CN112089492A - Imaging system for fluorescence image navigation operation and adjusting method thereof - Google Patents
Imaging system for fluorescence image navigation operation and adjusting method thereof Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/10—Beam splitting or combining systems
- G02B27/1006—Beam splitting or combining systems for splitting or combining different wavelengths
- G02B27/1013—Beam splitting or combining systems for splitting or combining different wavelengths for colour or multispectral image sensors, e.g. splitting an image into monochromatic image components on respective sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B2034/107—Visualisation of planned trajectories or target regions
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- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention discloses an imaging system for a fluorescence image navigation operation, which comprises an excitation light source, a white light source, a microprocessor, a first filter, a convergent lens, a first prism, a reflector, a second filter, a fluorescence imaging lens, a fluorescence CMOS image sensor, a first imaging lens, a second imaging lens, a third imaging lens, a blue light CMOS image sensor, a green light CMOS image sensor, a red light CMOS image sensor and a prism group, wherein the prism group comprises a second prism, a third prism and a fourth prism; the excitation light source, the white light source, the fluorescent CMOS image sensor, the blue light CMOS image sensor, the green light CMOS image sensor and the red light CMOS image sensor are in signal connection with the microprocessor; the fluorescence light generated after the excitation light source irradiates the object to be detected reaches the fluorescence CMOS image sensor.
Description
Technical Field
The invention relates to the field of medical treatment, in particular to an imaging system for a fluorescence image navigation operation and an adjusting method thereof.
Background
Surgery is the preferred treatment for patients with solid tumors, about 50% of patients need to be treated by surgery, and the 5-year survival rate of patients who are not treated by surgery is improved by about 10 times according to statistics, but about 40% of patients who are treated by surgery still have tumor tissues remained in the body when leaving the operating room, thereby causing relapse, and once the relapse occurs, the death rate is as high as more than 80%. The main reason for this situation is that the existing detection means such as MRI and PET-CT cannot perform real-time intraoperative imaging, and the operator can only determine how to remove the tumor by seeing the hand and experience, which brings great subjectivity and contingency; the near-infrared fluorescence navigation operation technology has the advantages of high tissue penetration, high imaging resolution and real-time performance, theoretically, a single tumor cell can be detected, and the technology is most hopeful to help a doctor to realize complete tumor resection, however, most of the current fluorescence image navigation systems are split type dual-camera designs or integrated dual CMOS single-camera designs, the former has the problems of complex optical path, difficult elimination of aberration, mechanical registration error or stress displacement error between visible light and a fluorescence image, and the latter overcomes most of the problems.
Disclosure of Invention
The invention aims to provide an imaging system for a fluorescence image navigation operation and an adjusting method thereof, and aims to solve the problems that in the prior art, an optical path is complex, aberration is difficult to eliminate, and a mechanical registration error or a stress displacement error exists between a visible light image and a fluorescence image.
In order to achieve the purpose, the invention provides an imaging system for a fluorescence image navigation operation, which comprises an excitation light source, a white light source, a microprocessor, a first light filtering piece, a converging lens, a first prism, a reflecting mirror, a second light filtering piece, a fluorescence imaging lens, a fluorescence CMOS image sensor, a first imaging lens, a second imaging lens, a third imaging lens, a blue light CMOS image sensor, a green light CMOS image sensor, a red light CMOS image sensor and a prism group, wherein the prism group comprises a second prism, a third prism and a fourth prism; the excitation light source, the white light source, the fluorescent CMOS image sensor, the blue light CMOS image sensor, the green light CMOS image sensor and the red light CMOS image sensor are in signal connection with the microprocessor; the fluorescence light generated after the excitation light source irradiates the object to be detected reaches the fluorescence CMOS image sensor through the first filter, the converging lens, the first prism, the second filter and the fluorescence imaging lens in sequence; visible light generated after the white light source irradiates an object to be detected enters the prism group after sequentially passing through the first light filtering piece, the converging lens, the first prism and the reflector, wherein the visible light is separated into blue light after passing through the second prism, and the blue light is transmitted to the blue light CMOS image sensor after being imaged by the first imaging lens; the visible light sequentially passes through the second prism and the third prism to separate green light, and the green light is imaged by the second imaging lens and then is transmitted to the green light CMOS image sensor; the visible light sequentially passes through the second prism, the third prism and the fourth prism to be separated into red light, and the red light is imaged by the third imaging lens and then transmitted to the red light CMOS image sensor.
