CN104958061A - Fundus OCT imaging method utilizing three-dimensional imaging of binocular stereo vision and system thereof - Google Patents
Fundus OCT imaging method utilizing three-dimensional imaging of binocular stereo vision and system thereof Download PDFInfo
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Abstract
The invention provides a fundus OCT imaging method utilizing three-dimensional imaging of binocular stereo vision and a system thereof with the purpose of solving the problem that three-dimensional correction of phase positions, spatial positions and angles of OCT signals is not precise. The method comprises following steps of: synchronously collecting a binocular stereo vision imaging system and a fundus OCT system; utilizing a self-calibration result of the binocular stereo vision imaging system and acquiring a rotation matrix ROI and a translation vector TOI between an OCT coordinate system and an coordinate system for binocular stereo vision and re-establishing three-dimensional coordinates of bifurcation points of retina surface vessels; acquiring a rotation matrix RIE and a translation vector TIE from the coordinate system for binocular stereo vision to a coordinate system of human eyes; extracting a retina B scanning image; utilizing the rotation matrix ROI and the translation vector TOI in order to achieve conversion of the B scanning image from the OCT coordinate system to the coordinate system for binocular stereo vision; utilizing the rotation matrix RIE and the translation vector TIE in order to realize conversion of the B scanning image from the coordinate system for binocular stereo vision to the coordinate system of human eyes; obtaining a three-dimensional OCT image with uniform spatial distribution by interpolation of the converted B scanning image in the coordinate system of human eyes.
Description
Technical field
The present invention relates to a kind of optical fundus OCT formation method and system thereof, be specifically related to utilize the optical fundus OCT formation method of binocular stereo vision three-dimensional imaging and imaging system to realize high-resolution, high-resolution, the on a large scale imaging of optical fundus OCT three dimensional structure and blood flow imaging.
Background technology
OCT and Optical Coherence Tomography Imaging Technology (Optical Coherence Tomography) are another the new tomography technologies continued after X-ray, CT, nuclear magnetic resonance (Magnetic Resonance Imaging, MRI), ultrasonic diagnostic technique.Compared with general medical Imaging Method, there is higher sensitivity and resolution; The not damaged to biological tissue, non-intruding, Non-ionizing radiation, the structure imaging of micron dimension and the functional imaging such as polarization OCT, Doppler OCT, spectrum OCT, elasticity OCT can be realized, for microstructure analysis and the characterisitic parameter measurement of vivo biological tissue, start to be widely used in the biomedical field such as (in eye, skin, cardiovascular system, digestive system and the traditional Chinese medical science etc.) and industrial detection.OCT product is in the market substantially from foreign vendor, and wherein the most ripe is the application of ophthalmology OCT, plays an important role in the medical researches such as retinal diseases, macular disease, optic nerve disease, glaucoma and diabetes and clinical diagnosis.The OCT used clinically at present can only obtain the structural images of biological tissue, and blood flow imaging technology is also in the laboratory research stage.Fundus fluorescein angiography inspection can show optical fundus blood vessel form, is the important method checking that fundus oculi disease is conventional, but somewhat expensive, to have wound, operating time long and easily produce untoward reaction to patient.The change of the OCT signal phase that OCT blood flow imaging technology utilizes Motion Particles scattering to produce is to distinguish blood flow and static tissue, obtain three-dimensional flow perfusion image, measure blood flow rate, and fundus fluorescein angiography method can only obtain retinal surface vessel information.
Ocular angiogenesis diseases related can change the form of blood vessel and the structure of blood capillary network.Therefore, retinal capillary distribution and microcirculation detection for the clinical diagnosis of retinal vessel diseases related and observation of curative effect extremely important.When utilizing OCT to carry out in bulk measurement retina, under normal circumstances, patient can be allowed to stare at a fixed target, reduce the motion of eyes, but many inevitable factors such as the unconscious motion of Scan orientation precision, mechanical shaking, human eye and periodic heartbeat can cause the decline of retinal structure image and blood-stream image quality, wherein the unconscious motion of human eye is the main cause affecting high-resolution OCT system imaging in vivo, often cause the distortion of image or imperfect, affect the diagnosis of ocular disease.Because the phase place of OCT signal is sensitiveer than amplitude, the motion of human eye makes interference synthetic aperture microtechnique (Interferometric Synthetic Aperture Microscopy, ISAM), adaptive optics (ComputerAdaptive Optics is calculated, CAO), digital adaptation optics (Digital Adaptive Optics, DAO) and the technology relevant with phase place such as fresnel diffraction digital focus can not play one's part to the full, even make image effect be deteriorated.Along with the fast development of electronic technology, the line frequency of line-scan digital camera improves, and shortens the data acquisition time of OCT, easily obtain the B scanogram without motion artifacts, but in this case, 3-D view still also needs a certain amount of motion compensation or calibration.The flow velocity of blood capillary is lower, is to improve the sensitivity that OCT system speed detects, need B scan between interval on the contrary can not be too short, therefore, in scanning process, the motion of eyeball is inevitable, essential to the correction of OCT image.
Up to the present, in this field, many research worker propose the method correcting OCT phase fluctuation, site error.Employing high-velocity scanning light source, high speed acquisition device, vibration isolation and measures such as shortening fiber lengths of trying one's best can reduce the phase fluctuation that thermal drift etc. causes.In addition, take free space or Common-path method, the structures such as the feedback control loop be made up of fiber stretcher or piezoelectric modulator also can compensation of phase fluctuation.But these bearing calibrations just consider the correction of OCT signal phase, or in the correction of rapid scanning, slow scanning and axially three direction translational motions, and in fact eyeball exists rotary motion, the bearing calibration proposed at present cannot realize the three-dimensional accurate correction of phase place, locus and angle to eye OCT signal.
Summary of the invention
The technical problem to be solved in the present invention corrects OCT structural images, blood-stream image three-dimensional space position and angle based on binocular stereo vision imaging technique, and the accurate three-dimensional of the phase place and locus and angle that realize OCT signal corrects.
