CN105534606A - Intelligent imaging system for surgical operation - Google Patents

Abstract

The invention provides an intelligent imaging system for surgical operation. The intelligent imaging system comprises a frequency-domain optical coherence tomography subsystem for obtaining a depth image of a biological tissue, a fluorescence imaging and hyperspectral analysis subsystem for forming a hyperspectral image, a probe device for coupling optical paths of the frequency-domain optical coherence tomography subsystem and the fluorescence imaging and hyperspectral analysis subsystem, fusing the depth image of the biological tissue and the hyperspectral image to obtain a structural functional stereoscopic image of the biological tissue, determining an operative area according to the structural functional stereoscopic image of the biological tissue and performing scanning in the operative area to obtain a quasi-real-time image. The intelligent imaging system for the surgical operation has the advantages of being simple in structure, low in cost, simple in operation, high in imaging speed, high in image space resolution, small in size, light in weight and obvious in image effect.

Description

For operating intelligent imaging system

Technical field

The present invention relates to medical imaging technical field, particularly one is used for operating intelligent imaging system.

Background technology

Along with improving constantly of technology, modern surgery operation has needed enforcement operation being become minimally-invasive, require while accurate positioning operation target spot position, reduction is as much as possible to the wound of the physiological tissue of patient, thus evaded the problems such as the operation wound that open surgery leaves over is large, convalescent period is long, to drop to minimum to the bodily tissue of patient and menticide, and reduce the wound restore cycle.Central nervous system pathological change, especially tumor have become the large killer threatening human health, because its high fatality rate caused and disability rate also become to enjoy people to pay close attention to.

Operation is the prefered method of radical cure central nervous system pathological change.But in operation, the most insoluble problem is the accurate decision problem of tumor boundaries at present.Therefore exploitation has high-resolution 26S Proteasome Structure and Function image will provide image accurately to guide for operation.Accurately the intervene operation that guides of stereo-picture can accurately positioning operation target spot, can realize monitoring the feature such as navigation in operation process, stereo-picture can provide the image with depth information to have directive significance more accurately for operative doctor, simultaneously, the basis of structure image proposes the framework of functional image, so that ensure can by complete for functional area preservation in operation process.Such image possess wound little, recover fast, good effect, low cost and other advantages.

Frequency domain optical-coherence tomography (FD-OCT) there is provided the stereochemical structure imaging pattern of histoorgan.The principle of FD-OCT is well-known, uses near infrared light source that the diagnostic image of tissue can be allowed to have the spatial resolution of 10-20um, can realize high-resolution image acquisition, and can reach real-time to tissue.But OCT system is for fluorescence imaging and hyperspectral analysis system, and existing image information contains again the four-dimensional Hyperspectral imaging of spectral information, and its resolution can realize accurate adjustment according to adjustable sweep mechanism.Fluorescence is to the metabolic function (comprising the hemoglobin in biological tissue, blood flow quantitative analysis) of biological tissue simultaneously, especially to specific fluorescence imaging and hyperspectral analysis, the metabolism of the fluorescence such as ICG, 5-ALA or fluorescein sodium photosensitizer to tumor tissues is more responsive.

At present, the microsurgery of neurosurgery brings very large progress to it, makes to drastically increase the success rate of operation and reduces postoperative relapse rate.Microscopical lens design is the same with neurosurgery microscope designs is the technology comparing forward position at present, but can only be the imaging in biological tissues under natural light in microsurgery, has higher image definition, is difficult to tumor boundaries precisely to identify equally.

Summary of the invention

The present invention is intended to solve one of technical problem in above-mentioned correlation technique at least to a certain extent.

For this reason, the object of the invention is to propose a kind of for operating intelligent imaging system, this system has that structure is simple, with low cost, simple to operate, image taking speed is fast, image spatial resolution is high, volume is little, quality is light, the obvious advantage of image effect.

