CN103300812A - Endoscope-based multispectral video navigation system and method - Google Patents
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Abstract
The invention discloses an endoscope-based multispectral video navigation system and method. The system comprises an endoscope head module used for internal inspection, a light source module used for providing near infrared and visible light sources, an optical signal acquisition module used for acquiring near infrared and visible light images, a multispectral conversion module used for imaging different spectrum segments, and a controlling and processing module used for controlling a camera and processing the acquired images to achieve video navigation. The invention also discloses a method utilizing the system to achieve multispectral video navigation. By adopting the system and the method, the problem that at present, most endoscope fluorescent products can only see fluorescent images or visible light images but not multispectral images is solved, technical monopoly of foreign companies in China is broken through, the imaging research threshold of the multispectral endoscope is lowered, the selection space of optical molecular imaging probes is expanded, and the optical molecular imaging research and application ranges are extended.
Description
Technical field
The present invention relates to the optical image technology field, particularly a kind of multispectral video navigation system and method based on endoscope.
Background technology
In recent years, because the development that molecular image learns a skill, after radionuclide imaging, positron emission computerized tomography, single photon emission computed tomography and nuclear magnetic resonance, high-resolution optical imagery has appearred, and wherein near-infrared fluorescence imaging receives much attention.Even but the application of optical molecular image is wider, the tissue penetration degree of depth is still a large obstacle of its extensive use, how can realize that the depth finding at body is present problem demanding prompt solution.
The detection mode of inner peeping type has the advantages such as investigation depth is controlled, can effectively solve the problem of the tissue penetration degree of depth.By the inventive method, can be in body observation and fluorescence position, location, and enter by endoscope head and to carry out depth finding in the tissue.
Present single spectrum video imaging system commonly on the market, this system has the shortcomings such as the imaging spectral coverage is single, and information is imperfect, and multispectral imaging can effectively overcome above-mentioned shortcoming.Be still the separate unit imaging device but present most of multi-optical spectrum imaging system adopts, utilize filter wheel to carry out multispectral switching, same imaging device used in timesharing, and this just has great limitation in the video imaging effect.The present invention adopts two imaging devices, by sharing an optical path, increases different filtering apparatus before imaging device, realizes multispectral realtime imaging.On the imaging results information of different spectrum is being presented on the computer display, the technical staff realizes image-guidance guiding operation.
Summary of the invention
The objective of the invention is to solve the defective that above-mentioned prior art exists, a kind of multispectral video navigation system and method based on endoscope is provided.The present invention is according to the characteristics of optical molecular image, and based on for a long time at the research experience of optical imaging field, adopt two cameras to realize the functions such as obtaining of fluorescence, visible light and fusion image.
According to an aspect of the present invention, a kind of multi-optical spectrum imaging system based on endoscope is proposed, this system comprises: endoscope head module 110, light source module 120, optical signalling acquisition module 130, control and processing module 140 and multispectral handover module 150, wherein:
Described endoscope head module 110 is peeped in the search coverage 100 of tissue to be measured is carried out, and the reflected light of described search coverage 100 is transferred to described optical signalling acquisition module 130;
Described light source module 120 is connected with described endoscope head module 110, is used to described endoscope head module 110 that exciting light and visible light are provided;
Described optical signalling acquisition module 130 is connected with described endoscope head module 110, is used for obtaining fluorescence and visible images according to the reflected light of the described search coverage 100 of described endoscope head module 110 transmission;
Described control is connected with described optical signalling acquisition module 130 with processing module 140, be used for fluorescence camera 134 and the color camera 136 of described optical signalling acquisition module 130 are controlled, the fluorescence that described optical signalling acquisition module 130 is collected and visible images are processed and are shown, the staff operates for described tissue to be measured according to the fluorescence that demonstrates and visible images;
Described multispectral handover module 150 is used to described light source module 120 and described optical signalling acquisition module 130 that the optical filter of different spectrum is provided.