For solving the problems of the technologies described above, the present invention passes through binocular stereo vision 3-D imaging system and the optical fundus OCT system integration, binocular stereo vision 3-D imaging system is utilized to follow the tracks of the three-dimensional motion of eyeball, and utilize the three-dimensional motion information of eyeball to correct OCT structural images and blood-stream image, eliminate the OCT image quality decrease because ocular movement, mechanical shaking etc. cause, pattern distortion phenomenon; By solving the transition matrix between retinal surface three-dimensional blood vessel bifurcation point, realize the splicing of the three-dimensional data block that OCT Multiple-Scan obtains.The method can realize high-resolution, on a large scale, the imaging of optical fundus OCT three dimensional structure and blood flow imaging clearly, for the diagnosis changing diseases related with optical fundus structure and blood flow provides effective foundation.Propose to adopt telescopic system in OCT light path simultaneously, reduce the moving range of scanning light spot on OCT reflecting mirror, by the common optic path of public to OCT scanning light beam, binocular stereo vision imaging beam and illuminating bundle composition such as object lens, eyeglass etc., realize binocular stereo vision imaging system and the OCT system integration; Utilize cola lighting system to make fundus illumination even, and reduce the direct reflected light on cornea, to get a distinct image; Owing to adopting near-infrared illuminator, have and exempt from mydriasis advantage.Further with OCT system one group of near-infrared rapid scanning luminous point on the retina for feature point for calibration, by extracting the centre coordinate of hot spot in two dimensional image, adopt stochastic sampling concordance (RANSAC) method and planeand parallax method to solve Binocular Stereo Vision System homography matrix H and fundamental matrix F, realize the self-calibration to the whole binocular stereo vision imaging system parameters comprising eyes imaging optics; Utilize the three-dimensional coordinate that feature point for calibration is corresponding in stereoscopic vision coordinate system and OCT coordinate system, adopt principle of least square method to realize the self-calibration of transformational relation between stereoscopic vision coordinate system and OCT coordinate system.This self-calibrating method solves the optical imagery parameters of operating part unknown problem of detected human eye, realizes the on-line proving of system.And utilize the dimensional Gaussian Laplace operator (LoG) of medium filtering and 8 different directions to carry out filtering and edge extracting to image, principal component analysis (PCA) method is utilized to estimate the initial position of blood vessel bifurcation, and mate with the vascular bifurcation point model set up, realizing the accurate extraction of vascular bifurcation point, laying a good foundation for improving the precision of vascular bifurcation point three-dimensional reconstruction, OCT image three-dimensional correction accuracy and three-dimensional splicing precision.Utilize the method for static tissue PHASE DISTRIBUTION characteristic matching simultaneously, realize the exact matching of phase place between OCT sweep signal, reduce the impact of OCT signal phase fluctuation on blood flow imaging that the many factors such as Scan orientation precision, mechanical shaking, the unconscious motion of human eye and periodic heartbeat cause; Accurate extraction B scans two-dimentional blood-stream image, utilizes the three-dimensional tracking technique of binocular stereo vision to obtain eyeball three-dimensional motion information, and the locus of blood-stream image and angle scan to OCT two dimension B carry out accurate calibration, improve blood flow imaging quality.
Further the invention provides following technical scheme:
An optical fundus OCT formation method for binocular stereo vision three-dimensional imaging, comprises,
Step 1, integrated near infrared binocular stereo vision imaging system, optical fundus OCT system and light path design, build OCT imaging system; Wherein, described binocular stereo vision imaging system, optical fundus OCT system carry out synchronous acquisition;
Step 2, carries out the self-calibration of described binocular stereo vision imaging system, sets up transformational relation between binocular stereo vision coordinate system and OCT coordinate system;
Step 3, utilizes described Binocular Stereo Vision System self-calibration result, and obtains OCT coordinate and be tied to spin matrix R between binocular stereo vision coordinate system
oIwith translation vector T
oI, and the reconstruction to retinal surface vascular bifurcation point three-dimensional coordinate;
Step 4, by carrying out three-dimensional reconstruction to retinal surface vascular bifurcation point, obtaining binocular stereo vision coordinate and being tied to human eye coordinate system spin matrix R
iEwith translation vector T
iE;
Step 5, extracts retina B scanogram;
Step 6, utilizes OCT coordinate to be tied to spin matrix R between binocular stereo vision coordinate system
oIwith translation vector T
oI, realize B scanogram is tied to binocular stereo vision coordinate system conversion from OCT coordinate;
Step 7, utilizes binocular stereo vision coordinate to be tied to spin matrix R between human eye coordinate system
iEwith translation vector T
iE, realize B scanogram is tied to human eye coordinate system conversion from binocular stereo vision coordinate;
Step 8, by human eye coordinate system to conversion after B scanogram interpolation, obtain space uniform distribution three-dimensional OCT image.
Further, described method also has following features:
Carry out the self-calibration of described binocular stereo vision imaging system in described step 2, comprise further: by control OCT scanning galvanometer, choose 20 equally distributed scanning element P
1-P
20, the OCT spectral signal gathering these points and the hot spot P formed at retinal surface
1'-P
20', it can be used as self-calibration characteristic point; Extract described hot spot P
1'-P
20' centre coordinate, and the corresponding relation utilizing self-calibration characteristic point known, adopts stochastic sampling concordance RANSAC method to estimate homography matrix H; Plane parallax plane and parallax method is adopted to obtain fundamental matrix F.
Further, described method also has following features:
Carry out the self-calibration of described binocular stereo vision imaging system in described step 2, comprise further: by control OCT scanning galvanometer, choose 20 equally distributed scanning element P
1-P
20, the OCT spectral signal gathering these points and the hot spot P formed at retinal surface
1'-P
20', it can be used as self-calibration characteristic point; Extract described hot spot P
1'-P
20' centre coordinate, and the corresponding relation utilizing self-calibration characteristic point known, adopts stochastic sampling concordance RANSAC method to estimate homography matrix H; Plane parallax plane and parallax method is adopted to obtain fundamental matrix F.
