CN112842252A - Spatially self-positioning ophthalmic optical coherence tomography system - Google Patents
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- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/102—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for optical coherence tomography [OCT]
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- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/14—Arrangements specially adapted for eye photography
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/14—Arrangements specially adapted for eye photography
- A61B3/15—Arrangements specially adapted for eye photography with means for aligning, spacing or blocking spurious reflection ; with means for relaxing
- A61B3/152—Arrangements specially adapted for eye photography with means for aligning, spacing or blocking spurious reflection ; with means for relaxing for aligning
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Abstract
The invention provides a spatial self-positioning ophthalmic optical coherence tomography system, which comprises: the system comprises a first depth camera, a second depth camera, an RGB camera, a mechanical arm, a main control mechanism, an OCT scanning probe and a casing, wherein the main control mechanism is installed in the casing and is in signal connection with the mechanical arm and used for driving the mechanical arm; the invention adopts a mode of three-level positioning of the human face, the human eyes and the pupils, utilizes the depth camera and the RGB camera as a vision servo positioning system of three-level positioning of the mechanical arm, identifies and tracks the target human eyes in real time, has accurate positioning and reliable performance, replaces manpower by the mechanical arm, has high automation degree, reduces the operation difficulty of a doctor, improves the inspection efficiency, and is suitable for scenes which cannot be used by the traditional table type ophthalmic OCT instrument.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a spatial self-positioning ophthalmic optical coherence tomography system.
Background
Optical Coherence Tomography (OCT) is an emerging non-contact, non-invasive imaging technique with the technical advantages of high resolution and high imaging speed, and it performs tomographic imaging on tissues through the difference of the reflective absorption and scattering ability of various tissues to clearly distinguish tissue structures.
Currently, ophthalmic OCT (optical coherence tomography) inspection equipment used clinically is desktop type, and application scenes and crowds are limited. On the one hand, the examinee needs to use the forehead support to fix the head and sit in front of the equipment to be examined. On the other hand, the apparatus needs to rely on a skilled operator, the eyes of the patient move during examination, it takes a long time for the doctor to take a picture by manual calibration, manual focusing, or otherwise image blurring may be caused. Currently, medical positioning and navigation systems are widely used, and commonly used medical robot positioning and navigation systems are mainly optical-based tracking systems and magnetic positioning devices, and mainly include a Polaris system, an Optotrack system, a binocular vision system (Kinect) and the like of the NDI company. Optical tracking systems (NDI) have the advantages of high accuracy, fast and stable positioning, but are expensive, and the optical path is easily blocked by an object, and thus cannot be widely used.
Disclosure of Invention
The invention provides a spatial self-positioning ophthalmic optical coherence tomography system, which is used for solving the current intelligent universality requirement of clinical accurate medical development on high-resolution ophthalmic imaging and the defects that the existing commercial ophthalmic OCT imaging equipment has single application scene and needs manual intervention.
The invention provides a spatial self-positioning ophthalmic optical coherence tomography system, which comprises: the system comprises a first depth camera, a second depth camera, an RGB camera, a mechanical arm, a main control mechanism, an OCT scanning probe and a casing, wherein the main control mechanism is installed in the casing and is in signal connection with the mechanical arm and used for driving the mechanical arm; wherein the content of the first and second substances,
the first depth camera is in signal connection with the main control mechanism, the first depth camera is used for collecting a first image of an object to be checked, the main control mechanism carries out face recognition according to the first image and controls the mechanical arm to carry out primary positioning according to the face position;
the second depth camera is in signal connection with the main control mechanism and is used for acquiring a second image of the object to be inspected, the main control mechanism carries out eye recognition according to the second image and controls the mechanical arm to carry out secondary positioning according to the position of the eye;
the RGB camera is in signal connection with the main control mechanism, the RGB camera is used for collecting a third image of an object to be checked, the main control mechanism conducts pupil identification according to the third image and controls the mechanical arm to conduct three-level positioning according to the pupil position.
The main control mechanism performs image fusion, splicing and three-dimensional reconstruction on the first RGB color image and the first point cloud depth image, performs face recognition and positioning on an object to be inspected, and calculates a first spatial position and a first pose of the mechanical arm.
The main control mechanism performs image fusion, splicing and three-dimensional reconstruction on the second RGB color image and the second point cloud depth image, performs human eye identification and positioning on an object to be inspected, and calculates a second spatial position and a second pose of the mechanical arm.
The RGB camera is at least provided with two cameras, the main control mechanism conducts pupil identification and positioning in a triangular positioning mode, and the third spatial position and the third pose of the mechanical arm are calculated.
The OCT scanning probe comprises a shell, and a collimating lens, an MEMS galvanometer, a focusing lens group and a dichroic mirror which are arranged in the shell in sequence along a light path.
The OCT scanning probe further comprises at least two reflecting mirrors, the dichroic mirrors are rotatably arranged, and the reflecting mirrors face to the rotating path of the dichroic mirrors and are used for sharing an RGB camera optical path and an OCT scanning optical path.
Wherein, OCT scanning probe still includes the lamp ring, the lamp ring sets up in the outside of casing.
The invention provides a space self-positioning ophthalmic optical coherence tomography system, which is characterized in that a first depth camera, a main control mechanism and a mechanical arm are used for carrying out face positioning (namely coarse positioning), a second depth camera, the main control mechanism and the mechanical arm are used for carrying out eye positioning (namely fine positioning), an RGB camera, the main control mechanism and the mechanical arm are used for carrying out pupil positioning (namely accurate positioning), a face, eyes and pupils are positioned in a three-stage mode, the depth camera and the RGB camera are used as a vision servo positioning system for the three-stage positioning of the mechanical arm, a target eye is identified and tracked in real time, the positioning is accurate and reliable, manpower is replaced by the mechanical arm, the degree of automation is high, the operation difficulty of doctors is reduced, the inspection efficiency is improved, and the system is suitable for scenes which cannot be used by a traditional desktop ophthalmic OCT instrument.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a spatially self-positioning ophthalmic optical coherence tomography system provided by the present invention;
FIG. 2 is a schematic structural diagram of an OCT scanning probe provided by the present invention;
FIG. 3 is an optical path diagram of an OCT scanning probe provided by the present invention;
fig. 4 is a schematic structural diagram of a dichroic mirror provided in the present invention in a first state;
fig. 5 is a schematic structural diagram of the dichroic mirror provided in the present invention in a second state;
fig. 6 is a scanning schematic diagram of the OCT scanning probe provided by the present invention.
Reference numerals:
1: a first depth camera; 2: a mechanical arm; 3: an OCT scanning probe;
4: a housing; 5: a second depth camera; 601: a first color CMOS camera;
602: a second color CMOS camera; 7: a master control mechanism; 301: a collimating lens;
302: MEMS galvanometers; 303: a first focusing lens group; 304: a second focusing lens group;
305: a third focusing lens group; 306: a first dichroic mirror; 307: a second dichroic mirror;
308: a mirror; 309: a lamp ring; 310: and (4) a linear sliding table.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A spatially self-positioning ophthalmic optical coherence tomography system of the present invention is described below in conjunction with fig. 1-6, comprising: first depth camera 1, second depth camera 5, RGB camera, arm 2, main control mechanism 7, OCT scanning probe 3 and casing 4, main control mechanism 7 install in casing 4 and with 2 signal connection of arm for drive arm 2, first depth camera 1 installs on casing 4, the one end of arm 2 is installed on casing 4, the other end and OCT scanning probe 3 drive connection, second depth camera 5 and RGB camera are all installed on OCT scanning probe 3.
Specifically, the housing 4 is mainly used to enclose the main control mechanism 7 and provide mounting positions for the robot arm 2 and the first depth camera 1. The mechanical arm 2 adopts a mechanical arm with 7 degrees of freedom. The main control mechanism 7 comprises an interaction module, a processing module, a communication module and the like, wherein the interaction module can adopt a touch display screen to display OCT scanning data; the communication module is used for receiving the images collected by the cameras and transmitting the images to the processing module; the processing module carries out image fusion, image reconstruction and other processing on the acquired images, carries out image recognition, calculates the displacement and the pose which need to be adjusted of the current mechanical arm 2 according to the position and the pose of the current mechanical arm 2, sends corresponding position and pose adjustment signals to the mechanical arm 2, and adjusts the corresponding position and the pose of the mechanical arm 2. The master control mechanism 7 may be a computer or the like.
The first depth camera 1 is in signal connection with a main control mechanism 7, the first depth camera 1 is used for collecting a first image of an object to be inspected, the main control mechanism 7 performs face recognition according to the first image, and controls the mechanical arm 2 to perform primary positioning (namely coarse positioning) according to a face position. It should be understood that the first image should be an image of the object to be inspected and its surroundings, and that the first depth camera 1 sends the first image to the master control mechanism 7 for face recognition localization.
The second depth camera 5 is in signal connection with the main control mechanism 7, the second depth camera 5 is used for collecting a second image of the object to be inspected, the main control mechanism 7 performs human eye recognition according to the second image, and controls the mechanical arm 2 to perform secondary positioning (namely fine positioning) according to the position of human eyes. It should be understood that the second image should be an image of the face of the object to be inspected and its surroundings, and that the second depth camera 5 sends the second image to the master control mechanism 7, the second image being used for the eye recognition localization. The first depth camera 1 and the second depth camera 5 may employ a depth camera typified by RealsenseD 435.
The RGB camera is in signal connection with the main control mechanism 7, the RGB camera is used for collecting a third image of an object to be checked, the main control mechanism 7 conducts pupil identification according to the third image, and controls the mechanical arm 2 to conduct three-level positioning (namely accurate positioning) according to the pupil position. It should be understood that the third image should be an image of the eye of the subject to be inspected and its surroundings, and that the RGB camera sends the third image to the master control mechanism 7, which is used for pupil identification localization. The RGB camera may employ a color CMOS camera.
In the embodiment, a three-level coarse, fine and precise positioning mode combining a depth camera and an RGB camera is adopted, that is, the first depth camera 1, the main control mechanism 7 and the mechanical arm 2 are used for face positioning (i.e., coarse positioning), the second depth camera 5, the main control mechanism 7 and the mechanical arm 2 are used for eye positioning (i.e., fine positioning), the RGB camera, the main control mechanism 7 and the mechanical arm 2 are used for pupil positioning (i.e., precise positioning), target pupils are identified and tracked in real time, position information is fed back to the main control mechanism 7, the main control mechanism 7 sends an instruction to the mechanical arm 2 to control the mechanical arm 2 to drive the OCT scanning probe 3 to realize multi-degree-of-freedom movement, and the OCT scanning probe 3 can be rapidly and accurately positioned to a proper position to perform OCT scanning imaging; the real-time feedback based on machine vision can ensure that the probe and the imaging target keep stable relative positions, so that the probe moves along with the imaging target under the condition that the imaging target slightly moves, and clear imaging can still be realized. Secondly, the intelligent robot and the medical equipment are combined, automatic ophthalmology OCT scanning can be achieved, the working strength of doctors and other workers when operating the probe can be reduced, and therefore the operation fatigue of the doctors and other workers is relieved. The invention has the advantages of reasonable structure, reliable performance, high automation degree, short imaging time, high inspection efficiency, low cost and the like.
In one embodiment, the first image includes a first RGB color image and a first point cloud depth image, the main control mechanism 7 performs image fusion, splicing, and three-dimensional reconstruction on the first RGB color image and the first point cloud depth image, performs face recognition and positioning on the object to be inspected, and calculates a first spatial position and a first pose of the mechanical arm 2. In the embodiment, a first depth camera 1 is used for acquiring an RGB color image and a point cloud depth image of an object to be inspected, a main control mechanism 7 is used for carrying out image fusion, splicing, three-dimensional reconstruction and other processing on the RGB color image and the point cloud depth image, extracting a surface profile of the target, acquiring a 3D shape and a pose of the target, calculating a first spatial position and a first pose of a mechanical arm 2, sending a driving signal according to the current position and pose of the mechanical arm 2, and driving the mechanical arm 2 to move to the vicinity of a human face, so that primary coarse positioning is realized.
In one embodiment, the second image includes a second RGB color image and a second point cloud depth image, the main control mechanism 7 performs image fusion, splicing and three-dimensional reconstruction on the second RGB color image and the second point cloud depth image, performs eye identification and positioning on the object to be inspected, and calculates a second spatial position and a second pose of the mechanical arm 2. In the embodiment, the second depth camera 5 is used for acquiring an RGB color image and a point cloud depth image of a human face, the main control mechanism 7 is used for performing image fusion, splicing, three-dimensional reconstruction and other processing on the RGB color image and the point cloud depth image, extracting a contour of a target human eye, acquiring a 3D shape and a pose of the human eye, calculating a second spatial position and a second pose of the mechanical arm 2, sending a driving signal according to the current position and pose of the mechanical arm 2, and driving the mechanical arm 2 to move to the vicinity of the human eye, so that secondary fine positioning is realized.
In one embodiment, at least two RGB cameras are provided, the main control mechanism 7 performs pupil identification and positioning in a triangulation positioning manner, and calculates a third spatial position and a third pose of the mechanical arm 2. In this embodiment, a first color CMOS camera 601 obliquely arranged and a second color CMOS camera 602 horizontally arranged are adopted, optical axes of lenses of the two cameras intersect at a point, a pupil is identified and positioned by using a triangulation method, a third spatial position and a third pose of the mechanical arm 2 are calculated, a driving signal is sent according to the current position and pose of the mechanical arm 2 to drive the mechanical arm 2 to move and align with the pupil, the pupil is imaged and tracked in real time, and three-stage precise positioning and fine adjustment are realized, so that OCT scanning light enters the pupil to perform human eye OCT scanning inspection.
In one embodiment, as shown in fig. 2 and 3, the OCT scanning probe 3 includes a housing, and a collimating lens 301, a MEMS galvanometer 302, a focusing lens group, and a dichroic mirror, which are disposed in the housing in this order along an optical path, and a linear stage 310 for adjusting diopter, wherein a stroke of the linear stage 310 is 15 mm. All elements inside the OCT scanning probe 3 are fixed on an aluminum bottom plate, the bottom plate and all elements are arranged in a shell, and the shell is formed by injection molding of ABS plastic.
Wherein the dichroic mirror is reflective for light having a wavelength greater than 950nm and transmissive for light having a wavelength less than 950 nm; the scanning light source of the OCT scanning probe 3 is 1060nm infrared light, and the dichroic mirror reflects 1060nm light and transmits visible light; the optical axis of the collimating lens 301 is arranged horizontally; the MEMS galvanometer 302 forms an included angle of 45 degrees with the horizontal plane in a zero bias state, and the deflection angle of the MEMS galvanometer 302 relative to the zero bias state is +/-3.5 degrees. The focusing lens groups are arranged in three groups, the optical axis of the first focusing lens group 303 is vertically arranged, and the optical axes of the second focusing lens group 304 and the third focusing lens group 305 are horizontally arranged.
In one embodiment, as shown in fig. 4 and 5, the OCT scanning probe 3 further includes a reflecting mirror 308, at least two dichroic mirrors are provided, and the dichroic mirrors are rotatably provided, and the reflecting mirror 308 faces a rotation path of the dichroic mirrors to share the RGB camera optical path and the OCT scanning optical path. In the present embodiment, the OCT scanning probe 3 employs the optical path sharing technique, and realizes simple switching of the OCT behind-eye imaging mode by rotating the first dichroic mirror 306 and the second dichroic mirror 307 to different angles (it should be understood that the purpose of "first" and "second" is to distinguish the two dichroic mirrors). Specifically, the angle of the dichroic mirror can be adjusted by rotating the electromagnet by ± 45 °. The reflector 308 comprises a first reflector and a second reflector, and is a silver-plated film right-angle reflector 308 with a reflecting surface of 36 multiplied by 25mm and used for turning back a light path, so that the occupied space of the whole structure is minimum; the reflecting surface of mirror 308 is the same size as the dichroic mirror.
As shown in fig. 4, which is a behind-eye (retina) imaging mode, an angle between a first dichroic mirror 306 and a horizontal plane is 45 degrees, an angle between a second dichroic mirror 307 and the horizontal plane is 0 degree, a light source fiber emits 1060nm infrared light, the infrared light is collimated by a collimating lens 301, parallel light is emitted to an MEMS vibrating mirror 302, the MEMS vibrating mirror 302 reflects the direct light, the direct light is converged by a first focusing lens group 303 and then enters the first dichroic mirror 306, the light is reflected by the first dichroic mirror 306, and then passes through an objective lens, reaches human eyes, and passes through a pupil to be converged to the retina. On the other hand, the visible light reflected by the measured target respectively enters the first color CMOS camera 601 and the second color CMOS camera 602, and the pose and the distance of the target relative to the probe are acquired through the images of the two cameras by the principle of triangulation.
As shown in fig. 5, in the anterior (cornea) imaging mode, the first dichroic mirror 306 forms an angle of 90 degrees with the horizontal plane, the second dichroic mirror 307 forms an angle of 45 degrees with the horizontal plane, the light source fiber emits 1060nm infrared light, which is collimated by the collimating lens 301 and then emits parallel light to the MEMS galvanometer 302, the direct light is reflected by the MEMS galvanometer 302, and the light is converged by the first focusing lens group 303 and then enters the first reflecting mirror, passes through the second focusing lens group 304 and then enters the second reflecting mirror, and after being reflected by the second reflecting mirror, enters the second dichroic mirror 307, and after being reflected, the light passes through the third focusing lens group 305 and the objective lens, and reaches the human eye and then converges to the cornea of the human eye. On the other hand, the visible light reflected by the measured target respectively enters the first color CMOS camera 601 and the second color CMOS camera 602, and the pose and the distance of the target relative to the probe are acquired through the images of the two cameras by the principle of triangulation.
In one embodiment, the OCT scanning probe 3 further includes a lamp ring 309, and the lamp ring 309 is disposed on the outer side of the housing. The lamp ring 309 emits 800nm infrared light for illumination, so that the RGB camera can image eyes clearly.
In one embodiment, the imaging system further comprises a support frame and universal wheels, the support frame and the universal wheels are arranged at the bottom of the machine shell, the movement of the whole imaging system can be achieved through the universal wheels, the support frame can perform lifting movement, and when the support frame is supported on the ground, the fixation of the whole imaging system can be guaranteed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A spatially self-positioning ophthalmic optical coherence tomography system, comprising: the system comprises a first depth camera, a second depth camera, an RGB camera, a mechanical arm, a main control mechanism, an OCT scanning probe and a casing, wherein the main control mechanism is installed in the casing and is in signal connection with the mechanical arm and used for driving the mechanical arm; wherein the content of the first and second substances,
the first depth camera is in signal connection with the main control mechanism, the first depth camera is used for collecting a first image of an object to be checked, the main control mechanism carries out face recognition according to the first image and controls the mechanical arm to carry out primary positioning according to the face position;
the second depth camera is in signal connection with the main control mechanism and is used for acquiring a second image of the object to be inspected, the main control mechanism carries out eye recognition according to the second image and controls the mechanical arm to carry out secondary positioning according to the position of the eye;
the RGB camera is in signal connection with the main control mechanism, the RGB camera is used for collecting a third image of an object to be checked, the main control mechanism conducts pupil identification according to the third image and controls the mechanical arm to conduct three-level positioning according to the pupil position.
2. The spatially self-positioning ophthalmic optical coherence tomography system of claim 1, wherein the first image comprises a first RGB color image and a first point cloud depth image, and the main control mechanism performs image fusion, stitching and three-dimensional reconstruction on the first RGB color image and the first point cloud depth image, performs face recognition positioning on an object to be inspected, and calculates a first spatial position and a first pose of the mechanical arm.
3. The spatially self-positioning ophthalmic optical coherence tomography system of claim 1, wherein the second image comprises a second RGB color image and a second point cloud depth image, the master control mechanism performs image fusion, stitching and three-dimensional reconstruction on the second RGB color image and the second point cloud depth image, performs human eye identification and positioning on an object to be inspected, and calculates a second spatial position and a second pose of the robotic arm.
4. The spatially self-positioning ophthalmic optical coherence tomography system of claim 1, wherein at least two RGB cameras are provided, and the main control mechanism performs pupil identification and positioning by using a triangulation method to calculate a third spatial position and a third pose of the mechanical arm.
5. The spatially self-positioning ophthalmic optical coherence tomography system of claim 1, wherein the OCT scanning probe comprises a housing and disposed within the housing, in order along an optical path, a collimating lens, a MEMS galvanometer, a focusing lens group, and a dichroic mirror.
6. The spatially self-positioning ophthalmic optical coherence tomography system of claim 5, wherein the OCT scanning probe further comprises at least two dichroic mirrors, and wherein the dichroic mirrors are rotationally oriented, the mirrors facing in a rotational path of the dichroic mirrors to share the RGB camera optical path and the OCT scanning optical path.
7. The spatially self-positioning ophthalmic optical coherence tomography system of claim 5, wherein the OCT scanning probe further comprises a lamp ring disposed outside the housing.
8. The spatially self-positioning ophthalmic optical coherence tomography system of any one of claims 1-7, further comprising a support frame and a universal wheel disposed at the bottom of the housing.
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| CN115474895A (en) * | 2022-09-29 | 2022-12-16 | 山东探微医疗技术有限公司 | OCT (optical coherence tomography) fundus imaging device and method |
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