To achieve these goals, embodiments of the invention propose a kind of for operating intelligent imaging system, comprise: frequency domain optical-coherence tomography subsystem, described frequency domain optical-coherence tomography subsystem is used for being irradiated biological tissue by infrared light and producing reflected light, to form sample light and reference interference of light, and use CCD to carry out imaging after carrying out light splitting by spectrogrph to described sample light and reference light, and the depth image that Fourier transform obtains described biological tissue is carried out to CCD imaging results; Fluorescence imaging and hyperspectral analysis subsystem, described fluorescence imaging and hyperspectral analysis subsystem are used for analyzing the fluorescent characteristic of described biological tissue, to obtain fluorescence extent of polymerization and intensity distributions, and according to described fluorescence extent of polymerization and intensity distributions the function in described biological tissue located accurately and judge, and control spectrogrph rotation sweep, to form Hyperspectral imaging according to the location of the function in described biological tissue and judged result; And probe apparatus, described probe apparatus is used for being coupled to the light path of described frequency domain optical-coherence tomography subsystem and fluorescence imaging and hyperspectral analysis subsystem, the depth image of described biological tissue and described Hyperspectral imaging are merged, obtain the structure function image of described biological tissue, according to the structure function image determination operative region of described biological tissue, carry out scanning to obtain quasi real time image in operative region.

According to the embodiment of the present invention for operating intelligent imaging system, both can to the stereochemical structure functional imaging of soft tissue especially cerebral tissue and brain stem tissue, again can resolving acquisition OCT and fluorescent high spectral image, and the realtime imaging that can gather in art, have that structure is simple, with low cost, surgical operation use simple, simple to operate, image taking speed is fast, image spatial resolution is high, volume is little, quality is light, the obvious advantage of image effect.

In addition, according to the above embodiment of the present invention can also have following additional technical characteristic for operating intelligent imaging system:

In some instances, the wavelength of the light source of the light source of described frequency domain optical-coherence tomography subsystem and fluorescence imaging and hyperspectral analysis subsystem is different, the light source of described frequency domain optical-coherence tomography subsystem is near infrared light, and the light source of described fluorescence imaging and hyperspectral analysis subsystem is royal purple light.

In some instances, described probe apparatus adopts simple scan mode, entire image is scanned as location of pixels according to point.

In some instances, the scan mode of described probe apparatus comprises inner scanning and external scan, and wherein, described inner scanning is the adjustable one dimension of galvanometer or two-dimensional scan, and described external scan is the mass motion of described probe apparatus.

In some instances, the mass motion of described probe apparatus comprises manual movement mode and mechanical motion mode.

In some instances, wherein, described manual movement mode is for probe apparatus described in Non-follow control is in the motion in x, y, z direction, and meanwhile, outside galvanometer entirety scans whole operative region; Described mechanical motion mode is automatically control the motion of described probe apparatus in x, y, z direction, and meanwhile, outside galvanometer entirety scans whole operative region.

In some instances, the galvanometer entirety of described outside scans whole operative region, specifically comprises: the initial position choosing described probe apparatus is (x ₀, y ₀, z ₀), for the scan pattern of galvanometer, with 2-D vibration mirror scan pattern for the scanning under benchmark completes described initial position, signal and image reconstruction are stored simultaneously, wait for this inner scanning complete after next spot scan position of continuation (x ₁, y ₁, z ₁), start same 2-D vibration mirror scanning, reconstruction signal and image simultaneously, until be recycled to position (x _n-1, y _n-1, z _n-1) and rebuild, until the complete end of scan of whole operative region, arrive final position (x _n, y _n, z _n), z is wherein constant or it is directly set to 0.

In some instances, described probe apparatus is also for after completing operation sector scanning, the image obtained spliced and merges, according to mutual information and edge conservation degree, fusion results being assessed, and according to assessment result, the image obtained is screened.

In some instances, wherein, adopt the algorithm of overlapping region linear transitions to carry out image mosaic, specifically comprise:

If the width of overlapping region is L, getting the transition factor is δ, and wherein the span of δ is 0≤δ≤1, and the x-axis of the overlapping region of two source images and the minimum and maximum value of y-axis are designated as x respectively _max, x _minand y _max, y _min, then the transition factor can be expressed as the pixel value of overlapping region is:

I＝δI _A(x，y)+(1-δ)I _B(x，y)

Wherein I _a, I _bbe respectively the pixel value that figure A is corresponding with figure B.