Further, described method also has following features:
Set up transformational relation between binocular stereo vision coordinate system and OCT coordinate system in described step 2, comprise further:
The coordinate p of spatial point P under OCT coordinate system
o=(x
o, y
o, z
o)
twith the coordinate p under stereoscopic vision coordinate system
i=(x
i, y
i, z
i)
tbetween transformational relation be expressed as:
p
I＝R
OIp
O+T
OI(1)；
Wherein, parameter R
oIand T
oIsolution procedure is:
Utilize homography matrix H and the fundamental matrix F realization character point P of binocular stereo vision imaging system
1'-P
20' three-dimensional reconstruction under stereoscopic vision coordinate system;
To scanning element P
1-P
20corresponding A sweep signal processes, and extracts retinal surface characteristic point P
1'-P
20' z coordinate, obtain characteristic point P
1'-P
20' the three-dimensional coordinate in OCT coordinate system;
Utilize the characteristic point P obtained
1'-P
20' three-dimensional coordinate corresponding in OCT coordinate system and stereoscopic vision coordinate system, asks for spin matrix R
oIwith translation vector T
oI, set an object function
Utilize principle of least square method to solve transformation matrix parameter, make object function OF residual sum of squares (RSS) minimum, thus try to achieve parameter R
oIand T
oI.
Further, described method also has following features:
In described step 4, three-dimensional reconstruction is carried out to retinal surface vascular bifurcation point, comprises further:
Set up model X=(x, y, the θ of the vascular bifurcation point of 8 parameters
1, θ
2, θ
3, w
1, w
2, w
3), wherein point coordinates centered by x, y, θ
1, θ
2, θ
3be the angle of three vessel branches, w
1, w
2, w
3be the width of three vessel branches, the length of blood vessel immobilizes; The seed points of the vascular bifurcation point utilizing principal component analysis PCA method to estimate to obtain, as the initial position of model, searches for the exact position of vascular bifurcation point by degree of fitting function minimization
Adopt co-information entropy method to realize the coupling of left and right two width two dimensional image medium vessels bifurcations, choose in the battle array camera two dimensional image of the left side and comprise vascular bifurcation dot image window s
lthe near zone window s corresponding with the battle array camera two dimensional image of the right side
rmate, the bifurcation that the co-information entropy of left and right two dimensional image medium vessels bifurcation image is maximum is match point, window s
lwith window s
rbetween co-information entropy be
MI(s
L,s
R)＝H(s
L)+H(s
R)-H(s
L,s
R) (3)
Wherein, H (s)=-∫ p (s) lnp (s) ds is the Shannon entropy of image window s, and p is distributed function in image window;
Further, the retinal vessel bifurcation of the homography matrix H of Binocular Stereo Vision System and fundamental matrix F to coupling is utilized to carry out three-dimensional reconstruction.
Further, described method also has following features:
Described retina B scanogram in described step 5 comprises extraction B Scan Architecture image further or B scans blood-stream image.
Further, described method also has following features:
Described extraction B scans blood-stream image and comprises further:
By OCT 2-D vibration mirror system, focused beam is carried out transversal scanning on the retina, X scanning galvanometer carries out the scanning of X-direction under the driving of sawtooth waveforms, and a sawtooth period completes a B scanning, and in a B scanning, comprise N number of A sweep is A
1-A
nnamely carry out N sampling in X-direction, each sampling can obtain interference spectrum data corresponding to this scanning position, and Y scanning galvanometer makes focused beam scan in the Y direction under the driving of oblique wave step signal, be divided into M equal portions by Y-direction sweep length, namely arranging M B scanning position is B
1-B
m, and at each B scanning position continuous acquisition 5 width B scan-data B
m1-B
m5(m=1,2,3...M),
Ask 5 width two-dimensional spectrum interference signal S of each B scanning position
i(x
o, k), i=1-5;
S
i(x
o, k) subtracting background signal carry out inverse fourier transform (IFFT) and obtain two-dimensional complex number signal
i=1-5;
Utilize OCT signal phase method for registering, right
with
carry out registration (i=1-4);
Utilize two width B to scan the difference of complex signal, ask B to scan blood flow signal;
A
blow,
i(x
O,z
O)＝A
i+1(x
O,z
O)-A
i(x
O,z
O) i＝1-4 (4)
Blood-stream image is scanned to 4 width B of same B scanning position and carries out sum-average arithmetic, improve picture quality;
A
blow(x
O,z
O)＝|[A
blow,
1(x
O,z
O)+A
blow,
2(x
O,z
O)+A
blow,
3(x
O,z
O)+A
blow,
4(x
O,z
O)]/4| (5)。
Further, described method also has following features:
Described step 5 comprises further:
Coordinate p under utilizing the method shown in formula (2) to solve current binocular stereo vision coordinate system
i=(x
i, y
i, z
i)
tto the coordinate p under human eye coordinate system
e=(x
e, y
e, z
e)
tspin matrix R
iEwith translation vector T
iE, transformational relation is
p
E＝R
IEp
I+T
IE(6)。
Further, described method also has following features:
By comprising further B scanogram interpolation after conversion in human eye coordinate system in described step 8:
Formula for interpolation is
Wherein
for the gray value after interpolation, k is the number participating in the point of interpolation around selected uniform reference position,
ifor the gray value of the point of selected participation interpolation, d
ifor interpolation point, to surrounding, each participates in the distance of the point of interpolation.
Further, described method also has following features:
Described step 4 comprises further:
By carrying out three-dimensional reconstruction to retinal surface vascular bifurcation point, obtaining binocular stereo vision coordinate and being tied to human eye coordinate system spin matrix R
iEwith translation vector T
iE, obtain the eyeball three-dimensional motion information that different B scanning is corresponding; The effectiveness of this OCT scan-data is differentiated by eyeball three-dimensional motion amplitude size.