Preferably, the excitation light source generates 785nm laser light.
Preferably, the first filter is a notch filter, and the notch filter is a 780nm notch filter for blocking 785nm laser light.
Preferably, the second filter is a band-pass filter for purifying fluorescence.
Preferably, the converging lens includes a convex lens and a concave lens.
Preferably, the fluorescent CMOS image sensor, the blue CMOS image sensor, the green CMOS image sensor and the red CMOS image sensor are black-and-white CMOS image sensors and are integrated in the same camera.
The invention also provides an adjusting method of the imaging system for the fluoroscopic image guided surgery, which comprises the following steps: s1: coupling a front lens, an endoscope and a converging lens, and connecting the imaging system for the fluorescent image navigation operation with a software control system; s2: exciting a test tube filled with a fluorescent agent solution by using an excitation light source, and aligning a front lens and a cavity mirror to the test tube; s3: reading red light, blue light, green light and fluorescence pictures of a camera integrated with a fluorescence CMOS image sensor, a blue light CMOS image sensor, a green light CMOS image sensor and a red light CMOS image sensor in real time through a software system, and observing the focus offset between different wave bands caused by the chromatic aberration of a front lens and a cavity mirror; s4: and adjusting the focal length of the converging lens to enable the green light or red light picture to reach the optimal definition, and then vertically moving other unfocused CMOS image sensors to enable the other three CMOS image sensors to just reach the optimal focusing state together with the first calibrated CMOS image sensor, thus finishing the adjustment.
Preferably, the excitation light source used in step S2 generates 785nm laser light.
Preferably, the phosphor solution used in step S2 is an aqueous indocyanine green solution with a concentration of 1 μ M.
Preferably, the moving direction of the CMOS image sensor that moves vertically to the other unfocused CMOS image sensor in step S4 is a direction perpendicular to the plane of the CMOS integrated chip, that is, in accordance with the optical signal propagation direction.
Compared with the prior art, the invention has the advantages that:
the imaging system for the fluorescence image navigation operation comprises four CMOS image sensors of red, green, blue and fluorescence, adopts prism light splitting to improve the luminous flux of visible light, and simultaneously adds a band-pass filter in front of the fluorescence CMOS image sensor to improve the sensitivity and specificity of fluorescence detection; the invention also provides a method for adjusting the positions of the four CMOS image sensors of red, green, blue and fluorescence according to the chromatic aberration of the front lens and the cavity mirror, thereby ensuring that the four CMOS image sensors of red, green, blue and fluorescence simultaneously reach the optimal focusing state and improving the imaging precision.
Drawings
FIG. 1 is a schematic view of an imaging system for fluoroscopic image guided surgery according to the present invention.
The reference numbers in the figures illustrate:
1. an object to be tested; 2. fluorescent light; 3. visible light; 4. laser; 5. a first filter; 6. a converging lens; 7. a first prism; 8. a second filter; 9. a fluorescent imaging lens; 10. a fluorescent CMOS image sensor; 11. a mirror; 12. a second prism; 13. a third prism; 14. a fourth prism; 15. a first imaging lens; 16. a second imaging lens; 17. a third imaging lens; 18. a blue light CMOS image sensor; 19. a green light CMOS image sensor; 20. a red CMOS image sensor.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements.
