CN104305957B - Wear-type molecular image navigation system - Google Patents
Wear-type molecular image navigation system Download PDFInfo
- Publication number
- CN104305957B CN104305957B CN201410433156.9A CN201410433156A CN104305957B CN 104305957 B CN104305957 B CN 104305957B CN 201410433156 A CN201410433156 A CN 201410433156A CN 104305957 B CN104305957 B CN 104305957B
- Authority
- CN
- China
- Prior art keywords
- image
- module
- light source
- registration
- infrared fluorescent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000003287 optical effect Effects 0.000 claims abstract description 18
- 238000003384 imaging method Methods 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000004927 fusion Effects 0.000 claims abstract description 9
- 230000001678 irradiating effect Effects 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 17
- 238000005070 sampling Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000000605 extraction Methods 0.000 claims description 5
- 239000013307 optical fiber Substances 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000003672 processing method Methods 0.000 claims description 4
- 238000002372 labelling Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000003708 edge detection Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims description 2
- 206010061619 Deformity Diseases 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 claims 1
- 230000001815 facial effect Effects 0.000 claims 1
- 238000010606 normalization Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 5
- 238000002594 fluoroscopy Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000011664 signaling Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 230000005284 excitation Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 108090000623 proteins and genes Proteins 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229940121657 clinical drug Drugs 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000002073 fluorescence micrograph Methods 0.000 description 1
- 238000000799 fluorescence microscopy Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
- A61B5/0035—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for acquisition of images from more than one imaging mode, e.g. combining MRI and optical tomography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
- A61B5/0037—Performing a preliminary scan, e.g. a prescan for identifying a region of interest
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0075—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6803—Head-worn items, e.g. helmets, masks, headphones or goggles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/7405—Details of notification to user or communication with user or patient ; user input means using sound
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Image Processing (AREA)
Abstract
A kind of wear-type molecular image navigation system, including: multispectral light source module, for irradiating visible ray and near infrared light to search coverage；Signal acquisition module, for gathering near-infrared fluorescent image and the visible images of imaging object；Head-mounted system supports module, is used for carrying described multispectral light source module and described signal acquisition module, to adjust the irradiation to described search coverage of the described multispectral light source module；Image processing module, for the near infrared light image gathered and visible images are carried out image co-registration, and exports fusion image.According to embodiments of the present invention, effectively achieve the flexible use of equipment in image system application, extend the application space of optical molecular image navigation.
Description
Technical field
The present invention relates to a kind of imaging system, particularly a kind of wear-type molecular image navigation system.
Background technology
As new method and the means of noinvasive visible technology, molecular image reflects molecular regulation in itself
Change the change of organism physiological molecule level and the change of allomeric function caused.Therefore, on a molecular scale at body (in
Vivo) vital movement of research gene, biomacromolecule and cell is a kind of important technology, wherein based on molecular engineering, tomography
Imaging technique, optical image technology, the basic research of In Vivo bioluminescent imaging technology of simulation methodology, have become as molecule
One of the focus of image area research and difficult point.
Traditional medicine image technology is combined by molecular image equipment with modern molecular biology, it is possible to from cell, molecule
Aspect observation physiology or pathological change, have hurtless measure, real-time, live body, high specific, high sensitivity and high-resolution imaging
Etc. advantage.Utilize molecular image technology, on the one hand can greatly accelerate the development speed of medicine, study before shortening clinical drug
Time；There is provided and diagnose more accurately, make therapeutic scheme most preferably mate the gene mapping of patient, help drugmaker's research and development individual character
Change the medicine for the treatment of；On the other hand, can apply at biomedical sector, it is achieved the quantitative analysis of body, image navigation,
The targets such as molecule parting.But, profit system in this way is relative complex, and ease of handling and comfort aspect need
Improve further.
Therefore the present invention proposes a kind of wear-type molecular image navigation system, by the detection point of the multispectral method excited
In sub-image in body target, strengthen the scope of application of application.