In some instances, method for objectively evaluating is adopted to assess described fusion results, wherein,

Mutual information between source images A, B and fusion image F can be obtained by following formula:

MI _ABIF＝MI _AF+MI _BF

${\mathrm{MI}}_{AF}=\underset{i=0}{\overset{L-1}{\Σ}}\underset{k=0}{\overset{L-1}{\Σ}}{P}_{AF}(i,k)\log \frac{P_{AF}(i,k)}{P_F\left(k\right)P_A\left(i\right)}$

${\mathrm{MI}}_{BF}=\underset{i=0}{\overset{L-1}{\Σ}}\underset{k=0}{\overset{L-1}{\Σ}}{P}_{BF}(j,k)\log \frac{P_{BF}(j,k)}{P_F\left(k\right)P_B\left(j\right)}$

Wherein, L is the number of greyscale levels of image, P _aFand P _bFthe joint probability density of source images A, B and fused image F respectively, P _b, P _band P _fthe probability density of source images A, B and fusion image F respectively;

Described edge conservation degree is by following formulae discovery:

$Q^{AB/F}=\frac{{\mathrm{\Σ}}_{i=1}^M{\mathrm{\Σ}}_{n=1}^N{Q}^{AF}(m,n){\mathrm{\ω}}^A(m,n)+Q^{BF}(m,n){\mathrm{\ω}}^B(m,n)}{{\mathrm{\Σ}}_{m=1}^M{\mathrm{\Σ}}_{n=1}^N{\mathrm{\ω}}^A(m,n)+{\mathrm{\ω}}^B(m,n)}$

Wherein, $Q^{AF}(m,n)=Q_g^{AF}(m,n)Q_{\mathrm{\α}}^{AF}(m,n),$ with represent the preservation situation of edge amplitude and phase place between source images A and fusion image F respectively, Q ^bFand Q ^aFsimilar, M and N represents the size of image, ω ^aand ω ^bit is weight coefficient.Q ^aB/Fspan be [0,1].

Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.

Accompanying drawing explanation

Above-mentioned and/or additional aspect of the present invention and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:

Fig. 1 is according to an embodiment of the invention for the structural principle schematic diagram of operating intelligent imaging system;

Fig. 2 is according to an embodiment of the invention for probe light channel structure and the mechanical motion mode schematic diagram of operating intelligent imaging system;

Fig. 3 is according to an embodiment of the invention for the structural representation of the probe apparatus of operating intelligent imaging system;

Fig. 4 is according to an embodiment of the invention for the basic controlling flow process schematic diagram of operating intelligent imaging system; And

Fig. 5 is according to an embodiment of the invention for the schematic diagram of the probe apparatus automatic scam sample mode of operating intelligent imaging system.

Detailed description of the invention

Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.

Below in conjunction with accompanying drawing describe according to the embodiment of the present invention for operating intelligent imaging system.

Fig. 1 is according to an embodiment of the invention for the structural principle schematic diagram of operating intelligent imaging system.As shown in Figure 1, comprising for operating intelligent imaging system according to the embodiment of the present invention: frequency domain optical-coherence tomography system son system 1 (FD-OTC), fluorescence imaging and hyperspectral analysis subsystem 2 and probe apparatus 3, its connected mode as shown in Figure 1, adopts synchronous control mode.

Particularly, frequency domain optical-coherence tomography subsystem 1 is the basis of stereochemical structure imaging, for to be irradiated biological tissue or sample by short-wave infrared light and produce reflected light, to form sample light and reference interference of light, and use CCD to carry out imaging after carrying out light splitting by spectrogrph to sample light and reference light, and the depth image that fast Fourier transform obtains biological tissue is carried out to CCD imaging results.Wherein, the wavelength of the light source of the light source of frequency domain optical-coherence tomography subsystem 1 and fluorescence imaging and hyperspectral analysis subsystem 2 is different, the light source of frequency domain optical-coherence tomography subsystem 1 is near infrared light, and the light source of fluorescence imaging and hyperspectral analysis subsystem 2 is royal purple light.In this example, frequency domain optical-coherence tomography subsystem 1 such as uses wideband light source, and the centre wavelength of this wideband light source is 1310nm, and bandwidth is 60nm.Wherein, use the sub-imaging 1 of frequency domain light coherence tomography to reduce sweep time, realized the extraction of depth information by Fourier transformation, the sub-imaging of frequency domain light coherence tomography 1 has micron-sized spatial resolution, and image taking speed is fast, and imaging depth reaches grade; Also there is the noinvasive degree of depth that is radiationless, that can detect tissue simultaneously and form the features such as the stereochemical structure image of transparent effect.