Referring to fig. 1, an imaging system for fluorescence image guided surgery includes an excitation light source (not shown), a white light source (not shown), a microprocessor (not shown), a first filter 5, a converging lens 6, a first prism 7, a reflector 11, a second filter 8, a fluorescence imaging lens 9, a fluorescence CMOS image sensor 10, a first imaging lens 15, a second imaging lens 16, a third imaging lens 17, a blue CMOS image sensor 18, a green CMOS image sensor 19, a red CMOS image sensor 20, and a prism set including a second prism 12, a third prism 13, and a fourth prism 14; the excitation light source, the white light source, the fluorescent CMOS image sensor 10, the blue light CMOS image sensor 18, the green light CMOS image sensor 19 and the red light CMOS image sensor 20 are in signal connection with the microprocessor; the fluorescence light 2 generated after the excitation light source irradiates the object to be detected 1 reaches the fluorescence CMOS image sensor 10 through the first filter 5, the converging lens 6, the first prism 7, the second filter 8 and the fluorescence imaging lens 9 in sequence; visible light 3 generated after the white light source irradiates the object to be detected 1 enters the prism group after sequentially passing through the first light filtering part 5, the converging lens 6, the first prism 7 and the reflector 11, the visible light 3 is separated into blue light after passing through the second prism 12, and the blue light is transmitted to the blue light CMOS image sensor 18 after being imaged by the first imaging lens 15; the visible light 3 sequentially passes through the second prism 12 and the third prism 13 to separate green light, and the green light is imaged by the second imaging lens 16 and then transmitted to the green light CMOS image sensor 19; the visible light 3 passes through the second prism 12, the third prism 13 and the fourth prism 14 in sequence, then red light is separated, and the red light is imaged by the third imaging lens 17 and then transmitted to the red light CMOS image sensor 20.
Preferably, the excitation light source generates 785nm laser light 4; the first filter 5 is a notch filter, and the notch filter is a 780nm notch filter for blocking the 785nm laser light 4.
Meanwhile, the second filter 8 is a band-pass filter for purifying fluorescence; the converging lens 6 comprises a convex lens and a concave lens, the number of the convex lens and the number of the concave lens can be adjusted respectively according to needs, and the distance between different lenses can be adjusted to achieve the effect of converging light rays.
Importantly, the fluorescent CMOS image sensor 10, the blue CMOS image sensor 18, the green CMOS image sensor 19 and the red CMOS image sensor 20 are black and white CMOS image sensors and are integrated within the same camera.
The invention also relates to an adjusting method of the imaging system for the fluoroscopic image guided surgery, which comprises the following steps:
s1: coupling a front lens, an endoscope and a converging lens 6, and connecting the imaging system for the fluorescent image navigation surgery with a software control system;
s2: exciting a test tube filled with a fluorescent agent solution by using an excitation light source, and aligning a front lens and a cavity mirror to the test tube;
s3: reading red light, blue light, green light and fluorescence pictures of a camera integrating a fluorescence CMOS image sensor 10, a blue light CMOS image sensor 18, a green light CMOS image sensor 19 and a red light CMOS image sensor 20 in real time through a software system, and observing the focus offset between different wave bands caused by the chromatic aberration of a front lens and a cavity mirror;
s4: and adjusting the focal length of the converging lens 6 to enable the green light or red light picture to reach the optimal definition, and then vertically moving other unfocused CMOS image sensors to enable the other three CMOS image sensors to just reach the optimal focusing state together with the first calibrated CMOS image sensor, thus finishing the adjustment.
Preferably, the excitation light source used in step S2 generates 785nm laser light 4; the phosphor solution used in step S2 is an aqueous indocyanine green solution having a concentration of 1 μ M.
Further, the moving direction of vertically moving the other unfocused CMOS image sensors in step S4 is a direction perpendicular to the plane of the CMOS integrated chip, i.e., in correspondence with the optical signal propagation direction.
The imaging system for the fluorescence image navigation operation comprises four CMOS image sensors of red, green, blue and fluorescence, adopts prism light splitting to improve the luminous flux of visible light, and simultaneously adds a band-pass filter in front of a fluorescence CMOS image sensor 10 to improve the sensitivity and specificity of fluorescence detection; the invention also provides a method for adjusting the positions of the four CMOS image sensors of red, green, blue and fluorescence according to the chromatic aberration of the front lens and the cavity mirror, thereby ensuring that the four CMOS image sensors of red, green, blue and fluorescence simultaneously reach the optimal focusing state and improving the imaging precision.
The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.