Summary of the invention
The invention provides a kind of wear-type molecular image navigation system, including:
Multispectral light source module, for irradiating visible ray and near infrared light to search coverage；
Signal acquisition module, for gathering near-infrared fluorescent image and the visible images of imaging object；
Head-mounted system supports module, is used for carrying described multispectral light source module and described signal acquisition module, to adjust
The irradiation to described search coverage of the whole described multispectral light source module；
Image processing module, for the near infrared light image gathered and visible images are carried out image co-registration, and exports
Fusion image.
Embodiments of the invention have following technical effect that
1, by wear mode realize molecular image navigate, molecular imaging, while realizing function, improve convenience.
2, use the method for projection imaging can guide operator that areas imaging is carried out pre-judgement, thus add people
The function that machine is mutual.
3, the function utilizing speech recognition can facilitate operator to liberate both hands during use system further,
Thus it is precisely controlled wear-type molecular image navigation system.
4, owing to using the Eigenvalue Extraction Method of threshold decomposition so that signal-to-background ratio significantly improves, and contributes to operator
Real-time and precise operation is guided according to image.
Accompanying drawing explanation
Fig. 1 is the structural representation that head-mounted system according to embodiments of the present invention supports module；
Fig. 2 is the block diagram of the wear-type molecular image navigation system according to the embodiment of the present invention；
Fig. 3 is the image processing method flow chart of the wear-type molecular image navigation system according to the embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
The embodiment of the present invention is based on exciting fluorescence imaging in molecular image, it is provided that a kind of wear-type molecular image navigation
System.
Fig. 1 is the structural representation that head-mounted system according to embodiments of the present invention supports module.Fig. 2 is according to the present invention
The block diagram of the wear-type molecular image navigation system of embodiment.As in figure 2 it is shown, this wear-type molecular image navigation system is permissible
Including multispectral light source module 110, for providing the light of multiple different spectral coverage, in order to irradiate detected object；Optical signalling gathers
Module 120, for fluorescence excitation image and the visible images of Real-time Collection detected object；Head-mounted system supports module 130,
For adjusting comfortableness when operator wear, and ensure safely and effectively carrying out of imaging；Image processing module 140, is used for
Carry out image segmentation, feature extraction, image registration etc. to process, it is achieved visible images and the fusion of fluoroscopic image also export fusion
Image.
Next multispectral light source module 110, optical signalling acquisition module 120, head-mounted system will be described respectively in detail
Support module 130 and the operation of image processing module 140.
Multispectral light source module 110 can include cold light source 111, near infrared laser 112 and light source coupler 113.Cold
Light source 111 is for launching visible ray to detected object.Cold light source 111 can be placed with the first bandpass filter, in order to through ripple
The visible ray of a length of 400-650nm.Near infrared laser 113 is configured to the near infrared light that emission center wavelength is such as 785nm.
By optical fiber, excitation source can be drawn.It is known to those skilled in the art that the embodiment of the present invention is not limited to above-mentioned
Implementation, it is also possible to use other modes well known in the art to launch visible ray and near infrared light.When exciting search coverage
Time, based on spectrum separation method, simple optical fiber realize cold light source 111 and the smooth outgoing of near infrared laser 112 simultaneously.Specifically
Ground, it will be seen that light source couples at light-emitting window with the light of near-infrared light source outgoing.Light source coupler 113 is set at coupling.Light
Source coupler 113 can be to dissipate camera lens, by rectilinear point light source, light source is become cone-beam light, so can expand irradiated area,
To realize the excitation source uniform irradiation to search coverage.For example, it is possible to arrange light at the light-emitting window of near infrared laser 112
Learn camera lens, optical lens and laser output reverse coupled, it is achieved the output of the bigger angle of divergence of light source.Machinery can be used solid
Fixed method, is fixed together one end and the optical lens of optical fiber, and with head-mounted system, the other end of optical fiber is supported module
130 are connected.
