CN206534707U - Navigated in a kind of PET fluorescent dual modules state art imaging system - Google Patents
Navigated in a kind of PET fluorescent dual modules state art imaging system Download PDFInfo
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Abstract
The utility model discloses imaging system of being navigated in a kind of PET fluorescent dual modules state art.Imaging system of the present utility model includes：PET imaging devices, fluoroscopic imaging device, spatial registration device, Mechanical course frame, imaging bed, computer and display device；The utility model carries out image registration using three-dimensional surface profile image and three-dimensional PET images and merged, and obtain imageable target includes surface profile and the three-dimensional fusion image of internal structure；Fluoroscopic imaging device gathers the two-dimensional fluoroscopic image of imaging sample in real time；Normal axis of the three-dimensional fusion image along the imaging surface of fluoroscopic imaging device, to two-dimensional fluoroscopic image on projected, the depth information for obtaining imageable target is shown on two-dimensional fluoroscopic image；Applied in tumor operation, three-dimensional PET images and two-dimensional fluoroscopic image are merged in a computer, the complementation of two kinds of imaging modes is realized, any advanced tumors of precise positioning provide more accurately knub position information for patient, realize that tumour R0 is cut off.
Description
Technical field
The utility model is related to biomedical imaging field, and in particular to imaging of being navigated in a kind of PET- fluorescent dual modules state art
System.
Background technology
At present, operative treatment is the essential therapeutic arsenals of most of tumour, and about 90% tumour is using performing the operation as examining
Break and instrument by stages, the shorter survival and life quality and the thorough degree of surgery excision of patient is closely related.Early in 2003
Year, John professors V.Frangioni of Harvard Medical School of the U.S. just publish thesis on J.Biomed.Opt to point out, in cancer
Lack suitable surgical imaging device in operation.Until current, most surgeons can only still pass through tumour in art
Profile, Histopathological Characteristics and personal experience judge, it is impossible to it is whether thoroughly clear to the size of tumour, border and tumour
Except making objective, accurate diagnosis.
Nobel chemistry Prize winner professor Qian Yongjian in 2008 guides the tumor tissues for cutting off mouse with fluorescence microscope, carries
The concept of optical molecular image surgical navigational is gone out, its correlative study is published on the PNAS PNAS of 2010.
With the further development of correlation technique and perfect, it is adaptable to which fluoroscopic imaging systems are by the joint of Germany and Holland in clinical art
Research team develops, and in 2011 in tumor resection of the Dutch first Application in human ovarian cancer patients.China
Automation research team of institute of the academy of sciences started independent research in 2012 and goes out optical molecular image operation guiding system in art.This is
System can detect the position of tumor focus with high sensitivity and accurately in art, objective to sketch the contours the border of tumor focus, and have
The Neoplasm residual cut off in effect detection art.2013, John V.Frangioni professor with Univ Leiden Netherlands's medical centre outside
Section doctor Alexander professors L.Vahrmeijer jointly write articles on Nat.Rev.Clin.Oncol and pointed out, near-infrared fluorescent
Imaging technique can provide effective help for clinician.Utilize Imaging-PAM adjuvant therapy surgeon in new art
Carry out the accurate surgery excision of tumor focus, the important means as oncotherapy in art.
In summary, fluorescence imaging is a kind of effective imaging methods for being navigated in art.But, the fluorescence of single mode
Imaging is limited to strong scattering and absorption of the tissue to photon, and the signal of tissue depth is difficult to penetrate to surface, therefore to depths
The sensitivity of tumour is low, is only capable of the tumour at effectively detection superficial.Being difficult to of fluorescent material of operation is can apply to simultaneously
Modification is learned, there is the problem of targeting is poor.Detection imaging depth as shallow and targeting difference turn into limitation fluorescence imaging it is important because
Element.