Claims (10)
1. An imaging system for fluoroscopic image guided surgery, characterized by: the device comprises an excitation light source, a white light source, a microprocessor, a first light filtering piece (5), a converging lens (6), a first prism (7), a reflector (11), a second light filtering piece (8), a fluorescence imaging lens (9), a fluorescence CMOS image sensor (10), a first imaging lens (15), a second imaging lens (16), a third imaging lens (17), a blue light CMOS image sensor (18), a green light CMOS image sensor (19), a red light CMOS image sensor (20) and a prism group, wherein the prism group comprises a second prism (12), a third prism (13) and a fourth prism (14); the excitation light source, the white light source, the fluorescent CMOS image sensor (10), the blue light CMOS image sensor (18), the green light CMOS image sensor (19) and the red light CMOS image sensor (20) are in signal connection with the microprocessor; fluorescent light (2) generated after an excitation light source irradiates an object to be detected (1) reaches a fluorescent CMOS image sensor (10) through a first filter (5), a converging lens (6), a first prism (7), a second filter (8) and a fluorescent imaging lens (9) in sequence; visible light (3) generated after a white light source irradiates an object to be detected (1) enters a prism group after sequentially passing through a first light filtering piece (5), a converging lens (6), a first prism (7) and a reflector (11), wherein the visible light (3) is separated into blue light after passing through a second prism (12), and the blue light is transmitted to a blue light CMOS image sensor (18) after being imaged through a first imaging lens (15); the visible light (3) passes through the second prism (12) and the third prism (13) in sequence and then is separated into green light, and the green light is imaged through the second imaging lens (16) and then is transmitted to the green light CMOS image sensor (19); the visible light passes through the second prism (12), the third prism (13) and the fourth prism (14) in sequence and then is separated into red light, and the red light is imaged through the third imaging lens (17) and then is transmitted to the red light CMOS image sensor (20).
2. The imaging system for fluoroscopic image guided surgery according to claim 1, characterized in that: the excitation light source generates 785nm laser light (4).
3. The imaging system for fluoroscopic image guided surgery according to claim 1, characterized in that: the first filter (5) is a notch filter, which is a 780nm notch filter, for blocking 785nm laser light (4).
4. The imaging system for fluoroscopic image guided surgery according to claim 1, characterized in that: the second filter (8) is a band-pass filter and is used for purifying fluorescence.
5. The imaging system for fluoroscopic image guided surgery according to claim 1, characterized in that: the converging lens (6) comprises a convex lens and a concave lens.
6. The imaging system for fluoroscopic image guided surgery according to claim 1, characterized in that: the fluorescent CMOS image sensor (10), the blue light CMOS image sensor (18), the green light CMOS image sensor (19) and the red light CMOS image sensor (20) are black and white CMOS image sensors and are integrated in the same camera.
7. A method of adjusting an imaging system for fluoroscopic image guided surgery, comprising the steps of:
s1: coupling a front lens, an endoscope and a converging lens (6), and connecting the imaging system for the fluorescence image navigation operation with a software control system;
s2: exciting a test tube filled with a fluorescent agent solution by using an excitation light source, and aligning a front lens and a cavity mirror to the test tube;
s3: reading red light, blue light, green light and fluorescence pictures of a camera integrated with a fluorescence CMOS image sensor (10), a blue light CMOS image sensor (18), a green light CMOS image sensor (19) and a red light CMOS image sensor (20) in real time through a software system, and observing the focus offset between different wave bands caused by the chromatic aberration of a front lens and a cavity mirror;
s4: and adjusting the focal length of the converging lens (6) to enable the green light or red light picture to reach the optimal definition, and then vertically moving other unfocused CMOS image sensors to enable the other three CMOS image sensors to just reach the optimal focusing state together with the first calibrated CMOS image sensor, thus finishing the adjustment.
8. The method of claim 7, wherein the method further comprises: the excitation light source used in said step S2 generates 785nm laser light (4).
9. The method of claim 7, wherein the method further comprises: the fluorescent agent solution adopted in step S2 is an aqueous indocyanine green solution with a concentration of 1 μ M.
10. The method of claim 7, wherein the method further comprises: the moving direction of the other unfocused CMOS image sensor in the step S4 is a direction perpendicular to the plane of the CMOS integrated chip, that is, in accordance with the optical signal propagation direction.
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Application publication date: 20201218 |