Optical signalling acquisition module 120 can include camera 121, camera lens 122 and coordinate projection device 123.Camera 121 configures
For gathering near-infrared fluorescent signal and visible light signal.Wherein, in gatherer process, background is illuminated by cold light source.Example
As, can the reference parameter needed near infrared light signals collecting be set as follows: at 800nm, quantum efficiency is higher than 30%, frame speed
More than 30fps, image source (that is, the minimum photosensitive unit point image source of camera 121) size is more than 5 microns.Preferably, exist
The second bandpass filter is placed, in order to be the near infrared light of 810-870nm through wavelength between camera 121 and camera lens 122.Work as phase
When machine 121 operates, coordinate projection device 123 can project a circular contour to search coverage (not shown), and this is taken turns
Exterior feature is the maximum magnitude in the visual field, in order to operator obtain the search coverage of system, simultaneously facilitate operator and obtain multispectral
Light source module 110 excite scope.
As it is shown in figure 1, head-mounted system supports module 130 can include head-mounted system support 131.Head-mounted system is propped up
Frame 131 is used for carrying light source module 110 and signal acquisition module 120.Preferably, head-mounted system support module 130 is all right
Including speech recognition and control module 132.Speech recognition controlled module 132 can include mike, voice recognition unit and control
Unit (not shown) processed, in order to control multispectral light source module 110, coordinate projection device 123 etc. by the voice of operator
The operation of module.Speech recognition technology well known in the art can be used to realize speech recognition and control module 132.
By the most defeated to visible images and the near-infrared fluorescent image of the detected object from optical signalling acquisition module 120
Enter to image processing module 140.Image processing module 140 is processed by backend computer and realizes, and gathers and light source control can also
By back-end realization Non-follow control.First image processing module 140 carries out pretreatment to the near-infrared fluorescent image of input, in order to root
The characteristic distribution of fluoroscopic image is obtained according to fluorescent specific.Pretreatment can include that noise remove, feature extraction and bad point are mended
Repay.It is of course also possible to visible images is carried out pretreatment well known in the art.Threshold segmentation can be utilized near to input
Infrared fluorescence image carries out feature extraction.Such as, for image intensity value G/ background noise gray value in near-infrared fluorescent image
GnPixel higher than 1.5, is multiplied by 2 by the gray value of this pixel, for G/GnPixel less than 1.5, by this pixel
Gray value is divided by 2.Characteristic point can be strengthened according to this threshold segmentation method.The interested of predetermined threshold value is more than for gray value
These area-of-interests can be changed into by region by gray level image well known in the art to pseudo color image adjustment algorithm
Pseudo color image, thus mark the position of characteristic point and characteristic area further, in order to operator guide according to image
Implement operation.Image after image processing module 140 processes is fusion image, has display on a general-purpose computer and projection connects
Mouthful, facilitate operator to realize the output display of image.Simultaneously can be by visual signal feedbacks to helmet system, by placing
Mirror forth screen realizes the visualization to fusion image.
Then, utilize the fluoroscopic image optical characteristics distribution obtained, the visible images that fluorescence inputs is carried out image and melts
Close, thus obtain fusion results image to export.Specifically, fluoroscopic image includes utilizing with the image co-registration of visible images
Fluoroscopic image is registrated by the distribution of fluoroscopic image optical characteristics with visible images.This registration operation described in detail below.
The distribution of fluoroscopic image optical characteristics has fluorescent specific, and visible images is a kind of high resolution structures figure
Picture.Image registration according to embodiments of the present invention make use of above-mentioned characteristic.When registrating, morphology theory can be used,
That revises the distribution of fluoroscopic image optical characteristics minimizes energy function formula so that it is shape is close to image tissue.Following formula can be used
(1) registrate.
In formula (1), d is discrete Laplace operator, and U is position vector, select n surface point as main mark point,
pi、aiIt is respectively imaging surface labelling point, Wi=(pi-ai) motion-vector, obtain vector U by minimizing E (U)P, thenFor the position after areal deformation.
In order to obtain fusion image accurate, high-resolution, when registrating, use the image shown in following formula (2)
Registration is as registration effect assessment standard.
Wherein, A is visible images Normalized Grey Level value matrix, and B is fluoroscopic image Normalized Grey Level value matrix.Computing is tied
Fruit, closer to 1, illustrates that image registration effect is the best.