Further present invention also offers following technical scheme:
An optical fundus OCT imaging system for binocular stereo vision three-dimensional imaging, comprises,
OCT imaging system light path, Binocular Stereo Vision System imaging optical path and illumination path, data-driven card, line-scan digital camera capture card and two dimensional image capture card, synchronous data sampling unit and data processing unit;
Synchronous data sampling unit is by the scanning of data-driven card control OCT imaging system scans galvanometer and the work of illumination path, gather OCT line-scan digital camera spectroscopic data by line-scan digital camera capture card, gather Binocular Stereo Vision System left and right camera two dimensional image by two dimensional image capture card; Illumination path Uniform Illumination optical fundus, for Binocular Stereo Vision System imaging, the light beam of OCT scanning is for OCT imaging and system self-calibration; Data processing unit mainly realizes system self-calibration, three-dimensional reconstruction and correction;
Described system is further used for implementing above-mentioned method.
One or more embodiment provided by the invention, by near-infrared binocular stereo vision 3-D imaging system and the optical fundus OCT system integration, OCT imaging system is utilized to obtain the three-dimensional tomographic image on optical fundus, employing near-infrared throws light on, and utilizes binocular stereo vision 3 Dimension Image Technique to exempt from mydriasis and obtains retinal surface three-dimensional appearance, the three-dimensional motion of eyeball is followed the tracks of based on binocular stereo vision imaging technique, utilize the three-dimensional motion information of eyeball to OCT structural images, blood-stream image three-dimensional space position and angle correct, eliminate because ocular movement causes OCT image quality decrease, the phenomenon of pattern distortion, and combine with OCT signal phase method for registering, the accurate three-dimensional of the phase place and locus and angle that realize OCT signal corrects, reduce OCT system scan positioning precision, mechanical shaking, the many factors such as the unconscious motion of human eye and periodic heartbeat are on the impact of OCT three-dimensional imaging quality, improve OCT structure imaging and blood flow imaging quality, set up objective ocular movement amplitude size criterion, identify that whether OCT sampled data is effective early, by the retinal surface vascular bifurcation characteristic point three-dimensional coupling to different sampling stages, the three-dimensional data block that repeatedly OCT scanning obtains is spliced, realizes the OCT three-dimensional imaging of large-scale optical fundus.Thered is provided on a large scale by above-described embodiment, high-quality structure imaging and blood flow imaging set up retinal surface three-dimensional appearance, for ophthalmologist provides more comprehensively fundus oculi disease diagnostic techniques reliably, grasp ophthalmic course of disease development and change process, for pathological study and medical diagnosis treatment provide reliable basis.Meanwhile, carry out the technology of self-calibration, phase place and the technology such as position, pose correction techniques to Binocular Stereo Vision System and OCT system integration technology and the whole imaging system parameters that comprises eyes imaging optics to propose further develop and optimize.
Accompanying drawing explanation
Fig. 1 is OCT imaging system composition frame chart of the present invention;
Fig. 2 is the method flow diagram that OCT imaging system of the present invention is implemented;
Fig. 3 (a) to Fig. 3 (c) is the optical fundus OCT system light path schematic diagram with binocular stereo vision three-dimensional imaging function of the present invention
Fig. 3 (a) is the front view of object lens;
Fig. 3 (b) is that the middle object lens of Fig. 3 (a) are along AA direction sectional views;
Fig. 3 (c) be in Fig. 3 (a) object lens along the view of BB direction sectional views and relevant light paths;
Fig. 4 is three kinds of coordinate systems of the present invention;
Fig. 5 is the diagram choosing 20 equally distributed scanning elements under OCT coordinate system of the present invention;
Fig. 6 is the illustraton of model of vascular bifurcation of the present invention point;
Fig. 7 is the spatial distribution non-homogeneous three-dimensional OCT image to the B scanogram position after the motion correction of eyeball and angle of the present invention;
Fig. 8 is the three-dimensional OCT image of the uniform spatial distribution after interpolation of the present invention.
Detailed description of the invention
Below with reference to the accompanying drawings, embodiments of the invention are described in detail.If the informing function of when illustrating of the present invention, this invention being correlated with or the explanation of structure unnecessary time can omit the explanation of this part.Also have function described later to be all the function considered the present invention and define, this function is variable according to the wish of fortune user or convention, so this definition should determine based on the full content of this description.
OCT imaging system composition frame chart as shown in Figure 1, is made up of board (data-driven card, line-scan digital camera capture card and two dimensional image capture card) and algorithm (synchronous data sampling unit and data processing unit) in light path (OCT imaging system light path, Binocular Stereo Vision System imaging optical path and illumination path), computer.Synchronous data sampling unit is by the scanning of data-driven card control OCT galvanometer and the work of illumination path, gather OCT line-scan digital camera spectroscopic data by line-scan digital camera capture card, gather Binocular Stereo Vision System left and right camera two dimensional image by two dimensional image capture card.Illumination path Uniform Illumination optical fundus, for stereo visual system imaging, OCT scanning light beam is for OCT imaging and system calibrating.Data processing unit mainly realizes system calibrating, three-dimensional reconstruction and correction scheduling algorithm.
The method flow that OCT imaging system is implemented as shown in Figure 2, on near infrared binocular stereo vision imaging system, optical fundus OCT system integration collectivity Scheme Design and light path design (step 1) basis, build and pilot scale study system (step 2); Design scaling scheme (step 3), realizes the self-calibration (step 4) of binocular stereo vision imaging system, and sets up transformational relation (step 5) between stereoscopic vision coordinate system and OCT coordinate system; Design binocular stereo vision imaging system and OCT system picture synchronization collection scheme (step 6), and utilize Binocular Stereo Vision System self-calibration result, realize the reconstruction (step 8) of retinal surface vascular bifurcation point three-dimensional coordinate and the reconstruction of retinal surface 3-D view and display (step 7); By to retinal surface vascular bifurcation point three-dimensional coupling, obtain stereoscopic vision coordinate and be tied to human eye coordinate system spin matrix R
iEwith translation vector T
iE, obtain three-dimensional position and the angle (step 9) of eyeball corresponding to different B scanning; The effectiveness (step 10) of this OCT scan-data is differentiated by eyeball three-dimensional motion amplitude size; Extract retina B Scan Architecture image (step 11) or blood-stream image (step 12), utilize OCT coordinate to be tied to spin matrix R between stereoscopic vision coordinate system
oIwith translation vector T
oI(step 5), realizes B scanogram is tied to stereoscopic vision coordinate system conversion (step 13) from OCT coordinate; Utilize different B to scan corresponding stereoscopic vision coordinate further and be tied to spin matrix R between human eye coordinate system
iEwith translation vector T
iE(step 9) realizes B scanogram is tied to human eye coordinate system conversion (step 14) from stereoscopic vision coordinate; Finally, by human eye coordinate system to OCT 3-D view interpolation, obtain space uniform distribution three-dimensional OCT image (step 15).If carry out repeatedly OCT scanning, then mated by the 3 D stereo of retinal surface vascular bifurcation point, realize the splicing of OCT three-dimensional data block.