According to a further aspect in the invention, propose a kind of described method of carrying out multispectral imaging based on the multi-optical spectrum imaging system of endoscope of utilizing, the method may further comprise the steps:
Step S1 shines respectively 123 pairs of search coverages 100 of excitation source 121 and visible light source;
Step S2, according to detection feature, spectrum handover module 150 arranges for the parameter of optical filter in light source module 120, the optical signalling acquisition module 130;
Step S3, the imaging parameters of 141 pairs of fluorescence cameras 134 of control module and color camera 136 is adjusted, and described fluorescence camera 134 collects image according to the reflected light that described search coverage 100 has different spectrum or energy respectively with color camera 136;
Step S4, the image that 142 pairs of described fluorescence cameras 134 of image processing module and color camera 136 collect is processed;
Step S5, image after the processing that display module 143 obtains for described step S4 shows in real time, if the image that shows does not reach the definition requirement, then come the parameter of adjustable lens 131 by optical signalling acquisition module 130, until the image that described display module 143 shows reaches the definition requirement;
Step S6, mobile endoscope head module 110 at the search coverage 100 interior searching fluorescent objects of tissue to be measured, finally obtains the picture rich in detail of described fluorescent object.
The present invention realizes the collection with light of exciting of light source by the endoscope head module, the optical signalling acquisition module carries out Real-time Collection light, multispectral modular converter filters the light of different spectral coverage, control is carried out real-time processing with processing module to the image information that collects, the Image Mosaic of different spectral coverage is arrived together, the image co-registration of realization spectrum also shows, so that the staff can operate for tissue to be measured targetedly according to the fluorescence that demonstrates and visible images.Most endoscope fluorescence products all adopt single CCD camera to carry out imaging on the market at present, can only see fluoroscopic image or visible images when its shortcoming is imaging, and can't see multispectral image.And the present invention has effectively solved this problem, also broken simultaneously the technical monopoly situation of offshore company in China, reduce the threshold of multi-spectrum endoscopic imaging research, expanded the alternative space of optical molecular image probe, extended the scope of optical molecular imaging study and application.
Description of drawings
Fig. 1 is the structured flowchart that the present invention is based on the multispectral video navigation system of endoscope;
Fig. 2 is the systematic schematic diagram that the present invention is based on the multispectral video navigation system of endoscope;
Fig. 3 is the flow chart that the present invention is based on the multispectral video navigation method of endoscope.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
According to an aspect of the present invention, a kind of multispectral video navigation system based on endoscope is proposed, Fig. 1 is the structured flowchart that the present invention is based on the multispectral video navigation system of endoscope, Fig. 2 is the systematic schematic diagram that the present invention is based on the multispectral video navigation system of endoscope, as depicted in figs. 1 and 2, described multispectral video navigation system comprises: endoscope head module 110, light source module 120, optical signalling acquisition module 130, control and processing module 140 and multispectral handover module 150, wherein:
Described endoscope head module 110 is peeped in the search coverage 100 of tissue to be measured is carried out, and the reflected light of described search coverage 100 is transferred to described optical signalling acquisition module 130;
Described light source module 120 is connected with described endoscope head module 110, is used to described endoscope head module 110 that exciting light and visible light are provided, and described visible light is illumination light as a setting;
Described optical signalling acquisition module 130 is connected with described endoscope head module 110, is used for obtaining fluorescence and visible images according to the reflected light of the described search coverage 100 of described endoscope head module 110 transmission;
Described control is connected with described optical signalling acquisition module 130 with processing module 140, be used for fluorescence camera 134 and the color camera 136 of described optical signalling acquisition module 130 are controlled, the fluorescence that described optical signalling acquisition module 130 is collected and visible images are processed and are shown, the staff operates for described tissue to be measured according to the fluorescence that demonstrates and visible images;
Described multispectral handover module 150 is used to described light source module 120 and described optical signalling acquisition module 130 that the optical filter of different spectrum is provided.