Fluorescence imaging and hyperspectral analysis subsystem 2 are for analyzing the fluorescent characteristic of biological tissue, to obtain fluorescence extent of polymerization and intensity distributions, and according to fluorescence extent of polymerization and intensity distributions the function in biological tissue located accurately and judge, and control spectrogrph rotation sweep, to form Hyperspectral imaging according to the location of the function in biological tissue and judged result.Wherein, in this example, fluorescence imaging and hyperspectral analysis subsystem 2 such as comprise EMCCD and spectrogrph, add real-time reading and the process of image simultaneously, thus make image acquisition speed reach higher degree.Wherein, about front-end driven and the light path part of frequency domain optical-coherence tomography subsystem 1 and fluorescence imaging and hyperspectral analysis subsystem 2, common optical pathways is the basic light path of frequency domain optical-coherence tomography subsystem 1 and fluorescence imaging and hyperspectral analysis subsystem 2, be belong to sample arm part in FDOCT (frequency domain optical-coherence tomography subsystem 1), be the light channel structure of front-end collection in fluorescence imaging and hyperspectral analysis subsystem 2.

The spatial resolution of fluorescence imaging and hyperspectral analysis subsystem 2 can reach micron order, the space structure of biological tissue is differentiated clear; Secondly, fluorescence imaging and hyperspectral analysis subsystem 2 can become fluoroscopic image to biological tissue and sample, gather fluorescence intensity image when wavelength is fixing, namely for the image analysing computer of tissue to the intensity difference practical function that the metabolism of fluorescence photosensitizer produces; Again, fluorescence imaging and hyperspectral analysis subsystem 2 can also do the fluorescence spectrum of tissue and analyze identification accordingly; Finally, by the spectrogrph rotation sweep in adjustment fluorescence imaging and hyperspectral analysis subsystem 2, thus Hyperspectral imaging can also be defined.

Probe apparatus 3 is for being coupled to the light path of frequency domain optical-coherence tomography subsystem 1 and fluorescence imaging and hyperspectral analysis subsystem 2, and the depth image of biological tissue and Hyperspectral imaging are merged, obtain the structure function image of biological tissue, and according to the structure function image determination operative region of biological tissue, and carry out scanning to obtain quasi real time image in operative region.Wherein, probe apparatus 3 adopts simple scan mode, and is snake scan, entire image is scanned as location of pixels according to point.

As shown in Figure 2, probe light channel structure and the mechanical motion mode of the imaging system of the embodiment of the present invention is illustrated.This probe light path relates generally to the light path coupled mode of two imaging subsystems, first be the light path design for frequency domain optical-coherence tomography, the design of sample light is mainly considered in the common optical pathways coupling process of sample light and fluorescence imaging and hyperspectral analysis subsystem 2 light source optical path, the wavelength used is not identical, the former is near infrared light, the latter use royal purple light produce exciting light as light source, therefore in the use procedure of wave filter it is envisaged that the transmitance of two different-wavebands; Consider that the reflected light of frequency domain optical-coherence tomography subsystem 1 needs to arrive bonder to form interference imaging as needing in the light path of reflected light and exciting light, also need to consider that the exciting light to fluorescence imaging and hyperspectral analysis subsystem 2 receives simultaneously, therefore, used herein is high anti-near infrared light, high pass royal purple optical filter, therefore these two wave filter are critical pieces of native system light path.

In one embodiment of the invention, shown in composition graphs 3, the scan mode of probe apparatus 3 comprises inner scanning and external scan, wherein, inner scanning is adjustable one dimension or the two-dimensional scan of galvanometer, can strictly control scanning speed, therefore, storage speed in main frame can according to actual scanning speed regulation and control, and in addition, inner scanning scope is less; External scan is the mass motion of probe apparatus, and external scan suitably can increase sweep limits.

Further, embodiments of the invention adopt 2-D vibration mirror as scanning mirror.Probe apparatus 3 such as comprises microscopic structure, and wherein, microscopical object lens are exactly scanning objective, has higher times magnification and less numerical aperture, to increase focal length having enough spacescan imagings to biological tissue or sample.

More specifically, the mass motion of probe apparatus 3 comprises manual movement mode and mechanical motion mode.Wherein, manual movement mode is the motion of Non-follow control probe apparatus 3 in x, y, z three directions, and meanwhile, outside galvanometer entirety scans whole operative region; Mechanical motion mode is automatically control the motion of probe apparatus 3 in x, y, z three directions, and meanwhile, outside galvanometer entirety scans whole operative region.