Specific embodiment further describes as follows:
1) there is the optical fundus OCT design of Optical System of binocular stereo vision imaging function
Figure 3 shows that the optical fundus OCT system light path schematic diagram with binocular stereo vision three-dimensional imaging function, wherein OCT imaging optical path, near-infrared fundus illumination light path and stereo vision three-dimensional imaging optical path share object lens, OCT scanning survey light beam, near infrared illumination bundle and the left and right lens barrel light beam that realizes stereo vision three-dimensional imaging by the path of object lens as shown in Fig. 3 (a).
OCT wideband light source is (as super luminescence diode, SLD) produce that centre wavelength is 842nm, bandwidth is the broadband signal of 46nm, light and reference light is measured by being divided into after 2X2 fiber coupler, reference light forms collimated light beam after lens 1 collimate, then the reflecting mirror by reference to arm after dispersion correction device (water cavity, glass etc.) returns through same path.Measure light and form directional light after lens 3 collimate, two-dimensional scan light beam is produced under the effect of X and Y two scanning galvanometers, after the telescopic system imaging formed through lens 4 and lens 5 again, the reflection of OCT reflecting mirror, incide optical fundus planar S by object lens, lens 6, eyepiece and eyes imaging group.The light of returning from the reflection of optical fundus different depth and scattering is coupled to 2X2 fiber coupler through original route, interferes superposing, and enter the spectrogrph be made up of collimating lens 2, grating, lens 7 and linear array camera with the light wave of reference path in fiber coupler.Fourier transform is got to spectral signal and obtains the scattered field signal of a certain scanning position along depth direction, make measuring beam carry out two-dimensional scan in XY horizontal direction to optical fundus by control X and Y scanning galvanometer, obtain the three-dimensional tomographic image on optical fundus.
Fig. 3 (b) is depicted as the middle object lens of Fig. 3 (a) along AA direction sectional views, and Fig. 3 (c) is depicted as the middle object lens of Fig. 3 (a) along BB direction sectional views and relevant light paths.Fundus illumination cell schematics comprises near infrared illumination source (adding light filter by near-infrared luminous device or Halogen light to realize), aperture diaphragm, lens 8 and illumination reflector etc., the light sent near infrared illumination source illuminated reflecting mirror after aperture diaphragm limit bundle and lens 8 reflects, then must incide optical fundus through object lens, lens 6, eyepiece and eyes imaging group are more even.Actual light path adopts the cola lighting system improved, and makes optical fundus uniform-illumination.From the light of fundus reflex by eyes imaging group, eyepiece at planar S ' formation intermediate image, intermediate image forms collimated light beam after lens 6 and object lens, and imports left and right lens barrel and carry out binocular stereo vision imaging.Comprise the imaging len of zoom system, pancreatic system dough-making powder battle array camera in each lens barrel, adjustment zoom system, pancreatic system can adjust face battle array camera areas imaging size.
As shown in Fig. 3 (c), when Y scanning galvanometer rotates, OCT scanning light beam forms certain sweep limits in optical fundus S plane, realizes the scanning of Y-direction.In like manner, the scanning of X-direction can also be realized; Distance between lens 4 and lens 5 is its focal length sum, for typical telescopic system, the mid point P of X scanning galvanometer and Y scanning galvanometer line and the center P ' of OCT reflecting mirror is conjugate point, when vibration mirror scanning, on OCT reflecting mirror, the moving range of hot spot is very little, therefore, the OCT reflecting mirror that diameter is little can be adopted, be conducive to the integrated of OCT system and Binocular Stereo Vision System; The reflecting mirror of OCT system reference arm is fixed on translational worktable, is adjusted the optical path difference of reference arm and gage beam by translatable mirror; Focused by the spacing of adjustment human eye and eyepiece.
OCT technology index: employing centre wavelength is 842nm, bandwidth is the wideband light source of 46nm, then the longitudinal resolution of OCT system is 8 μm; If spectrogrph resolution adjustment is 0.055nm, then theoretical investigation depth is 3.2mm in atmosphere; If the interval between the same scanning position B in Y scanning direction scans is 3.3ms, then blood flow detection sensitivity is 4 μm/s; The lateral resolution of OCT system is relevant with numerical aperture, and numerical aperture is larger, and lateral resolution is higher, but depth of focus is less, and numerical aperture is less, and lateral resolution is lower, but can increasing depth of focus.
2) establishment of coordinate system and scaling method
A) establishment of coordinate system
Set up the coordinate system shown in Fig. 4, wherein O
i-x
iy
iz
ifor stereoscopic vision coordinate system, determined by binocular stereo imaging system; O
o-x
oy
oz
ofor OCT coordinate system, be made up of M the B plane of scanning motion, each B plane of scanning motion comprises N number of A sweep line; O
e-x
ey
ez
ebehaviour eye coordinates system, along with motion itself and the O of eyeball
i-x
iy
iz
iand O
o-x
oy
oz
obetween coordinate system, transformational relation changes.