Described endoscope head module 110 further comprises exciting light optical fiber 111, visible light optical fiber 112 and signals collecting optical fiber 113, described exciting light optical fiber 111, visible light optical fiber 112 be distributed in described signals collecting optical fiber 113 around, wherein, described exciting light optical fiber 111 is connected with optical filter 1 in the described light source module 120, be used for being guided out the exciting light that the excitation source 121 of described light source module 120 sends, so that described search coverage 100 is carried out excitation light irradiation; Described visible light optical fiber 112 is connected with optical filter 2 124 in the described light source module 120, is used for being guided out the visible light that the visible light source 123 of described light source module 120 sends, and thinks that described search coverage 100 provides lighting source; The front end of the camera lens 131 in described signals collecting optical fiber 113 and the described optical signalling acquisition module 130 is connected, and is used for gathering described exciting light and visible light at the reflected light of described search coverage 100, and described reflected light is guided to described camera lens 131 places.
Described light source module 120 further comprises excitation source 121, optical filter 1, visible light source 123 and optical filter 2 124, wherein, described excitation source 121 is connected with exciting light optical fiber 111 in the described endoscope head module 110 by described optical filter 1, be used to described exciting light optical fiber 111 that exciting light is provided, described excitation source 121 can adopt the wide spectrum light sources such as adjustable wavelength laser or halogen tungsten lamp; Described visible light source 123 is connected with visible light optical fiber 112 in the described endoscope head module 110 by described optical filter 2 124, be used to described visible light optical fiber 112 that visible light is provided, described visible light source 123 can adopt narrow spectral coverage specific wavelength or the wave band light sources such as halogen tungsten lamp or LED lamp.
Described optical signalling acquisition module 130 further comprises camera lens 131, Amici prism 132, optical filter 3 133, fluorescence camera 134, optical filter 4 135 and color camera 136, wherein, described camera lens 131 is connected with signals collecting optical fiber 113 in the described endoscope head module 110, be used for described utilizing emitted light is guided to described Amici prism 132 places, and be adjusted to image sharpness by parameters such as adjusting focal length, focusing rings; Described Amici prism 132 forms to beam splitters such as Amici prism or 55 Amici prisms by two, the incident light end of described Amici prism 132 links to each other with the end of described camera lens 131, two exit ends of described Amici prism 132 link to each other with color camera 136 with described fluorescence camera 134 with optical filter 4 135 by optical filter 3 133 respectively, are used for the Ray Of Light of described camera lens 131 transmission is divided into two bundles according to the spectrum of light or the difference of energy; Described fluorescence camera 134 is connected with color camera and is connected with processing module 140 with described control by data wire 101, be used for carrying out imaging according to the emergent ray of described Amici prism 132, and with the image transmitting with different spectrum or different-energy that obtains respectively to described control and processing module 140.
Described control and processing module 140 further comprise control module 141, image processing module 142 and display module 143, wherein, the imaging parameters (such as time of exposure etc.) that is used for described fluorescence camera 134 and color camera 136 of described control module 141 is controlled; Described image processing module 142 is used for that described fluorescence camera 134 and color camera 136 are taken the view data that obtains to be processed, and described processing comprises image co-registration at least, can also comprise that in addition image denoising etc. processes operation; Described display module 143 is for showing in real time for the image that obtains after described image processing module 142 processing, and treat operation for staff's observation and for described tissue to be measured, this sample system has just realized the function of multispectral video navigation.
Described multispectral handover module 150 is the filter wheel device, be used for the exciting characteristic according to different fluorescence, adjust the spectral coverage of each optical filter, to guarantee exciting and gathering of multispectral light, avoid the phase mutual interference of different spectrum light, after in a single day the spectral coverage of each optical filter is adjusted, in the process of whole real-time navigation, will no longer switch.The quantity of described optical filter can be installed as required, in an embodiment of the present invention, the quantity of described optical filter is 4: optical filter 1, optical filter 2 124, optical filter 3 133 and optical filter 4 135, and the spectral coverage of described optical filter is near infrared range, is specially:
The spectral coverage of optical filter 1 is 710nm-770nm, and diameter is 25mm;
The spectral coverage of optical filter 2 124 is 400nm-650nm, and diameter is 25mm;
The spectral coverage of optical filter 3 133 is 810nm-870nm, and diameter is 50mm;
The spectral coverage of optical filter 4 135 is 400nm-650nm, and diameter is 50mm.