At present, the operation guiding system based on PET is also in research.The research of most PET surgical navigationals concentrate on as
CT images in preoperative PET image and art are carried out rapid fusion by what, to realize that PET/CT is registering on the spot, but this technology
The change in location of corrective surgery part in art is limited to, is only capable of being guided initial stage in operation, it is impossible to the guiding in real time in art；This
Outside, the scientist of Holland and Switzerland carries out count measurement using gamma detector to positive electron (β+) nucleic, as real-time in art
The guiding of tumor resection, but because the technology is poor for the positioning of tumor locus, the auxiliary in surgical procedure for doctor is made
With limited, subsequently further promote and be also restricted.
PET imagings are not influenceed by tissue depth, and have preferable targeting for tumour, can effectively make up fluorescence imaging
With the limitation of the autonomous ocal resection of patient.The navigation of PET- fluorescent dual modules state compensate for PET and the respective imaging of fluorescence lacks
Fall into, be a kind of potential iconography means for being navigated in art.
Utility model content
Because fluorescence imaging sensitivity is high, image taking speed is fast, but imaging depth is shallow, it is difficult to three-dimensional localization；And PET imagings are visited
Depth measurement degree is deep, can with three-dimensional localization, it is good to the targetings of tumor tissues, both are technically complementary, and the utility model proposes one
The imaging system that PET imagings and fluorescence imaging are combined is planted, for cancer surgery navigation.
Imaging system of being navigated in PET- fluorescent dual modules state art of the present utility model includes：PET imaging devices, fluorescence imaging dress
Put, spatial registration device, Mechanical course frame, imaging bed, computer and display device；Wherein, imaging sample is placed on imaging bed
On, imaging bed is arranged on Mechanical course frame；PET imaging devices, fluoroscopic imaging device and spatial registration device are separately mounted to
Simultaneously against imaging sample on Mechanical course frame；PET imaging devices, fluoroscopic imaging device, spatial registration device, Mechanical course frame and
Display device is connected to computer by data wire respectively；Spatial registration device includes the camera of multiple different angles, passes through meter
The three-dimensional surface profile image of calculation machine formation imaging sample；PET imaging devices are imaged the internal junction of sample by computer formation
The three-dimensional PET images of structure；Fluoroscopic imaging device is imaged the two-dimensional fluoroscopic image of sample by computer formation；Three-dimensional surface profile
Image carries out the three-dimensional including surface profile and internal structure that obtained imageable target is merged in image registration with three-dimensional PET images
Fused images, and two-dimensional fluoroscopic image, display is on the display apparatus.
Spatial registration device uses the camera of multiple different angles, according to Binocular Vision Principle, forms the three of imaging sample
Dimension table profile image；The three-dimensional PET images of the internal structure of PET imaging devices collection imaging sample；According to demarcating in advance
Spatial registration device and PET imaging devices spatial registration relation, three-dimensional surface profile image schemed with three-dimensional PET images
As registration fusion, obtain imageable target includes surface profile and the three-dimensional fusion image of internal structure；Fluoroscopic imaging device is real
When gather imaging sample two-dimensional fluoroscopic image, and show on the display apparatus；Three-dimensional fusion image is filled along fluorescence imaging
The normal axis for the imaging surface put, to two-dimensional fluoroscopic image on projected, the depth of imageable target is obtained on two-dimensional fluoroscopic image
Spend information；Change the imaging angle of fluoroscopic imaging device, imageable target range Imaging sample under different angles is obtained in real time
The depth information on surface.