B) self-calibration characteristic point produces
Due to the inside and outside parameter of the optics that the cornea of detected human eye, aqueous humor, crystalline lens and vitreous body are formed cannot be obtained in advance, therefore, propose with OCT infrared diaphanoscopy luminous point on the retina as characteristic point, the whole binocular stereo vision imaging system comprising eyes imaging optics is carried out to the method for self-calibration, set up transformational relation between stereoscopic vision coordinate system and OCT coordinate system simultaneously.By control OCT scanning galvanometer, choose 20 equally distributed scanning element P
1-P
20(Fig. 5) the OCT spectral signal, gathering these points and the hot spot P formed at retinal surface
1'-P
20the binocular camera two dimensional image of ' (feature point for calibration).
C) binocular stereo vision imaging system self-calibration
Extract scanning light spot P in the camera two dimensional image of left and right
1'-P
20' centre coordinate;
Utilize the corresponding relation that these characteristic points are known, adopt stochastic sampling concordance (RANSAC) method to estimate homography matrix H;
The plane and parallax method adopting Kumar etc. to propose obtains fundamental matrix F.
D) OCT coordinate is tied to stereoscopic vision coordinate system spin matrix R
oIwith translation vector T
oIdemarcate
The coordinate p of spatial point P under OCT coordinate system
o=(x
o, y
o, z
o)
twith the coordinate p under stereoscopic vision coordinate system
i=(x
i, y
i, z
i)
tbetween transformational relation be expressed as
p
I＝R
OIp
O+T
OI(1)
Parameter R
oIand T
oIsolution procedure is:
Utilize homography matrix H and the fundamental matrix F realization character point P of binocular stereo vision imaging system
1'-P
20' three-dimensional reconstruction under stereoscopic vision coordinate system;
To scanning element P
1-P
20corresponding A sweep signal processes, and extracts retinal surface characteristic point P
1'-P
20' z coordinate, obtain characteristic point P
1'-P
20' the three-dimensional coordinate in OCT coordinate system;
Utilize the characteristic point P obtained
1'-P
20' three-dimensional coordinate corresponding in OCT coordinate system and stereoscopic vision coordinate system, asks for spin matrix R
oIwith translation vector T
oI, set an object function
Utilize principle of least square method to solve transformation matrix parameter, make object function OF residual sum of squares (RSS) minimum.
3) retinal vessel bifurcation three-dimensional reconstruction
Eye fundus image has that Strength Changes is large, surface smoothing and feature, the conventional three-dimensional method of estimation weak effect such as texture is less.But in human eye, there is optic disc, blood vessel and vascular bifurcation point etc. can as the geometric properties of two-dimentional registration and three-dimensional reconstruction.Distribute wide due to vascular bifurcation point and easily extract, it can be used as the basic feature in binocular stereo vision three-dimensional reconstruction process.Retinal vessel bifurcation three-dimensional reconstruction comprises that vascular bifurcation point position is accurately extracted, coupling, three-dimensional reconstruction etc. in two dimensional image.
A) vascular bifurcation point accurately extracts
The near-infrared image of binocular face battle array camera collection is compared with visible ray, and generally there is noise spot large, between target and background, gray scale difference is little, ill-defined feature, and image has to pass through the pretreatment such as denoising just can carry out target detection identification and the computing such as mate.In near-infrared image, modal noise is Gaussian noise and salt-pepper noise, therefore, first medium filtering filtering salt-pepper noise is adopted, then dimensional Gaussian Laplace operator (the Laplacian of theGaussian of 8 different directions is adopted, LoG) gaussian filtering and edge extracting are carried out to image, utilize principal component analysis (PrincipalComponent Analysis, PCA) method is analyzed the 8x8 cross-correlation matrix that 8 wave filter export, the seed points of vascular bifurcation point is thought in the position that there is the image of the 3rd large eigenvalue, guarantee near bifurcation, at least there are three gradient directions.
Set up model X=(x, y, the θ of the vascular bifurcation point of 8 parameters
1, θ
2, θ
3, w
1, w
2, w
3), as shown in Figure 6.Point coordinates centered by x, y, θ
1, θ
2, θ
3be the angle of three vessel branches, w
1, w
2, w
3be the width of three vessel branches, the length of blood vessel immobilizes.The seed points of the vascular bifurcation point utilizing PCA method to estimate to obtain, as the initial position of model, searches for the exact position of vascular bifurcation point by degree of fitting function minimization.
B) left and right two width two dimensional image medium vessels bifurcation coupling
Co-information entropy (Mutual information, MI) method is adopted to realize the coupling of left and right two width two dimensional image medium vessels bifurcations.Choose in the battle array camera two dimensional image of the left side and comprise vascular bifurcation dot image window s
lthe near zone window s corresponding with the battle array camera two dimensional image of the right side
rmate.The bifurcation that the co-information entropy of left and right two dimensional image medium vessels bifurcation image is maximum is match point.Window s
lwith window s
rbetween co-information entropy be
MI(s
L,s
R)＝H(s
L)+H(s
R)-H(s
L,s
R) (3)
Wherein, H (s)=-∫ p (s) lnp (s) ds is the Shannon entropy of image window s, and p is distributed function in image window.
C) retinal vessel bifurcation three-dimensional reconstruction
The retinal vessel bifurcation of the homography matrix H of the stereo visual system utilizing scaling method to obtain and fundamental matrix F to coupling carries out three-dimensional reconstruction.