Wherein, the galvanometer entirety of said external scans operative region, and specifically comprise: in the motor process of probe apparatus 3, after the demarcation of z-axis, the initial position first choosing probe apparatus 3 is (x ₀, y ₀, z ₀), for the scan pattern of galvanometer, to complete the scanning under initial position for benchmark with 2-D vibration mirror scan pattern, signal and image reconstruction stored simultaneously, wait for this inner scanning complete after next spot scan position of continuation (x ₁, y ₁, z ₁), start same 2-D vibration mirror scanning, reconstruction signal and image simultaneously, until be recycled to position (x _n-1, y _n-1, z _n-1) and rebuild, final until the complete end of scan of whole operative region, arrive final position (x _n, y _n, z _n), in order to convenience of calculation, z is wherein constant or it is directly set to 0.

In the process, because related to the image co-registration problem between two positions, namely by two and above image mosaic, therefore the connecting sewing problem needing to consider to eliminate overlapping region to be also had.In order to solve the splicing connecting sewing problem of overlapping region, in an embodiment of the present invention, the algorithm of employing is the algorithm of overlapping region linear transitions.Therefore, probe apparatus 3 is for after completing operation sector scanning, the image obtained is spliced and merges, according to mutual information and edge conservation degree, fusion results is assessed, and according to assessment result, the image obtained is screened, particularly, the result good to fusion image stays, and bad result is abandoned to be rescaned and processes further.

Particularly, about being described below of convergence analysis method of stereo structure image and functional image:

The fusion of the depth structure image based on OCT and the four-dimensional image of planar structure based on fluorescent high spectrum and spectral information image is the basis of high-precision diagnosis, the basic feature information of structure image and functional image is extracted, the convergence analysis of image will be realized after the dot information accuracy registration of two-dimensional structure and three dimensional structure; And the information retrieval of pathological changes is realized the identification of structure function pathological changes.

About being described below of image co-registration and appraisal procedure: the stereochemical structure-functional image formed for FDOCT and fluorescence, FDOCT image energy forms the fluoroscopic image of three dimensional structure to biological tissue, and fluorescence can form the image with blood flow change to the surface of tissue.First need to merge it for two images, obtaining the mechanics of biological tissue functional image containing abundant information, is exactly therefore vital to the fusion of image and information.Multi-scale transform and image overlapping region linear transitions is used to realize image co-registration in the present embodiment.

Wherein, adopt the algorithm of overlapping region linear transitions to carry out image mosaic, specifically comprise:

The width supposing overlapping region is L, and getting the transition factor is δ, and wherein the span of δ is 0≤δ≤1, and the x-axis of the overlapping region of two source images and the minimum and maximum value of y-axis are designated as x respectively _max, x _minand y _max, y _min, then the transition factor can be expressed as the pixel value of overlapping region is:

I＝δI _A(x，y)+(1-δ)I _B(x，y)

Wherein I _a, I _bbe respectively the pixel value that figure A is corresponding with figure B.The method makes transition smoother, does not have significant catastrophe.

Adopt method for objectively evaluating to assess fusion results, wherein, weigh the dependency between Two Variables or multiple variable by mutual information, or the quantity of information of another variable comprised in a tolerance variable.Mutual information between source images A, B and fusion image F can be obtained by following formula:

Mutual information between source images A, B and fusion image F can be obtained by following formula:

MI _ABIF＝MI _AF+MI _BF

${\mathrm{MI}}_{AF}=\underset{i=0}{\overset{L-1}{\Σ}}\underset{k=0}{\overset{L-1}{\Σ}}{P}_{AF}(i,k)\log \frac{P_{AF}(i,k)}{P_F\left(k\right)P_A\left(i\right)}$

${\mathrm{MI}}_{BF}=\underset{i=0}{\overset{L-1}{\Σ}}\underset{k=0}{\overset{L-1}{\Σ}}{P}_{BF}(j,k)\log \frac{P_{BF}(j,k)}{P_F\left(k\right)P_B\left(j\right)}$

Wherein, L is the number of greyscale levels of image, P _aFand P _bFthe joint probability density of source images A, B and fused image F respectively, P _b, P _band P _fbe the probability density of source images A, B and fusion image F respectively, the information that the value larger expression fusion image of mutual information obtains from source images is larger, and therefore the quality of fusion image is more.