Mechanical course frame is fixed on the ground, for PET imaging devices, fluoroscopic imaging device, the spatial registration being attached thereto
Device and imaging bed provide the functions such as lifting, rotation and translation.Mechanical course frame includes：Fixed mount, PET linking arms, displacement dress
Put, fluorescence mechanical arm and positioning camera mounting bracket；Wherein, fixed mount is fixed on bottom surface；Imaging bed is installed by gearshift
On fixed mount, gearshift is connected to computer, and computer controls to be imaged the lifting and translation of bed by gearshift；PET
Imaging device by PET linking arms be arranged on fixed mount on, PET linking arms are connected to computer, during imaging PET linking arms with into
Axle rotated in face centered on decent, and imaging terminates to be rotated away from imaging bed outside below；Fluoroscopic imaging device passes through fluorescence
Mechanical arm is arranged on fixed mount, and fluorescence mechanical arm is connected to computer, and computer controls fluorescence imaging by fluorescence mechanical arm
Device is moved in real time, and obtains position and the normal axis of imaging surface of the coordinate origin of fluoroscopic imaging device in real time
Angle；Spatial registration device is fixed by positioning camera mounting bracket with fixed mount relative position.
PET imaging devices include：Pet detector and data collecting system；Wherein, at least one pair of pet detector on into
Decent is arranged symmetrically, and pet detector is connected to data collecting system, and data collecting system is connected to computer；PET is detected
The device collection imaging intrinsic gamma of sample (gamma) photon signal, converts optical signal into electric signal, and transmit to data acquisition
System, the data of data collecting system pass to computer by data wire and focused on；Pet detector is shaped as slab construction
Or irregular slab construction, such as：Semi-circular, arc or L-type etc..
Fluoroscopic imaging device includes：Fluorescence signal acquisition camera, white light signal collection camera, lighting source, collection camera lens,
Filter set, lens group, light-dividing device and shading case；Wherein, fluorescence signal acquisition camera, white light signal collection camera, optical filtering
Piece group, lens group and light-dividing device are arranged in shading case；Lighting source exciting there is provided fluorescence signal is fixed around shading case
Light source；Collection camera lens is arranged on outside shading case and before filter set, collection alignment lenses imaging sample, and imaging is gathered in real time
The data of sample, by filter set and lens group, remove signal noise, and transfer signals to light-dividing device；Fluorescence signal
Collection camera and white light signal gather that camera is vertical to be put, and are directed at light-dividing device；Optical signalling is divided into two by light-dividing device
Point, a part of signal is gathered by fluorescent optical filter by fluorescence signal acquisition camera, obtains fluorescence data；Another part signal
By white light optical filter, by white light signal collection camera collection, nature light data is obtained；Fluorescence data and natural light data pass through
Data wire passes to computer and merged, and the two-dimensional fluoroscopic image with natural light background is obtained in real time.
Spatial registration device includes the positioning camera of the different angles of many mesh, and the positioning camera of the different angles of many mesh passes through positioning
Camera mounting bracket is fixed with fixed mount relative position；The positioning camera collection imaging multiple different directions of sample of the different angles of many mesh
Two-dimensional surface image；The data of collection pass to computer by data wire, and using Binocular Vision Principle, it is decent that reconstruction is obtained into
This three-dimensional surface profile collection.
Imaging system of the present utility model, is applied in tumor resection, and imaging sample is operative region, imageable target
For tumour；Two-dimensional fluoroscopic image is obtained by fluorescence imaging, real time imagery and imaging are carried out in fact for operative region superficial tumor,
The tumor tissues of precise ablation superficial；It is imaged, is imaged for operative region deep tumor by three-dimensional PET；Spatial registration device
Three-dimensional surface profile image is formed, three-dimensional surface profile image carries out image registration with three-dimensional PET images and merged, and obtains field of operation
The three-dimensional fusion image including surface profile and internal structure in domain；Imaging surface of the three-dimensional fusion image along fluoroscopic imaging device
Normal axis, to two-dimensional fluoroscopic image on projected, show in real time on two-dimensional fluoroscopic image and obtain tumour at different angles
Apart from the depth information on operative region surface under degree；Guide patient next step surgery excision direction and depth.When tissue is broken away
Afterwards, the tumour of depths is exposed to superficial, and accurate excision is realized in the guiding again according to fluorescence.So circulation, can be according to hand
Art demand carries out multiple PET imagings.So, realize bimodal in art to have complementary advantages, help doctor to be accurately positioned in operation
Focus, reduction wound area, the therapeutic effect of improvement cancer operation.