4) B of OCT scans blood flow imaging method
In order to obtain optical fundus three-dimensional flow image, by OCT 2-D vibration mirror system, focused beam is carried out transversal scanning on the retina.X scanning galvanometer carries out the scanning of X-direction under the driving of sawtooth waveforms, and a sawtooth period completes a B scanning, in a B scanning, comprise N number of A sweep (A
1-A
n), namely carry out N sampling in X-direction, each sampling can obtain interference spectrum data corresponding to this scanning position.Y scanning galvanometer makes focused beam scan in the Y direction under the driving of oblique wave step signal.Be divided into M equal portions by Y-direction sweep length, namely M B scanning position (B be set
1-B
m), and at each B scanning position continuous acquisition 5 width (for 5 width) B scan-data B
m1-B
m5(m=1,2,3...M).B scans blood-stream image extraction step:
Ask 5 width two-dimensional spectrum interference signal S of each B scanning position
i(x
o, k), i=1-5;
S
i(x
o, k) subtracting background signal carry out inverse fourier transform (IFFT) and obtain two-dimensional complex number signal
i=1-5;
Utilize OCT signal phase method for registering [27,28], right
with
carry out registration (i=1-4);
Utilize two width B to scan the difference of complex signal, ask B to scan blood flow signal;
A
blow,
i(x
O,z
O)＝A
i+1(x
O,z
O)-A
i(x
O,z
O) i＝1-4 (4)
Blood-stream image is scanned to 4 width B of same B scanning position and carries out sum-average arithmetic, improve picture quality;
A
blow(x
O,z
O)＝|[A
blow,
1(x
O,z
O)+A
blow,
2(x
O,z
O)+A
blow,
3(x
O,z
O)+A
blow,
4(x
O,z
O)]/4| (5)
5) OCT image three-dimensional bearing calibration
OCT image three-dimensional corrects and comprises following key step:
Fundus coordinate system O
e-x
ey
ez
eset up.First, by initial fundus coordinate system O
e-x
ey
ez
ewith stereoscopic vision coordinate system O
i-x
iy
iz
ioverlap;
The retinal vessel bifurcation three-dimensional rebuilding method that utilization is introduced above obtains the three-dimensional coordinate of retinal surface vascular bifurcation point;
Scan vascular bifurcation point that start time utilizes Stereo Vision to obtain and first B to B each time to scan the vascular bifurcation point that start time obtains and carry out Stereo matching;
The method shown in formula (2) is utilized to solve current stereoscopic vision coordinate system O
i-x
iy
iz
ito human eye coordinate system O
e-x
ey
ez
espin matrix R
iEwith translation vector T
iE, transformational relation is
p
E＝R
IEp
I+T
IE(6)
Utilize formula (1) and (6) B Scan Architecture image or blood-stream image in OCT coordinate system to be converted to B scanogram in human eye coordinate system, Figure 7 shows that the B scanogram position after to the motion correction of eyeball and angle;
Interpolation is carried out to the image of non-homogeneous three-dimensional shown in Fig. 7, obtains the three-dimensional OCT image of uniform spatial distribution as shown in Figure 8.Formula for interpolation is
Wherein
for the gray value after interpolation, k is the number participating in the point of interpolation around selected uniform reference position,
for the gray value of the point of selected participation interpolation, d
ifor interpolation point, to surrounding, each participates in the distance of the point of interpolation.
Through above-mentioned process, finally obtain required three-dimensional OCT image.
What up to the present stress is about embodiments of the invention.Can find out that the present invention does not exceed essence belonging to the people having conventional knowledge in technical field of the present invention, just the one of a modification a little, so the above embodiments are not interpreted as that limited viewpoint is interpreted as illustrative viewpoint.Scope of the present invention is not above-mentioned explanation and is embodied in right, is to be understood that Chengdu is included in the present invention as other all difference in same scope.
Claims (10)
1. an optical fundus OCT formation method for binocular stereo vision three-dimensional imaging, comprises,
Step 1, integrated near infrared binocular stereo vision imaging system, optical fundus OCT system carry out light path design, build OCT imaging system; Wherein, described binocular stereo vision imaging system, optical fundus OCT system carry out synchronous acquisition;
Step 2, carries out the self-calibration of described binocular stereo vision imaging system, sets up transformational relation between binocular stereo vision coordinate system and OCT coordinate system;
Step 3, utilizes described Binocular Stereo Vision System self-calibration result, and obtains OCT coordinate and be tied to spin matrix R between binocular stereo vision coordinate system
oIwith translation vector T
oI, and the reconstruction to retinal surface vascular bifurcation point three-dimensional coordinate;
Step 4, by carrying out three-dimensional reconstruction to retinal surface vascular bifurcation point, obtaining binocular stereo vision coordinate and being tied to human eye coordinate system spin matrix R
iEwith translation vector T
iE;
Step 5, extracts retina B scanogram;
Step 6, utilizes OCT coordinate to be tied to spin matrix R between binocular stereo vision coordinate system
oIwith translation vector T
oI, realize B scanogram is tied to binocular stereo vision coordinate system conversion from OCT coordinate;
Step 7, utilizes binocular stereo vision coordinate to be tied to spin matrix R between human eye coordinate system
iEwith translation vector T
iE, realize B scanogram is tied to human eye coordinate system conversion from binocular stereo vision coordinate;
Step 8, by human eye coordinate system to conversion after B scanogram interpolation, obtain space uniform distribution three-dimensional OCT image.
2. method according to claim 1, is characterized in that, the self-calibration of carrying out described binocular stereo vision imaging system in described step 2, comprises further: by control OCT scanning galvanometer, chooses 20 equally distributed scanning element P
1-P
20, the OCT spectral signal gathering these points and the hot spot P formed at retinal surface
1'-P
20', it can be used as self-calibration characteristic point; Extract described hot spot P
1'-P
20' centre coordinate, and the corresponding relation utilizing self-calibration characteristic point known, adopts stochastic sampling concordance RANSAC method to estimate homography matrix H; Plane parallax plane and parallax method is adopted to obtain fundamental matrix F.
3. method according to claim 2, is characterized in that, sets up transformational relation between binocular stereo vision coordinate system and OCT coordinate system in described step 2, comprises further:
The coordinate p of spatial point P under OCT coordinate system
o=(x
o, y
o, z
o)
twith the coordinate p under stereoscopic vision coordinate system
i=(x
i, y
i, z
i)
tbetween transformational relation be expressed as:
p
I＝R
OIp
O+T
OI(1)；
Wherein, parameter R
oIand T
oIsolution procedure is:
Utilize homography matrix H and the fundamental matrix F realization character point P of binocular stereo vision imaging system
1'-P
20' three-dimensional reconstruction under stereoscopic vision coordinate system;
To scanning element P
1-P
20corresponding A sweep signal processes, and extracts retinal surface characteristic point P
1'-P
20' z coordinate, obtain characteristic point P
1'-P
20' the three-dimensional coordinate in OCT coordinate system;
Utilize the characteristic point P obtained
1'-P
20' three-dimensional coordinate corresponding in OCT coordinate system and stereoscopic vision coordinate system, asks for spin matrix R
oIwith translation vector T
oI, set an object function
Utilize principle of least square method to solve transformation matrix parameter, make object function OF residual sum of squares (RSS) minimum, thus try to achieve parameter R
oIand T
oI.