Edge conservation degree (Q ^aB/F) reflecting the brightness of the marginal information that fusion image obtains from source images, it is by following formulae discovery:

$Q^{AB/F}=\frac{{\mathrm{\Σ}}_{i=1}^M{\mathrm{\Σ}}_{n=1}^N{Q}^{AF}(m,n){\mathrm{\ω}}^A(m,n)+Q^{BF}(m,n){\mathrm{\ω}}^B(m,n)}{{\mathrm{\Σ}}_{m=1}^M{\mathrm{\Σ}}_{n=1}^N{\mathrm{\ω}}^A(m,n)+{\mathrm{\ω}}^B(m,n)}$

Wherein, $Q^{AF}(m,n)=Q_g^{AF}(m,n)Q_{\mathrm{\α}}^{AF}(m,n),$ with represent the preservation situation of edge amplitude and phase place between source images A and fusion image F respectively, Q ^bFand Q ^aFsimilar, M and N represents the size of image, ω ^aand ω ^bit is weight coefficient.Q ^aB/Fspan be [0,1], and the larger expression marginal information of value retain more.

Further, after in probe apparatus scanning process, image mosaic, fusion and evaluation complete, need to do corresponding analysis to the optical characteristics of biological tissue and fluorescent characteristic, especially optical attenuator characteristic, fluorescence intensity characteristic, texture characteristic etc., analyze the structure function character of identification tissue, simultaneously with reference to the preoperative pathological characteristics organizing identification property analysis biological tissue.Information accurately can be provided comprehensively to pathological changes identification in art like this, the accuracy improving identification with the accurate excision residual disease of guided surgery and as much as possible by complete for function preservation.

Shown in composition graphs 4, the control of probe apparatus 3 is mainly divided into manual mode and automatic mode two kinds of control modes, and the actual range that the judgment basis of step distance is different realizes.Arranging two kinds of patterns is facilitate doctor to have level adjustability in operation process, the enforcement of convenient operation.

In manual mode situation, can complete in operation according to microscopical multifreedom motion mode, the pathological changes in identification doctor Real Time Observation operative region also processes in operation process, constantly adjusts the micro-module tracks operative region in operation simultaneously.Specifically, manual mode is that in operation process, to use probe apparatus 3 to complete coordinate doctor to complete in operation process micro-and use optical-coherence tomography and use fluoroscopic image and hyperspectral information to guide doctor to the identification of pathological changes simultaneously in real time.Fluorescence in operation process shows in real time, to lesion region identification and demarcation, thus provides image clearly to guide to doctor.

In addition, in a manual mode, in conjunction with the motion mode of optical texture functional image imaging system and neurosurgery microscope probe, use multivariant motion structure, light path wherein uses completely reflecting mirror coupling to reflect completely the light of different wave length.Probe front end also can be integrated in microscope, to move the real time scan imaging that realize in operation process in conjunction with microscope.Owing under manual mode being the characteristics of lesion and the boundary information that coordinate the real-time observation operative region of operative doctor, doctor can complete collection and the reconstruction of image by the probe adjusted in real time in operation.

Doctor by completing in doctor's subjective judgment focusing situation to the manual adjustment of probe apparatus 3, has stronger subjectivity, therefore may bring the problem of picture quality.Therefore relatively high to the skill requirement of doctor, and be closely connected with the habit problem of doctor.For this reason, need to provide focal length to identify prompting and instruction to probe apparatus 3, can know that the approximate distance of lens distance biological tissue demarcates the calibration position of z-axis by the focal range arranging scanning lens, guarantee at accurate areas imaging interscan sample.

In automatic mode situation, need the visual field first determining lesion locations according to microscopical image, through finding corresponding sweep limits to the basic fixed position of operative region.Position wherein determines operative region roughly to determine, after determining the home position of pathological changes, selected coordinate basic point is reference point setting in motion, and the process of motion is made up of two aspects simultaneously:

Be the scanning of galvanometer on the one hand, vibration mirror scanning scope is that in the square of 2.2 × 2.2mm area, under 5 times of object lens, sweep limits can reach in the square of 4.4 × 4.4mm area under 10 times of object lens.The basic identification of its control module is as shown in the automatic control in Fig. 4, first the scanning starting 2-D vibration mirror after original point is chosen in location automatically through probe apparatus 3 is needed, obtain optical signalling and rebuild image, translation probe apparatus 3 is to the next position, repeat above process, the judgement on guided operation border completes, and finally completes the splicing of image and the image reconstruction of whole operative region.

Shown in composition graphs 5, illustrate the mode of probe apparatus 3 scanning samples.Have employed the complete scan of operative region in the present embodiment, in operative region, scanning process is diversified, and the present embodiment adopts snake scan mode, has been scanned completely in region.Particularly, is vibration mirror scanning region below scanning objective, and its Area comparison is little.After current region has scanned, enter next sector scanning.Detailed process is: getting preliminary sweep point is (x ₀, y ₀, z ₀), because Z axis is fixing in follow up scan point, get Z=0 because conveniently calculating this, scanning process afterwards so according to snake scan mode until (x _n, y _n, z _n) terminate the scanning in this region.