In the actual use procedure of operator, can switch the optical filter with suitable spectrum according to concrete demand.
According to a further aspect in the invention, also propose a kind of described multispectral video navigation method based on endoscope that utilizes, said method comprising the steps of:
Step S1 shines respectively 123 pairs of search coverages 100 of excitation source 121 and visible light source;
Step S2, according to detection feature, spectrum handover module 150 arranges for the parameter of optical filter in light source module 120, the optical signalling acquisition module 130;
Step S3, the imaging parameters of 141 pairs of fluorescence cameras 134 of control module and color camera 136 is adjusted, and described fluorescence camera 134 collects image according to the reflected light that described search coverage 100 has different spectrum or energy respectively with color camera 136;
Step S4, the image that 142 pairs of described fluorescence cameras 134 of image processing module and color camera 136 collect is processed, and described processing comprises image co-registration at least, can also comprise in addition the processing operations such as image denoising;
Step S5, image after the processing that display module 143 obtains for described step S4 carries out real-time video and shows, if the image that shows does not reach the definition requirement, then come the parameter of adjustable lens 131 by optical signalling acquisition module 130, until the image that described display module 143 shows reaches the definition requirement;
Step S6, mobile endoscope head module 110 at the search coverage 100 interior searching fluorescent objects of tissue to be measured, finally obtains and shows the picture rich in detail of described fluorescent object;
Step S7, the staff operates for described tissue to be measured according to the picture rich in detail of described fluorescent object.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. multi-optical spectrum imaging system based on endoscope, it is characterized in that, this system comprises: endoscope head module (110), light source module (120), optical signalling acquisition module (130), control and processing module (140) and multispectral handover module (150), wherein:
Described endoscope head module (110), in the search coverage (100) of tissue to be measured is carried out, peep, and the reflected light of described search coverage (100) is transferred to described optical signalling acquisition module (130):
Described light source module (120) is connected with described endoscope head module (110), is used to described endoscope head module (110) that exciting light and visible light are provided;
Described optical signalling acquisition module (130) is connected with described endoscope head module (110), is used for obtaining fluorescence and visible images according to the reflected light of the described search coverage (100) of described endoscope head module (110) transmission;
Described control is connected with described optical signalling acquisition module (130) with processing module (140), be used for fluorescence camera (134) and the color camera (136) of described optical signalling acquisition module (130) are controlled, the fluorescence that described optical signalling acquisition module (130) is collected and visible images are processed and are shown, the staff operates for described tissue to be measured according to the fluorescence that demonstrates and visible images;
Described multispectral handover module (150) is used to described light source module (120) and described optical signalling acquisition module (130) that the optical filter of different spectrum is provided.
2. system according to claim 1 is characterized in that, described endoscope head module (110) further comprises exciting light optical fiber (111), visible light optical fiber (112) and signals collecting optical fiber (113), wherein:
Described exciting light optical fiber (111) is connected with optical filter one (122) in the described light source module (120), be used for being guided out the exciting light that the excitation source (121) of described light source module (120) sends, so that described search coverage (100) is carried out excitation light irradiation;
Described visible light optical fiber (112) is connected with optical filter two (124) in the described light source module (120), for the visible light that the visible light source (123) that is guided out described light source module (120) sends, think that described search coverage (100) provides lighting source;
The front end of the camera lens (131) in described signals collecting optical fiber (113) and the described optical signalling acquisition module (130) is connected, be used for gathering described exciting light and visible light at the reflected light of described search coverage (100), and described reflected light is guided to described camera lens (131) locate.
3. system according to claim 2 is characterized in that, described exciting light optical fiber (111), visible light optical fiber (112) be distributed in described signals collecting optical fiber (113) around.