Fig. 3 shows the flow chart of image processing method according to embodiments of the present invention.As it is shown on figure 3, in step 301,
Detection Method in Optical Image Sequences and fluoroscopy image sequence space motion through pretreatment is detected, in order to filter unmatched small position
Move frame, obtain Detection Method in Optical Image Sequences M1 and fluoroscopy image sequence M2.
Alternatively, in step 303, the High Resolution Visible Light image sequence M1 obtained for step 301 forms image gold
Word tower P1, to reduce data volume, thus improves the real-time of image procossing.Specifically, use gaussian pyramid that image is carried out
Down-sampling is to generate i+1 layer according to i-th layer of pyramid.First carry out convolution by gaussian kernel to i-th layer, then delete all
Even number line and even column.Certainly, newly obtained image size can become 1/4th of upper level image.In this case,
First image expands as original twice in each dimension, and newly-increased row (even number line) is filled with 0.Then use and specify filter
Ripple device carries out convolution (actually one filter all expanding as twice on the most one-dimensional) and goes to estimate the near of " loss " pixel
Like value.By said process, input picture circulation is performed operation and just can produce whole pyramid.
In step 305, utilize the gradient edge detection method for example with Roberts operator, to the image gold word obtained
Tower P1 and fluoroscopy image sequence M2 carries out rim detection, respectively obtains image border E1 and E2.Certainly, in image-capable relatively
Step 303 can also be skipped in the case of height, directly Detection Method in Optical Image Sequences M1 and fluoroscopy image sequence M2 is carried out edge inspection
Survey.
In step 307, image border E1 and E2 obtained is carried out sparse sampling based on significance respectively.Can use
Identical method carries out sparse sampling based on significance respectively to image border E1 and E2, uses that compressed sensing is sparse adopts here
Sample technology carries out coefficient sampling to E1 and E2, thus respectively obtains sampling output S1 and S2.
In step 308, the sampling obtaining step 307 output S1 and S2 performs registration.Except use above formula (1) and
(2) beyond registrating, it is also possible to use point cloud registering to optimize registration result further.Can join in detail about point cloud registering
See " Xue Yaohong etc., cloud data registration and surface subdivision technical research, National Defense Industry Press, 2011 ", repeat no more herein.
Preferably, step 309 can also be included according to the image processing method of the present invention.In step 309, to point cloud registering
Result carry out Algorithm Convergence checking, to ensure the reliable and stable of calculating process.
Preferably, the place of step 301,303,305 and 309 can be performed by image GPU or FPGA of small volume
Reason, the central processing unit CPU simultaneously using computing capability higher performs step of registration 308, thus is optimizing system further
While system performance, the hardware size needed for reduction.
Particular embodiments described above, has been carried out the purpose of the present invention, technical scheme and beneficial effect the most in detail
Describe in detail bright, be it should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the guarantor of the present invention
Within the scope of protecting.
Claims (10)
1. a wear-type molecular image navigation system, including:
Multispectral light source module, for irradiating visible ray and near infrared light to search coverage；
Signal acquisition module, for gathering near-infrared fluorescent image and the visible images of imaging object；
Head-mounted system supports module, is used for carrying described multispectral light source module and described signal acquisition module, to adjust
State the multispectral light source module range of exposures to described search coverage；
Image processing module, for the near infrared light image gathered and visible images are carried out image co-registration, and exports fusion
Image；
Wherein, described image processing module carries out image co-registration include near-infrared fluorescent image and the visible images of collection:
The optical characteristics obtaining described near-infrared fluorescent image by making following energy function formula minimize is distributed:
Wherein, d is discrete Laplace operator, and U is position vector, selects n surface point as main mark point, pi、aiRespectively
For imaging surface labelling point, Wi=(pi-ai) motion-vector, obtain vector U by minimizing E (U)P, thenFor table
Position after facial disfigurement, Δ d represents first derivative, UiRepresent the position vector of i-th labelling point position,Represent mark
The imaging surface border of note point p position,Representing the surface-boundary of whole characteristics of image, β represents weight coefficient.