On the other hand, the mass motion of probe apparatus 3 such as adopts unenhanced mode, translation and be main motion mode up and down, translation is in order to scanning biological tissue that can be wider is to reduce the complexity of doctor's operation, more precisely comprehensively can also judge the pathological changes tumor resection degree in operation process; Move up and down z-axis mainly in order to regulate the focal length of object lens, this probe does not design auto-focusing discriminating function, therefore needs doctor to look at image stop button in real time to reach focus effects moving up and down in process.In translation motion, need the position for y-axis to be progressively demarcated as the movement of integer, the translation that simultaneously show also whole operative region needs through (x ₀, y ₀, z ₀), (x ₁, y ₁, z ₁) ... (x _n, y _n, z _n) individual translational motion completes scanning.

According to the above embodiments of the present invention, the image information guided surgery of micrometer resolution can be provided based on FD-OCT and fluorescence imaging and high light spectrum image-forming, overcome in the operation of existing ultrasonic, biological biopsy and guide and analyze, the radioactivity of CT in art can also be avoided simultaneously, overcome the resolution defect of MRI, CT in art; Provide easily scan mode, simple mechanism structure and light channel structure, reduce manufacturing cost greatly, use 2-D vibration mirror improve image taking speed to such an extent as in operation process can guiding in real time operation implement.

The application scenarios of the present invention mainly excision of tumor, pathological changes in surgical operation, the especially identification of tumor boundaries and tumors remaining, such as, tumor in the operation of neurosurgery, glioma, ependymoma etc.Probe has the advantages such as structure is simple, with low cost, surgical operation use is simple, simple to operate, image taking speed is fast, image spatial resolution is high, volume is little, quality is light, image effect is obvious.

To sum up, according to the embodiment of the present invention for operating intelligent imaging system, both can to the stereochemical structure functional imaging of soft tissue especially cerebral tissue and brain stem tissue, again can resolving acquisition OCT and fluorescent high spectral image, and the realtime imaging that can gather in art, have that structure is simple, with low cost, surgical operation use simple, simple to operate, image taking speed is fast, image spatial resolution is high, volume is little, quality is light, the obvious advantage of image effect.

In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.

In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In describing the invention, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.

In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.

In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.

In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this description or example and different embodiment or example can carry out combining and combining by those skilled in the art.

Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.

Claims (10)

1., for an operating intelligent imaging system, it is characterized in that, comprising:

Frequency domain optical-coherence tomography subsystem, described frequency domain optical-coherence tomography subsystem is used for being irradiated biological tissue by infrared light and producing reflected light, to form sample light and reference interference of light, use CCD to carry out imaging after carrying out light splitting by spectrogrph to described sample light and reference light, and the depth image that fast Fourier transform obtains described biological tissue is carried out to CCD imaging results;

Fluorescence imaging and hyperspectral analysis subsystem, described fluorescence imaging and hyperspectral analysis subsystem are used for analyzing the fluorescent characteristic of described biological tissue, to obtain fluorescence extent of polymerization and intensity distributions, according to described fluorescence extent of polymerization and intensity distributions the function in described biological tissue located accurately and judge, and control spectrogrph rotation sweep, to form Hyperspectral imaging according to the location of the function in described biological tissue and judged result; And

Probe apparatus, described probe apparatus is used for being coupled to the light path of described frequency domain optical-coherence tomography subsystem and fluorescence imaging and hyperspectral analysis subsystem, the depth image of described biological tissue and described Hyperspectral imaging are merged, obtain the structure function image of described biological tissue, according to the structure function image determination operative region of described biological tissue, carry out scanning to obtain quasi real time image in operative region.

2. according to claim 1ly to it is characterized in that for operating intelligent imaging system,

The wavelength of the light source of the light source of described frequency domain optical-coherence tomography subsystem and fluorescence imaging and hyperspectral analysis subsystem is different, the light source of described frequency domain optical-coherence tomography subsystem is near infrared light, and the light source of described fluorescence imaging and hyperspectral analysis subsystem is royal purple light.

3. according to claim 1ly it is characterized in that for operating intelligent imaging system, described probe apparatus adopts simple scan mode, entire image is scanned as location of pixels according to point.