4. system according to claim 1 is characterized in that, described light source module (120) further comprises excitation source (121), optical filter one (122), visible light source (123) and optical filter two (124), wherein:
Described excitation source (121) is connected with exciting light optical fiber (111) in the described endoscope head module (110) by described optical filter one (122), is used to described exciting light optical fiber (111) that exciting light is provided;
Described visible light source (123) is connected with visible light optical fiber (112) in the described endoscope head module (110) by described optical filter two (124), is used to described visible light optical fiber (112) that visible light is provided.
5. system according to claim 4 is characterized in that, described excitation source (121) adopts the wide spectrum light source, and described visible light source (123) adopts narrow spectral coverage specific wavelength or wave band light source.
6. system according to claim 1, it is characterized in that, described optical signalling acquisition module (130) further comprises camera lens (131), Amici prism (132), optical filter three (133), fluorescence camera (134), optical filter four (135) and color camera (136), wherein:
Described camera lens (131) is connected with signals collecting optical fiber (113) in the described endoscope head module (110), is used for that described utilizing emitted light is guided to described Amici prism (132) and locates and be adjusted to image sharpness;
The incident light end of described Amici prism (132) links to each other with the end of described camera lens (131), two exit ends link to each other with color camera (136) with described fluorescence camera (134) with optical filter four (135) by optical filter three (133) respectively, are used for the Ray Of Light of described camera lens (131) transmission is divided into two bundles according to the spectrum of light or the difference of energy;
Described fluorescence camera (134) is connected 136 with color camera) be connected with processing module (140) with described control by data wire (101), be used for carrying out imaging according to the emergent ray of described Amici prism (132), and with the image transmitting with different spectrum or different-energy that obtains respectively to described control and processing module (140).
7. system according to claim 6 is characterized in that, described Amici prism (132) forms to Amici prism or 55 Amici prisms by two.
8. system according to claim 1 is characterized in that, described control and processing module (140) further comprise control module (141), image processing module (142) and display module (143), wherein:
Described control module (141) is used for the imaging parameters of described fluorescence camera (134) and color camera (136) is controlled;
Described image processing module (142) is used for the view data that described fluorescence camera (134) and color camera (136) shooting obtain is processed;
Described display module (143) is used for showing in real time for the image that obtains after described image processing module (142) processing.
9. system according to claim 1, it is characterized in that, described multispectral handover module (150) is the filter wheel device, be used for the exciting characteristic according to different fluorescence, adjust the spectral coverage of each optical filter, to guarantee exciting and gathering of multispectral light, avoid the phase mutual interference of different spectrum light.
10. one kind is utilized method of carrying out multispectral imaging based on the multi-optical spectrum imaging system of endoscope claimed in claim 1, it is characterized in that, the method may further comprise the steps:
Step S1 makes excitation source (121) and visible light source (123) shine respectively search coverage (100);
Step S2, according to detection feature, spectrum handover module (150) arranges for the parameter of optical filter in light source module (120), the optical signalling acquisition module (130);
Step S3, control module (141) is adjusted the imaging parameters of fluorescence camera (134) and color camera (136), and described fluorescence camera (134) and color camera (136) collect image according to the reflected light that described search coverage (100) has different spectrum or an energy respectively;
Step S4, image processing module (142) is processed the image that described fluorescence camera (134) and color camera (136) collect;
Step S5, image after the processing that display module (143) obtains for described step S4 shows in real time, if the image that shows does not reach the definition requirement, then come the parameter of adjustable lens (131) by optical signalling acquisition module (130), until the image that described display module (143) shows reaches the definition requirement;
Step S6, mobile endoscope head module (110) is sought fluorescent object in the search coverage (100) of tissue to be measured, finally obtain the picture rich in detail of described fluorescent object;
Step S7, the staff operates for described tissue to be measured according to the picture rich in detail of described fluorescent object.
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| CN104116497A (en) * | 2014-07-22 | 2014-10-29 | 中国科学院自动化研究所 | Endoscopic optical molecular imaging guidance system and multi-spectral imaging method |
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| WO2014205738A1 (en) * | 2013-06-27 | 2014-12-31 | 中国科学院自动化研究所 | Endoscope-based multispectral video navigation system and method |
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