unit Connection.
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