System the most according to claim 1, wherein, described multispectral light source module includes:
Visible light source, for launching visible ray to detected object；
Near infrared laser, for launching near infrared light to detected object；With
Light source coupler；
Wherein, described light source coupler couples described visible ray and near infrared light, and coupling is optically coupled to by simple optical fiber
Described head-mounted system supports module.
System the most according to claim 2, wherein, described head-mounted system supports module and includes:
Head-mounted system support, is used for carrying described multispectral light source module and described signal acquisition module；And
Speech control module, for controlling the operation of multispectral light source module, to form the search coverage of expected range.
System the most according to claim 1, wherein, the near-infrared fluorescent image gathered is carried out by described image processing module
Feature extraction, including:
For image intensity value G/ background noise gray value GnPixel higher than 1.5, is multiplied by 2 by the gray value of described pixel；
For G/GnPixel less than 1.5, by the gray value of described pixel divided by 2.
System the most according to claim 1, wherein, described image processing module to gather near-infrared fluorescent image and can
See that light image carries out image co-registration, including by the picture registration degree shown in following formula as registration effect assessment standard:
Wherein, A is visible images Normalized Grey Level value matrix, and B is fluoroscopic image Normalized Grey Level value matrix.
System the most according to claim 4, wherein, described image processing module is come further to the reddest by point cloud registering
Outer fluoroscopic image and visible images carry out image co-registration.
7. it is applied to an image processing method for wear-type molecular image navigation system described in claim 1, including:
Detection Method in Optical Image Sequences and near-infrared fluorescent image sequence are carried out space motion detection, in order to filter unmatched small
Displacement frame (301)；
The described Detection Method in Optical Image Sequences detected through space motion is carried out down-sampling, obtains image pyramid (303)；
Use gradient edge detection method, respectively the image pyramid obtained and near-infrared fluorescent image sequence are carried out edge inspection
Survey, obtain image border (305)；
The image border obtained is carried out respectively sparse sampling based on significance, thus respectively obtains sampling output (307)；With
And
Sampling output to obtaining performs registration to carry out image co-registration (308).
Method the most according to claim 7, wherein, described registration includes by the picture registration degree shown in following formula as joining
Quasi-effect assessment standard:
Wherein, A is visible images Normalized Grey Level value matrix, and B is near-infrared fluorescent image normalization gray value matrix.
Method the most according to claim 7, also includes using point cloud registering further to near-infrared fluorescent image and can
See that light image carries out image registration.
Method the most according to claim 9, also includes that the result to point cloud registering carries out Algorithm Convergence checking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410433156.9A CN104305957B (en) | 2014-08-28 | 2014-08-28 | Wear-type molecular image navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410433156.9A CN104305957B (en) | 2014-08-28 | 2014-08-28 | Wear-type molecular image navigation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104305957A CN104305957A (en) | 2015-01-28 |
| CN104305957B true CN104305957B (en) | 2016-09-28 |
Family
ID=52361385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410433156.9A Active CN104305957B (en) | 2014-08-28 | 2014-08-28 | Wear-type molecular image navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104305957B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105342561B (en) * | 2015-10-09 | 2017-12-29 | 中国科学院自动化研究所 | The wearable molecular image navigation system of Wireless sound control |
| US10026202B2 (en) | 2015-10-09 | 2018-07-17 | Institute Of Automation, Chinese Academy Of Sciences | Wearable molecular imaging navigation system |