4. according to claim 3 for operating intelligent imaging system, it is characterized in that, the scan mode of described probe apparatus comprises inner scanning and external scan, wherein, described inner scanning is the adjustable one dimension of galvanometer or two-dimensional scan, and described external scan is the mass motion of described probe apparatus.

5. according to claim 4ly it is characterized in that for operating intelligent imaging system, the mass motion of described probe apparatus comprises manual movement mode and mechanical motion mode.

6. according to claim 5ly to it is characterized in that for operating intelligent imaging system, wherein,

Described manual movement mode is for probe apparatus described in Non-follow control is in the motion in x, y, z direction, and meanwhile, outside galvanometer entirety scans whole operative region;

Described mechanical motion mode is automatically control the motion of described probe apparatus in x, y, z direction, and meanwhile, outside galvanometer entirety scans whole operative region.

7. according to claim 6ly it is characterized in that for operating intelligent imaging system, the galvanometer entirety of described outside scans whole operative region, specifically comprises:

The initial position choosing described probe apparatus is (x ₀, y ₀, z ₀), for the scan pattern of galvanometer, with 2-D vibration mirror scan pattern for the scanning under benchmark completes described initial position, signal and image reconstruction are stored simultaneously, wait for this inner scanning complete after next spot scan position of continuation (x ₁, y ₁, z ₁), start same 2-D vibration mirror scanning, reconstruction signal and image simultaneously, until be recycled to position (x _n-1, y _n-1, z _n-1) and rebuild, until the complete end of scan of whole operative region, arrive final position (x _n, y _n, z _n), z is wherein constant or it is directly set to 0.

8. according to claim 6 for operating intelligent imaging system, it is characterized in that, described probe apparatus is also for after completing operation sector scanning, the image obtained is spliced and merges, according to mutual information and edge conservation degree, fusion results is assessed, and according to assessment result, the image obtained is screened.

9. according to claim 8ly to it is characterized in that for operating intelligent imaging system, wherein, adopt the algorithm of overlapping region linear transitions to carry out image mosaic, specifically comprise:

If the width of overlapping region is L, getting the transition factor is δ, and wherein the span of δ is 0≤δ≤1, and the x-axis of the overlapping region of two source images and the minimum and maximum value of y-axis are designated as x respectively _max, x _minand y _max, y _minthe then transition factor can be expressed as the pixel value of overlapping region is:

I＝δI _A(x,y)+(1-δ)I _B(x,y)

Wherein I _a, I _bbe respectively the pixel value that figure A is corresponding with figure B.

10. according to claim 9ly to it is characterized in that for operating intelligent imaging system, wherein, adopt method for objectively evaluating to assess described fusion results, wherein,

Source images A, the mutual information between B and fusion image F can be obtained by following formula:

MI _ABIf＝MI _AF+MI _BF

${\mathrm{MI}}_{AF}=\underset{i=0}{\overset{L-1}{\Σ}}\underset{k=0}{\overset{L-1}{\Σ}}{P}_{AF}(i,k)\log \frac{P_{AF}(i,k)}{P_F\left(k\right)P_A\left(i\right)}$

${\mathrm{MI}}_{BF}=\underset{i=0}{\overset{L-1}{\Σ}}\underset{k=0}{\overset{L-1}{\Σ}}{P}_{BF}(j,k)\log \frac{P_{BF}(j,k)}{P_F\left(k\right)P_B\left(j\right)}$

Wherein, L is the number of greyscale levels of image, P _aFand P _bFdifference source images A, the joint probability density of B and fused image F, P _b, P _band P _fthe probability density of source images A, B and fusion image F respectively;

Described edge conservation degree is by following formulae discovery:

$Q^{AB/F}=\frac{{\mathrm{\Σ}}_{i=1}^M{\mathrm{\Σ}}_{n=1}^N{Q}^{AF}(m,n){\mathrm{\ω}}^A(m,n)+Q^{BF}(m,n){\mathrm{\ω}}^B(m,n)}{{\mathrm{\Σ}}_{m=1}^M{\mathrm{\Σ}}_{n=1}^N{\mathrm{\ω}}^A(m,n)+{\mathrm{\ω}}^B(m,n)}$

Wherein, with represent the preservation situation of edge amplitude and phase place between source images A and fusion image F respectively, Q ^bFand Q ^aFsimilar, M and N represents the size of image, ω ^aand ω ^bit is weight coefficient.Q ^aB/Fspan be [0,1].