Advantage of the present utility model：
(1) unified Machinery Control System control PET imaging devices and fluoroscopic imaging device, easy to operate, the free degree is more,
It can be imaged specifically designed for operative site；
(2) PET imaging devices are freely adjusted using the flat panel detector of the fast imaging suitable for art according to focal area
Detector locus；
(3) fluorescence imaging is imaged to superficial tumor with positioning, precise ablation superficial tumor；
(4) PET imagings are accurately positioned and are imaged for deep tumor, the deep tumor that identification human eye can not be differentiated；
(5) spatial registration device is based on, three-dimensional PET images and two-dimensional fluoroscopic image are merged in a computer, two kinds are realized
The complementation of imaging mode, any advanced tumors of precise positioning；
(6) realtime graphic that three-dimensional fusion image and two-dimensional fluoroscopic image are combined in performing the operation is guided, and provides more accurate for patient
True knub position information, realizes that tumour R0 is cut off.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of navigation imaging system in PET- fluorescent dual modules state art of the present utility model
Figure；
Fig. 2 is the PET imagings of one embodiment of navigation imaging system in PET- fluorescent dual modules state art of the present utility model
The motion state schematic diagram of device, wherein, (a) is state in imaging, and (b) is outward turning state, and (c) is hand intraoperative state；
Fig. 3 is the PET imagings of one embodiment of navigation imaging system in PET- fluorescent dual modules state art of the present utility model
The schematic diagram of device；
Fig. 4 is the fluorescence imaging of one embodiment of navigation imaging system in PET- fluorescent dual modules state art of the present utility model
The schematic diagram of device；
Fig. 5 is the fluorescence imaging of one embodiment of navigation imaging system in PET- fluorescent dual modules state art of the present utility model
Schematic diagram inside the shading case of device；
Fig. 6 be according to PET- fluorescent dual modules state of the present utility model navigate imaging method one embodiment in by PET into
As the schematic diagram that the coordinate system of device is matched with the coordinate system of spatial registration device, wherein, (a) is characterized registration point placement
Schematic diagram on imaging bed, (b) is the three-dimensional PET images of matching, and (c) is the three-dimensional table of the spatial registration device of matching
Profile image.
Embodiment
Below in conjunction with the accompanying drawings, the utility model is described further by embodiment.
As shown in figure 1, imaging system of being navigated in the PET- fluorescent dual module state arts of the present embodiment includes：PET imaging devices 2,
Fluoroscopic imaging device 3, spatial registration device 4, Mechanical course frame 1, imaging bed 5, computer 6 and display device 7；Wherein, it is imaged
Sample is placed on imaging bed 5, and imaging bed is arranged on Mechanical course frame 1；PET imaging devices 2, fluoroscopic imaging device 3 and sky
Between registration apparatus 4 be separately mounted on Mechanical course frame 1 and against imaging sample；PET imaging devices 2, fluoroscopic imaging device 3,
Spatial registration device 4, Mechanical course frame 1 and display device 7 are connected to computer 6 by data wire respectively.
As shown in figure 1, Mechanical course frame includes：Fixed mount 11, PET linking arms 12, gearshift 13, fluorescence mechanical arm 14
With positioning camera mounting bracket；Wherein, fixed mount 11 is fixed on bottom surface；It is imaged bed 5 and fixed mount is arranged on by gearshift 13
On 11, gearshift 11 is connected to computer 6, controls to be imaged the lifting and translation of bed by gearshift；PET imaging devices lead to
PET linking arms 12 are crossed on the fixed mount 11, PET linking arms 12 are connected to computer 6, PET linking arms are to be imaged during imaging
Axle rotated in face centered on sample, and imaging terminates to be rotated away from imaging bed outside below；Fluoroscopic imaging device passes through fluorescent machine
Tool arm 14 is arranged on fixed mount, and fluorescence mechanical arm 14 is connected to computer 6.
As shown in Fig. 2 PET imaging devices 2 are in PET imaging processes, relative pet detector 21 is in PET linking arms 12
Control under select suitable imaging position and imaging angle, shown in such as Fig. 2 (a) and (b), after PET imagings terminate, by PET into
As device 2 is rotated away from operative site, it is to avoid interference patient is performed the operation.PET linking arms 12 use C-arm.
Imaging system of being navigated in the present embodiment, in PET- fluorescent dual module state arts, which is applied in operation, carries out navigation imaging, mistake
Journey is divided into following four step：
1) patient is flat on examination couch by operation consent, when running into doubtful minimal disease in surgical procedure, gives patient's injection
Radioactive tracer and fluorography agent；
2) after medicine enters patient's body-internal-circulation, PET linking arms are turned to above patient, such as Fig. 2 (a) and (b) institute
Show, start the rotating acquisition of radiological images as central shaft using the direction that patient lies low, acquisition trajectories can be round, also may be used
Think ellipse, real-time processing of the computer to data, using patient as imaging sample, is imaged to patient；
3) after the completion of gathering, PET linking arms are removed, under the guiding of display device 7, and auxiliary doctor has found that target organ is deep
The suspected abnormality of layer, instructs doctor to cut the designated depth of organ；
4) real-time phenomenon is carried out to the tissue of incision using fluorescence signal acquisition camera, instructs doctor to cut off small disease one by one
Stove, carries out lymph node dissection, realizes that accurately tumor operation R0 is cut off.
As shown in figure 3, PET imaging devices 2 include：Pet detector 21 and data collecting system 22；Wherein, a pair of PET are visited
Survey device 21 to be arranged symmetrically, pet detector 21 is connected to data collecting system 22, and data collecting system 22 is connected to computer 6；
Pet detector 21 is shaped as irregular slab construction.
As shown in Figure 4 and Figure 5, fluoroscopic imaging device 3 includes：Fluorescence signal acquisition camera 34, white light signal collection camera
35th, lighting source 33, collection camera lens 32, filter set 36, lens group 37, light-dividing device 38 and shading case 31；Wherein, fluorescence is believed
Number collection camera 34, white light signal collection camera 35, filter set 36, lens group 37 and light-dividing device 38 are arranged on shading case 31
It is interior；The surrounding of shading case 31 fixes lighting source 33 there is provided the excitation source of fluorescence signal, and it is decent that collection camera lens 32 is gathered into real time
This data, by filter set 36 and lens group 37, remove signal noise, and transfer signals to light-dividing device 38；Fluorescence
Camera 35 is vertical puts for the collection of signal acquisition camera 34 and white light signal, and is directed at light-dividing device 38, and light-dividing device 38 is using rolling over
Penetrate mirror；Optical signalling is divided into two parts by light-dividing device 38, and a part of signal is by fluorescent optical filter, by fluorescence signal acquisition phase
Machine 34 is gathered, and obtains fluorescence data；Another part signal is gathered by white light signal collection camera 35, obtained by white light optical filter
Derived from right light data；Fluorescence data and natural light data pass to computer 6 by data wire and merged, and obtain having certainly in real time
The two-dimensional fluoroscopic image of right light background.
In the present embodiment, spatial registration device 4 is arranged on pet detector 21 by positioning camera mounting bracket, so that with consolidating
Determine frame relative position to fix.Spatial registration device includes the positioning camera of the different angles of 2 mesh.
As shown in fig. 6, the coordinate system of PET imaging devices is matched with the coordinate system of spatial registration device, with weak
Radioactive feature registration point 51 is positioned on imaging bed 5, due to pet detector 21, the positioning phase with spatial registration device 4
The resolution ratio of machine is inconsistent, needs to match somebody with somebody the space shown in the three-dimensional PET images and Fig. 6 (c) shown in Fig. 6 (b) in registration process
The three-dimensional surface profile image of standard apparatus 4 carries out rigid transformation, to reach bimodal image matching fusion, if characteristic point is three
It is x=(x to tie up the locus in PET image1,x2,x3,x4), the locus in three-dimensional surface profile image is y=(y1,
y2,y3,y4), spin matrix R and translation matrix T can be solved by rigid body translation formula y=Rx+T, obtained R and T two
Matrix, can make three-dimensional surface profile image and PET image reach registering fusion.
The imaging method of the PET- fluorescent dual modules state navigation imaging system of the present embodiment, comprises the following steps：
1) coordinate system matching：
The coordinate system of PET imaging devices is matched with the coordinate system of spatial registration device, the two is decided, position
Relation is constant, obtains the spatial registration relation for the spatial registration device and PET imaging devices demarcated；
2) spatial registration device uses the camera of multiple different angles, according to Binocular Vision Principle, forms imaging sample
Three-dimensional surface profile image；Meanwhile, the three-dimensional PET images of the internal structure of PET imaging devices collection imaging sample；
3) according to the spatial registration relation of the spatial registration device demarcated in advance and PET imaging devices, three-dimensional surface wheel
Wide image carries out image registration with three-dimensional PET images and merged, and obtain imageable target includes the three of surface profile and internal structure
Tie up fused images；
4) fluoroscopic imaging device gathers the two-dimensional fluoroscopic image of imaging sample in real time, and shows on the display apparatus；And
And, the relation of coordinate system of the coordinate system relative to PET imaging devices of fluoroscopic imaging device, and fluorescence imaging are obtained in real time
Angle of the normal axis of the imaging surface of device under the coordinate system of PET imaging devices；
5) normal axis of the three-dimensional fusion image along the imaging surface of fluoroscopic imaging device, to two-dimensional fluoroscopic image on thrown
Shadow, shows the depth information for obtaining imageable target on two-dimensional fluoroscopic image；Change the imaging angle of fluoroscopic imaging device, it is real
When obtain the depth information of imageable target range Imaging sample surface under different angles.
It is finally noted that, the purpose for publicizing and implementing mode is that help further understands the utility model, still
It will be appreciated by those skilled in the art that：Do not depart from the utility model and appended spirit and scope by the claims in, respectively
It is all possible to plant substitutions and modifications.Therefore, the utility model should not be limited to embodiment disclosure of that, the utility model
Claimed scope is defined by the scope that claims are defined.
Claims (6)
1. imaging system of being navigated in a kind of PET- fluorescent dual modules state art, it is characterised in that the imaging system includes：PET is imaged
Device, fluoroscopic imaging device, spatial registration device, Mechanical course frame, imaging bed, computer and display device；Wherein, it is described into
Decent is placed on imaging bed, and the imaging bed is arranged on Mechanical course frame；The PET imaging devices, fluorescence imaging dress
Put and be separately mounted to spatial registration device on Mechanical course frame and opposite imaging sample；The PET imaging devices, fluorescence imaging
Device, spatial registration device, Mechanical course frame and display device are connected to computer by data wire respectively；The spatial registration
Device includes the camera of multiple different angles, and the three-dimensional surface profile image of sample is imaged by computer formation；The PET into
As device is imaged the three-dimensional PET images of the internal structure of sample by computer formation；The fluoroscopic imaging device is by calculating
The two-dimensional fluoroscopic image of machine formation imaging sample；The three-dimensional surface profile image carries out image registration with three-dimensional PET images and melted
Close the three-dimensional fusion image including surface profile and internal structure of obtained imageable target, and two-dimensional fluoroscopic image, display
On the display apparatus.
2. imaging system as claimed in claim 1, it is characterised in that the Mechanical course frame includes：Fixed mount, PET connections
Arm, gearshift, fluorescence mechanical arm and positioning camera mounting bracket；Wherein, the fixed mount is fixed on bottom surface；The imaging bed
It is arranged on by gearshift on fixed mount, gearshift is connected to computer；The PET imaging devices pass through PET linking arms
On fixed mount, PET linking arms are connected to computer；The fluoroscopic imaging device is arranged on by fluorescence mechanical arm and fixed
On frame, fluorescence mechanical arm is connected to computer；Spatial registration device is consolidated by positioning camera mounting bracket and fixed mount relative position
It is fixed.
3. imaging system as claimed in claim 1, it is characterised in that the PET imaging devices include：Pet detector sum
According to acquisition system；Wherein, at least one pair of pet detector is arranged symmetrically on imaging sample；The pet detector is connected to number
According to acquisition system；The data collecting system is connected to computer.
4. imaging system as claimed in claim 3, it is characterised in that the pet detector is shaped as slab construction or non-
Regular slab construction；Irregular slab construction uses semi-circular, arc or L-type.
5. imaging system as claimed in claim 1, it is characterised in that the fluoroscopic imaging device includes：Fluorescence signal acquisition
Camera, white light signal collection camera, lighting source, collection camera lens, filter set, lens group, light-dividing device and shading case；Its
In, the fluorescence signal acquisition camera, white light signal collection camera, filter set, lens group and light-dividing device are arranged on shading
In case；Fixing lighting source around the shading case, there is provided the excitation source of fluorescence signal；The collection camera lens is arranged on shading
Case is outer and before filter set, and collection alignment lenses imaging sample, the data of the sample of collection imaging in real time pass through filter set
And lens group, signal noise is removed, and transfer signals to light-dividing device；Fluorescence signal acquisition camera gathers phase with white light signal
Machine is vertically put, and is directed at light-dividing device；Optical signalling is divided into two parts by light-dividing device, and a part of signal is filtered by fluorescence
Piece, is gathered by fluorescence signal acquisition camera, obtains fluorescence data；Another part signal is by white light optical filter, by white light signal
Camera collection is gathered, nature light data is obtained；Fluorescence data and natural light data pass to computer by data wire.
6. imaging system as claimed in claim 1, it is characterised in that the spatial registration device includes the different angles of many mesh
Positioning camera, the positioning camera of the different angles of many mesh is fixed by positioning camera mounting bracket with fixed mount relative position.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530889A (en) * | 2018-05-25 | 2019-12-03 | 上海翌视信息技术有限公司 | A kind of optical detecting method suitable for industrial production line |
| CN111839730A (en) * | 2020-07-07 | 2020-10-30 | 厦门大学附属翔安医院 | Photoacoustic imaging surgical navigation platform for guiding tumor resection |
| CN114266817A (en) * | 2022-03-02 | 2022-04-01 | 广东欧谱曼迪科技有限公司 | Fluorescent depth image synthesis method and device, electronic equipment and storage medium |
-
2016
- 2016-11-23 CN CN201621267932.3U patent/CN206534707U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530889A (en) * | 2018-05-25 | 2019-12-03 | 上海翌视信息技术有限公司 | A kind of optical detecting method suitable for industrial production line |
| CN111839730A (en) * | 2020-07-07 | 2020-10-30 | 厦门大学附属翔安医院 | Photoacoustic imaging surgical navigation platform for guiding tumor resection |
| CN111839730B (en) * | 2020-07-07 | 2022-02-11 | 厦门大学附属翔安医院 | Photoacoustic imaging surgical navigation platform for guiding tumor resection |
| CN114266817A (en) * | 2022-03-02 | 2022-04-01 | 广东欧谱曼迪科技有限公司 | Fluorescent depth image synthesis method and device, electronic equipment and storage medium |
| CN114266817B (en) * | 2022-03-02 | 2022-06-07 | 广东欧谱曼迪科技有限公司 | Fluorescent depth image synthesis method and device, electronic equipment and storage medium |
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