4. method according to claim 1, is characterized in that, carries out three-dimensional reconstruction in described step 4 to retinal surface vascular bifurcation point, comprises further:
Set up model X=(x, y, the θ of the vascular bifurcation point of 8 parameters
1, θ
2, θ
3, w
1, w
2, w
3), wherein point coordinates centered by x, y, θ
1, θ
2, θ
3be the angle of three vessel branches, w
1, w
2, w
3be the width of three vessel branches, the length of blood vessel immobilizes; The seed points of the vascular bifurcation point utilizing principal component analysis PCA method to estimate to obtain, as the initial position of model, searches for the exact position of vascular bifurcation point by degree of fitting function minimization
Adopt co-information entropy method to realize the coupling of left and right two width two dimensional image medium vessels bifurcations, choose in the battle array camera two dimensional image of the left side and comprise vascular bifurcation dot image window s
lthe near zone window s corresponding with the battle array camera two dimensional image of the right side
rmate, the bifurcation that the co-information entropy of left and right two dimensional image medium vessels bifurcation image is maximum is match point, window s
lwith window s
rbetween co-information entropy be
MI(s
L,s
R)＝H(s
L)+H(s
R)-H(s
L,s
R) (3)；
Wherein, H (s)=-∫ p (s) lnp (s) ds is the Shannon entropy of image window s, and p is distributed function in image window;
Further, the retinal vessel bifurcation of the homography matrix H of Binocular Stereo Vision System and fundamental matrix F to coupling is utilized to carry out three-dimensional reconstruction.
5. method according to claim 1, is characterized in that, the described retina B scanogram in described step 5 comprises extraction B Scan Architecture image further or B scans blood-stream image.
6. method according to claim 5, is characterized in that, described extraction B scans blood-stream image and comprises further:
By OCT 2-D vibration mirror system, focused beam is carried out transversal scanning on the retina, X scanning galvanometer carries out the scanning of X-direction under the driving of sawtooth waveforms, and a sawtooth period completes a B scanning, and in a B scanning, comprise N number of A sweep is A
1-A
nnamely carry out N sampling in X-direction, each sampling can obtain interference spectrum data corresponding to this scanning position, and Y scanning galvanometer makes focused beam scan in the Y direction under the driving of oblique wave step signal, be divided into M equal portions by Y-direction sweep length, namely arranging M B scanning position is B
1-B
m, and at each B scanning position continuous acquisition 5 width B scan-data B
m1-B
m5(m=1,2,3...M),
Ask 5 width two-dimensional spectrum interference signal S of each B scanning position
i(x
o, k), i=1-5;
S
i(x
o, k) subtracting background signal carry out inverse fourier transform (IFFT) and obtain two-dimensional complex number signal
i=1-5;
Utilize OCT signal phase method for registering, right
with
carry out registration (i=1-4);
Utilize two width B to scan the difference of complex signal, ask B to scan blood flow signal;
A
blow,
i(x
O,z
O)＝A
i+1(x
O,z
O)-A
i(x
O,z
O) i＝1-4 (4)；
Blood-stream image is scanned to 4 width B of same B scanning position and carries out sum-average arithmetic, improve picture quality;
A
blow(x
O,z
O)＝|[A
blow,
1(x
O,z
O)+A
blow,
2(x
O,z
O)+A
blow,
3(x
O,z
O)+A
blow,
4(x
O,z
O)]/4| (5)。
7. method according to claim 6, is characterized in that, described step 5 comprises further:
Coordinate p under utilizing the method shown in formula (2) to solve current binocular stereo vision coordinate system
i=(x
i, y
i, z
i)
tto the coordinate p under human eye coordinate system
e=(x
e, y
e, z
e)
tspin matrix R
iEwith translation vector T
iE, transformational relation is
p
E＝R
IEp
I+T
IE(6)。
8. method according to claim 6, is characterized in that, by comprising further B scanogram interpolation after conversion in human eye coordinate system in described step 8:
Formula for interpolation is
Wherein
for the gray value after interpolation, k is the number participating in the point of interpolation around selected uniform reference position,
for the gray value of the point of selected participation interpolation, d
ifor interpolation point, to surrounding, each participates in the distance of the point of interpolation.
9. method according to claim 6, is characterized in that, described step 4 comprises further:
By carrying out three-dimensional reconstruction to retinal surface vascular bifurcation point, obtaining binocular stereo vision coordinate and being tied to human eye coordinate system spin matrix R
iEwith translation vector T
iE, obtain the eyeball three-dimensional motion information that different B scanning is corresponding; The effectiveness of this OCT scan-data is differentiated by eyeball three-dimensional motion amplitude size.
10. an optical fundus OCT imaging system for binocular stereo vision three-dimensional imaging, comprises,
OCT imaging system light path, Binocular Stereo Vision System imaging optical path and illumination path, data-driven card, line-scan digital camera capture card and two dimensional image capture card, synchronous data sampling unit and data processing unit;
Synchronous data sampling unit is by the scanning of data-driven card control OCT imaging system scans galvanometer and the work of illumination path, gather OCT line-scan digital camera spectroscopic data by line-scan digital camera capture card, gather Binocular Stereo Vision System left and right camera two dimensional image by two dimensional image capture card; Illumination path Uniform Illumination optical fundus, for Binocular Stereo Vision System imaging, the light beam of OCT scanning is for OCT imaging and system self-calibration; Data processing unit mainly realizes system self-calibration, three-dimensional reconstruction and correction;
Described system is further used for implementing the claims the method described in any one of 1-9.
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