| CN105640481B (en) * | 2015-12-31 | 2019-05-14 | 东莞广州中医药大学中医药数理工程研究院 | A kind of hole key observation device and its acoustic-controlled method with acoustic control light source |
| CN106037674B (en) * | 2016-08-18 | 2018-10-30 | 皖江新兴产业技术发展中心 | A kind of vein imaging system based on high light spectrum image-forming |
| CN107374730A (en) * | 2017-09-06 | 2017-11-24 | 东北大学 | Optical operation navigation system |
| CN109662695A (en) * | 2019-01-16 | 2019-04-23 | 北京数字精准医疗科技有限公司 | Fluorescent molecules imaging system, device, method and storage medium |
| CN109938700A (en) * | 2019-04-04 | 2019-06-28 | 济南显微智能科技有限公司 | A kind of wear-type IR fluorescence detection device |
| CN110226974A (en) * | 2019-07-08 | 2019-09-13 | 中国科学技术大学 | A kind of near-infrared fluorescence imaging system based on augmented reality |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE60024059T2 (en) * | 1999-01-26 | 2006-07-20 | Newton Laboratories, Inc., Woburn | DEVICE FOR AUTOFLUORESCENT IMAGING FOR AN ENDOSCOPE |
| JP4971816B2 (en) * | 2007-02-05 | 2012-07-11 | 三洋電機株式会社 | Imaging device |
| CN101339653B (en) * | 2008-01-30 | 2010-06-02 | 西安电子科技大学 | Infrared and colorful visual light image fusion method based on color transfer and entropy information |
| CN102722556B (en) * | 2012-05-29 | 2014-10-22 | 清华大学 | Model comparison method based on similarity measurement |
| CN103489005B (en) * | 2013-09-30 | 2017-04-05 | 河海大学 | A kind of Classification of High Resolution Satellite Images method based on multiple Classifiers Combination |
| CN103530038A (en) * | 2013-10-23 | 2014-01-22 | 叶晨光 | Program control method and device for head-mounted intelligent terminal |
| CN203709999U (en) * | 2014-02-07 | 2014-07-16 | 王学庆 | Headwear venipuncture guide dual-light source system device |
| CN204072055U (en) * | 2014-08-28 | 2015-01-07 | 中国科学院自动化研究所 | Wear-type molecular image navigation system |
-
2014
- 2014-08-28 CN CN201410433156.9A patent/CN104305957B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104305957A (en) | 2015-01-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104305957B (en) | Wear-type molecular image navigation system | |
| EP3226766B1 (en) | System and method for image calibration | |
| CN102488493A (en) | Small animal living body multi-mode molecule imaging system and imaging method | |
| US20170202633A1 (en) | Imaging and display system for guiding medical interventions | |
| CN107851176A (en) | Optical imaging system and its method | |
| CN104116497B (en) | Spy optical molecular image-guidance system and multispectral imaging method | |
| US20190110024A1 (en) | Tomographic Imaging Methods, Devices, and Systems | |
| WO2013134949A1 (en) | Device and method for endoscopic x ray luminescence tomography imaging | |
| CN105640582A (en) | Deep tissue X-ray excitation multispectral tomography system and method | |
| CN107270818A (en) | It is a kind of to utilize the method for monitoring CCD the real time measures laser probe and plane of illumination spacing walk-off angle degree | |
| CN109752377B (en) | Spectroscopic bimodal projection tomography tissue blood vessel imaging device and method | |
| CN111489316B (en) | Mammary gland diffusion optical tomography system based on genetic algorithm | |
| CN104323858B (en) | Handheld molecular imaging navigation system | |
| CN204072055U (en) | Wear-type molecular image navigation system | |
| RU2726257C1 (en) | Apparatus for automatic measurement of plant parameters | |
| Liu et al. | Detection of heterogeneity in multi-spectral transmission image based on spatial pyramid matching model and deep learning | |
| CN105662354B (en) | A kind of wide viewing angle optical molecular tomographic navigation system and method | |
| CN116503258B (en) | Super-resolution computing imaging method, device, electronic equipment and storage medium | |
| CN205493762U (en) | Spectrum hard tube endoscope system | |
| CN111419194A (en) | Fluorescent laser and OCT (optical coherence tomography) -based combined imaging device and method | |
| CN117338249A (en) | Excitation fluorescence tomography method | |
| US10422749B2 (en) | Facilitating real-time visualization of tissue features derived from optical signals | |
| CN107184181A (en) | The processing method and system of Dynamic Fluorescence molecular tomographic | |
| CN108335338B (en) | Experimental animal multi-mode fusion imaging system and using method | |
| CN106913304A (en) | A kind of spectrum rigid pipe endoscope system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |