CN105534606B - Intelligent imaging system for surgical operation - Google Patents
Intelligent imaging system for surgical operation Download PDFInfo
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- CN105534606B CN105534606B CN201610080180.8A CN201610080180A CN105534606B CN 105534606 B CN105534606 B CN 105534606B CN 201610080180 A CN201610080180 A CN 201610080180A CN 105534606 B CN105534606 B CN 105534606B
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Abstract
The present invention proposes a kind of intelligent imaging system for surgical operation, including：Frequency domain optical-coherence tomography subsystem, the depth image for obtaining biological tissue；Fluorescence imaging and hyperspectral analysis subsystem, are used to form Hyperspectral imaging；Probe apparatus, it is coupled for the light path to frequency domain optical-coherence tomography subsystem and fluorescence imaging and hyperspectral analysis subsystem, the depth image and Hyperspectral imaging of biological tissue are merged, obtain the structure function stereopsis of biological tissue, operative region is determined according to the structure function image of biological tissue, is scanned in operative region to obtain quasi real time image.The present invention is with of simple structure and low cost, easy to operate, image taking speed is fast, image spatial resolution is high, small, light weight, image effect clear advantage.
Description
Technical field
The present invention relates to medical imaging technical fields, more particularly to a kind of intelligent imaging system for surgical operation.
Background technology
With the continuous improvement of technology, modern surgery operation has needed to perform the operation and has become the implementation of minimally-invasive, it is desirable that
While being accurately positioned surgical site position, reduction as much as possible is to the wound of the physiological tissue of patient, to evade
The problems such as operation wound that open surgery is left is big, convalescence is long, will drop to most the bodily tissue of patient and menticide
It is low, and reduce wound and restore the period.Central nervous system pathological change, especially tumour, which have become, threatens the one of human health to kill greatly
Hand, high lethality caused by it and disability rate also at receive people concern.
Operation is to effect a radical cure the prefered method of central nervous system pathological change.But it is most difficult to solve the problems, such as in operation at present
It is the accurate decision problem of tumor boundaries.Therefore there is high-resolution structure and function image will provide essence for operation for exploitation
Accurate image guiding.Accurately stereo-picture guiding intervention operation can be accurately positioned surgical site, can be in the course of surgery
The features such as realizing monitoring navigation, stereo-picture can provide the image with depth information with more accurately referring to for operative doctor
Meaning is led, meanwhile, the framework of functional image is proposed on the basis of structure image, with ensure can be by functional areas in surgical procedure
Domain completely preserves.Such image have wound is small, it is fast to restore, good effect, it is at low cost the advantages that.
There is provided the stereochemical structure imaging patterns of histoorgan for frequency domain optical-coherence tomography (FD-OCT).FD-OCT's
Principle is well-known, and the diagnostic image of tissue can be allowed with the spatial resolution of 10-20um using the light source of near-infrared, energy
High-resolution Image Acquisition is realized to tissue, and real-time can be reached.But OCT systems are for fluorescence imaging and EO-1 hyperion
For analysis system, existing image information and the four-dimensional Hyperspectral imaging containing spectral information, and its resolution ratio energy basis can
The sweep mechanism of tune realizes accurate adjustment.Fluorescence is to the metabolic function of biological tissue (including the blood in biological tissue simultaneously
The analysis of Lactoferrin, blood flow), especially pair with specific fluorescence imaging and hyperspectral analysis, ICG, 5-ALA or fluorescein
The fluorescence such as sodium photosensitizer is more sensitive to the metabolism of tumor tissues.
Currently, the micrurgy of neurosurgery brings prodigious progress to it so that greatly improve operation
Success rate and reduce postoperative recurrence rate.Microscopical lens design is to compare at present as neurosurgery microscope designs
It compared with the technology in forward position, but in micrurgy can only be the imaging in biological tissues under natural light, there is higher image definition,
It is equally difficult to precisely identify tumor boundaries.
Invention content
The present invention is directed to solve at least to a certain extent it is above-mentioned in the related technology the technical issues of one of.
For this purpose, it is an object of the invention to propose that a kind of intelligent imaging system for surgical operation, the system have knot
Structure is simple, of low cost, easy to operate, image taking speed is fast, image spatial resolution is high, small, light weight, image effect are bright
Aobvious advantage.
To achieve the goals above, the embodiment of the present invention proposes a kind of intelligent imaging system for surgical operation,
Including：Frequency domain optical-coherence tomography subsystem, the frequency domain optical-coherence tomography subsystem are used for through infrared light to life
Object tissue is irradiated and generates reflected light, to form the interference of sample light and reference light, and by spectrometer to the sample
Light is imaged after being divided with reference light using CCD, and is carried out Fourier transform to CCD imaging results and obtained the biology
The depth image of tissue；Fluorescence imaging and hyperspectral analysis subsystem, the fluorescence imaging and hyperspectral analysis subsystem are used for
The fluorescent characteristic of the biological tissue is analyzed, to obtain fluorescence extent of polymerization and intensity distribution, and according to the fluorescence
Extent of polymerization and intensity distribution carry out accurately positioning to the function in the biological tissue and judge, and according to the biology
The positioning of function in tissue and judging result control spectrometer rotation sweep, to form Hyperspectral imaging；And probe apparatus,
The probe apparatus is used for the frequency domain optical-coherence tomography subsystem and fluorescence imaging and hyperspectral analysis subsystem
Light path is coupled, and the depth image and the Hyperspectral imaging to the biological tissue merge, and obtains the biological group
The structure function image knitted determines operative region according to the structure function image of the biological tissue, is carried out in operative region
Scanning is to obtain quasi real time image.
Intelligent imaging system according to the ... of the embodiment of the present invention for surgical operation, both can be to soft tissue especially brain group
It knits and the stereochemical structure functional imaging of brain stem tissue, and can be with resolving acquisition OCT and fluorescent high spectral image, and art can be acquired
In real time imagery, have of simple structure and low cost, surgical operation using simple, easy to operate, image taking speed fast, image
Spatial resolution is high, small, light weight, image effect clear advantage.
In addition, the intelligent imaging system according to the above embodiment of the present invention for surgical operation can also be with following attached
The technical characteristic added：
In some instances, the light source of the frequency domain optical-coherence tomography subsystem and fluorescence imaging and hyperspectral analysis
The wavelength of the light source of subsystem is different, and the light source of the frequency domain optical-coherence tomography subsystem is near infrared light, the fluorescence
The light source of imaging and hyperspectral analysis subsystem is blue violet light.
In some instances, the probe apparatus uses simple scan mode, by entire image according to a conduct pixel position
It sets and is scanned.
In some instances, the scan mode of the probe apparatus includes inner scanning and external scan, wherein in described
Portion's scanning is that galvanometer is adjustable one-dimensional or two-dimensional scan, the external scan are the mass motion of the probe apparatus.
In some instances, the mass motion of the probe apparatus includes manual movement mode and mechanical motion mode.
In some instances, wherein the manual movement mode is to manually control the probe apparatus in x, y, z direction
Movement, meanwhile, external galvanometer is integrally scanned entire operative region；The mechanical motion mode is described to automatically control
Probe apparatus x, y, z direction movement, meanwhile, external galvanometer is integrally scanned entire operative region.
In some instances, the galvanometer of the outside is integrally scanned entire operative region, specifically includes：Choose institute
The initial position for stating probe apparatus is (x0, y0, z0), it is complete on the basis of 2-D vibration mirror scan pattern for the scan pattern of galvanometer
It at the scanning under the initial position, while by signal and image reconstruction and storing, waits for continuation after the completion of this inner scanning
Subsequent point scan position (x1, y1, z1), start same 2-D vibration mirror scanning, while reconstruction signal and image, until being recycled to
Position (xn-1, yn-1, zn-1) and rebuild, until the complete end of scan of entire operative region, reach final position (xn, yn, zn),
In z be constant or be directly disposed as 0.
In some instances, the probe apparatus is additionally operable to after being completed to operation sector scanning, to obtained image
Spliced and merged, fusion results is assessed according to mutual information and edge conservation degree, and according to assessment result to obtaining
Image screened.
In some instances, wherein image mosaic is carried out using the algorithm of overlapping region linear transitions, is specifically included：
If the width of overlapping region is L, it is δ to take the transition factor, and wherein the value range of δ is 0≤δ≤1, two source images
Overlapping region x-axis and y-axis maximum and minimum value be denoted as x respectivelymax、xminAnd ymax、ymin, then the transition factor can be expressed asThe pixel value of overlapping region is：
I=δ IA(x, y)+(1- δ) IB(x, y)
Wherein IA、IBRespectively figure A and the figure corresponding pixel values of B.
In some instances, the fusion results are assessed using method for objectively evaluating, wherein
Mutual information between source images A, B and blending image F can be obtained by following formula：
MIABIF=MIAF+MIBF
Wherein, L is the number of greyscale levels of image, PAFAnd PBFIt is the joint probability of source images A, B and fused image F respectively
Density, PB, PBAnd PFIt is the probability density of source images A, B and blending image F respectively；
The edge conservation degree is calculated by following formula：
Wherein,Source images A and blending image are indicated respectively
The preservation situation of edge amplitude and phase, Q between FBFAnd QAFIt is similar, the size of M and N expression images, ωAAnd ωBIt is weight coefficient.
QAB/FValue range be [0,1].
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the structural principle signal of the intelligent imaging system according to an embodiment of the invention for surgical operation
Figure；
Fig. 2 be the intelligent imaging system according to an embodiment of the invention for surgical operation probe light channel structure and
Mechanical motion mode schematic diagram；
Fig. 3 is the structure of the probe apparatus of the intelligent imaging system according to an embodiment of the invention for surgical operation
Schematic diagram；
Fig. 4 is that the basic control flow journey of the intelligent imaging system according to an embodiment of the invention for surgical operation is shown
It is intended to；And
Fig. 5 is that the probe apparatus of the intelligent imaging system according to an embodiment of the invention for surgical operation is swept automatically
Retouch the schematic diagram of sample mode.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
The intelligent imaging system according to the ... of the embodiment of the present invention for surgical operation is described below in conjunction with attached drawing.
Fig. 1 is the structural principle signal of the intelligent imaging system according to an embodiment of the invention for surgical operation
Figure.As shown in Figure 1, the intelligent imaging system according to the ... of the embodiment of the present invention for surgical operation includes：Frequency domain light coherence tomography
Imaging system 1 (FD-OTC) of son system, fluorescence imaging and hyperspectral analysis subsystem 2 and probe apparatus 3, connection type such as Fig. 1 institutes
Show, using synchronous control mode.
Specifically, frequency domain optical-coherence tomography subsystem 1 is the basis of stereochemical structure imaging, for passing through short-wave infrared
Light is irradiated biological tissue or sample and generates reflected light, to form the interference of sample light and reference light, and passes through spectrum
Instrument is imaged after being divided with reference light to sample light using CCD, and carries out Fast Fourier Transform (FFT) to CCD imaging results
Obtain the depth image of biological tissue.Wherein, the light source of frequency domain optical-coherence tomography subsystem 1 and fluorescence imaging and EO-1 hyperion
The wavelength of the light source of analyzing subsystem 2 is different, and the light source of frequency domain optical-coherence tomography subsystem 1 is near infrared light, fluorescence at
The light source of picture and hyperspectral analysis subsystem 2 is blue violet light.In this example, frequency domain optical-coherence tomography subsystem 1 is for example
Using wideband light source, and the centre wavelength of the wideband light source is 1310nm, bandwidth 60nm.Wherein, relevant disconnected using frequency domain light
Straton imaging 1 can reduce sweep time, realize the extraction of depth information by Fourier transformation, frequency domain light coherence tomography at
Picture 1 has micron-sized spatial resolution, and image taking speed is fast, and imaging depth reaches grade；Simultaneously also have it is noninvasive it is radiationless,
The features such as stereochemical structure image of depth formation transparent effect of tissue can be detected.
Fluorescence imaging and hyperspectral analysis subsystem 2 are glimmering to obtain for analyzing the fluorescent characteristic of biological tissue
Photopolymerization degree and intensity distribution, and the function in biological tissue is carried out accurately according to fluorescence extent of polymerization and intensity distribution
Positioning and judge, and according to the function in biological tissue positioning and judging result control spectrometer rotation sweep, with formed
Hyperspectral imaging.Wherein, in this example, fluorescence imaging and hyperspectral analysis subsystem 2 be for example including EMCCD and spectrometer,
The real-time reading and processing for increasing image simultaneously, to make Image Acquisition speed reach to a high degree.Wherein, about frequency domain light
The front-end driven and light path part of coherence tomography subsystem 1 and fluorescence imaging and hyperspectral analysis subsystem 2, common optical pathways
It is the basic light path of frequency domain optical-coherence tomography subsystem 1 and fluorescence imaging and hyperspectral analysis subsystem 2, in FDOCT (frequencies
Domain optical-coherence tomography subsystem 1) in be to belong to sample arm part, in fluorescence imaging and hyperspectral analysis subsystem 2
It is the light channel structure of front-end collection.
The spatial resolution of fluorescence imaging and hyperspectral analysis subsystem 2 can reach micron order so that the sky of biological tissue
Between structure differentiate it is clear；Secondly, fluorescence imaging and hyperspectral analysis subsystem 2 can to biological tissue and sample at fluoroscopic image,
In the fixed acquisition fluorescence intensity image of wavelength, that is, it is directed to the intensity difference that tissue generates the metabolism of fluorescence photosensitizer
Realize the image analysing computer of function；Again, fluorescence imaging and hyperspectral analysis subsystem 2 can also do accordingly the fluorescence spectrum of tissue
Analysis identification；Finally, can also by adjusting the spectrometer rotation sweep in fluorescence imaging and hyperspectral analysis subsystem 2,
So as to form Hyperspectral imaging.
Probe apparatus 3 is used for frequency domain optical-coherence tomography subsystem 1 and fluorescence imaging and hyperspectral analysis subsystem 2
Light path coupled, and the depth image and Hyperspectral imaging of biological tissue are merged, obtain the structure of biological tissue
Functional image, and operative region is determined according to the structure function image of biological tissue, and be scanned in operative region to obtain
Take quasi real time image.Wherein, probe apparatus 3 uses simple scan mode, and is snake scan, by entire image according to a work
It is scanned for location of pixels.
As shown in Fig. 2, illustrating the probe light channel structure and mechanical motion mode of the imaging system of the embodiment of the present invention.This
Probe light path relates generally to the light path coupled mode of two imaging subsystems, is the light for frequency domain optical-coherence tomography first
Road is designed, and sample light and fluorescence imaging and 2 light source optical path of hyperspectral analysis subsystem are mainly in view of in the design of sample light
In common optical pathways coupling process, the wavelength used differs, the former is near infrared light, and the blue violet light that the latter uses is produced as light source
Raw exciting light, therefore it is envisaged that the transmitance of two different-wavebands during the use of filter；As reflected light
It is that arrival coupler is needed to be formed with the reflected light of consideration frequency domain optical-coherence tomography subsystem 1 is needed in the light path of exciting light
Interference imaging, while also needing to consider therefore to make the excitation light-receiving of fluorescence imaging and hyperspectral analysis subsystem 2 herein
It is high anti-near infrared light, high pass royal purple optical filter, therefore the two filters are the critical pieces of this system light path.
In one embodiment of the invention, in conjunction with shown in Fig. 3, the scan mode of probe apparatus 3 include inner scanning and
External scan, wherein inner scanning is the adjustable one-dimensional or two-dimensional scan of galvanometer, can strictly be controlled sweep speed, therefore,
Storage speed in host can be adjusted and be controlled according to actual scanning speed, in addition, inner scanning range is smaller；External scan
For the mass motion of probe apparatus, external scan can suitably increase scanning range.
Further, the embodiment of the present invention uses 2-D vibration mirror as scanning mirror.Probe apparatus 3 is for example including microscope
Structure, wherein microscopical object lens are exactly scanning objective, have higher times magnification and smaller numerical aperture, to increase
Focal length has enough spacescans to be imaged biological tissue or sample.
More specifically, the mass motion of probe apparatus 3 includes manual movement mode and mechanical motion mode.Wherein, hand
Dynamic motion mode is the movement for manually controlling probe apparatus 3 in three directions of x, y, z, meanwhile, external galvanometer is integrally to entire
Operative region is scanned；Mechanical motion mode is the movement for automatically controlling probe apparatus 3 in three directions of x, y, z, meanwhile, outside
The galvanometer in portion is integrally scanned entire operative region.
Wherein, the galvanometer of said external is integrally scanned operative region, specifically includes：In the movement of probe apparatus 3
In the process, after the calibration of z-axis, the initial position for choosing probe apparatus 3 first is (x0, y0, z0), for sweeping for galvanometer
Pattern is retouched, the scanning under initial position is completed on the basis of 2-D vibration mirror scan pattern, while by signal and image reconstruction and depositing
Storage waits for continuation subsequent point scan position (x after the completion of this inner scanning1, y1, z1), start same 2-D vibration mirror scanning,
Reconstruction signal and image simultaneously, until being recycled to position (xn-1, yn-1, zn-1) and rebuild, it is eventually until that entire operative region is complete
The end of scan reaches final position (xn, yn, zn), for convenience of calculation, z therein is constant or is directly disposed as 0.
In the process, because of the image co-registration problem being related between two positions, that is, by two or more
Image mosaic, therefore also it is in need consider eliminate overlapping region connecting sewing problem.In order to solve the splicing connection of overlapping region
Seam problem, in an embodiment of the present invention, the algorithm of use are the algorithms of overlapping region linear transitions.Therefore, probe apparatus 3 is used
In after being completed to operation sector scanning, obtained image is spliced and merged, according to mutual information and edge conservation degree
Fusion results are assessed, and obtained image is screened according to assessment result, specifically, the knot good to blending image
Fruit leaves, and bad result, which is abandoned, to be rescaned and be further processed.
Specifically, being described as follows about stereo structure image and the convergence analysis method of functional image：
Depth structure image based on OCT and the planar structure four-dimensional image and spectral information image based on fluorescent high spectrum
Fusion be high-precision diagnosis basis, the basic feature information of structure image and functional image is extracted, by two-dimensional structure and
The convergence analysis of image is realized after the point information accuracy registration of three-dimensional structure；And structure function disease is realized into the information extraction of lesion
The identification of change.
About being described as follows for image co-registration and appraisal procedure：Stereochemical structure-function the shadow formed for FDOCT and fluorescence
As for, FDOCT image energies form biological tissue the fluoroscopic image of three-dimensional structure, and fluorescence can form the surface of tissue and have
There is the image that blood flow changes.Two images are merged firstly the need of to it, obtain the mechanics of biological tissue containing abundant information
Functional image, therefore be exactly vital to the fusion of image and information.Multi-scale transform and image are used in the present embodiment
Overlapping region linear transitions realize image co-registration.
Wherein, image mosaic is carried out using the algorithm of overlapping region linear transitions, specifically included：
Assuming that the width of overlapping region is L, it is δ to take the transition factor, and wherein the value range of δ is 0≤δ≤1, two source figures
The x-axis and y-axis maximum and minimum value of the overlapping region of picture are denoted as x respectivelymax、xminAnd ymax、ymin, then the transition factor can indicate
ForThe pixel value of overlapping region is：
I=δ IA(x, y)+(1- δ) IB(x, y)
Wherein IA、IBRespectively figure A and the figure corresponding pixel values of B.The method so that transition is smoother, does not have
Significant catastrophe.
Fusion results are assessed using method for objectively evaluating, wherein by mutual information come weigh two variables or
Correlation between the multiple variables of person, or measure the information content of another variable included in a variable.Source images A, B and
Mutual information between blending image F can be obtained by following formula：
Mutual information between source images A, B and blending image F can be obtained by following formula：
MIABIF=MIAF+MIBF
Wherein, L is the number of greyscale levels of image, PAFAnd PBFIt is the joint probability of source images A, B and fused image F respectively
Density, PB, PBAnd PFIt is the probability density of source images A, B and blending image F, the bigger expression blending image of value of mutual information respectively
The information obtained from source images is bigger, therefore the quality of blending image is more.
Edge conservation degree (QAB/F) brightness that reflects blending image marginal information acquired from source images, pass through
Following formula calculates：
Wherein,Indicate that source images A and fusion scheme respectively
As the preservation situation of edge amplitude between F and phase, QBFAnd QAFIt is similar, the size of M and N expression images, ωAAnd ωBIt is weight system
Number.QAB/FValue range be [0,1], and be worth it is bigger indicate marginal information retain it is more.
Further, it is needed to biological tissue after the completion of image mosaic, fusion and evaluation in probe apparatus scanning process
Optical characteristics and fluorescent characteristic do corresponding analysis, especially optical attenuator characteristic, fluorescence intensity characteristic, texture characteristic
Deng the structure function property of analysis identification tissue, referring concurrently to the pathology spy of preoperative tissue identification property analysis biological tissue
Property.Accurately information can be provided comprehensively to lesion identification in art in this way, improves the accuracy of identification to guide precisely cutting for operation
Except residual disease and as much as possible by fully functional preservation.
In conjunction with shown in Fig. 4, the control of probe apparatus 3 is broadly divided into two kinds of control modes of manual mode and automatic mode, step
The actual range different into the judgment basis of distance is realized.Setting both of which is that doctor is facilitated to have height in the course of surgery
Controllability facilitates the implementation of operation.
It in the case of manual mode, can be completed during surgery according to microscopical multifreedom motion mode, identification doctor is real
When observation operative region in lesion and handle in the course of surgery, while constantly adjustment operation in micro- module tracks perform the operation
Region.Specifically, manual mode is to use probe apparatus 3 to complete cooperation doctor in the course of surgery to complete in the course of surgery
It is micro- in real time and using optical-coherence tomography and guide doctor to lesion using fluoroscopic image and hyperspectral information simultaneously
Identification.Fluorescence real-time display in surgical procedure identifies lesion region and demarcates, and draws to provide clearly image to doctor
It leads.
In addition, in a manual mode, in conjunction with optical texture functional image imaging system and neurosurgery microscope probe
Motion mode, using multivariant motion structure, light path therein is coupled complete to the light of different wave length using total reflection mirror
Reflection.Probe distal end can be also integrated into microscope, and real time scan and the imaging realized in surgical procedure are moved in conjunction with microscope.
Due to being the lesion characteristics and boundary information for coordinating operative doctor to observe operative region in real time under manual mode, doctor can be real
When adjustment operation in probe complete image acquisition and reconstruction.
Doctor manually adjusts to probe apparatus 3 by being completed in the case of the focusing of doctor's subjective judgement, has and compares
Strong subjectivity, it is thus possible to the problem of picture quality can be brought.Therefore it is relatively high to the skill requirement of doctor, and also with
The habit problem of doctor is closely coupled.For this reason, it may be necessary to provide the prompt of focal length mark and instruction to probe apparatus 3, swept by setting
The focal range for retouching lens is known that the approximate distance of lens distance biological tissue demarcates the calibration position of z-axis, guarantees
Sample is scanned in accurate areas imaging.
In the case of automatic mode, the visual field for determining lesion locations first according to microscopical image is needed, by operation
Corresponding scanning range is found in the basic fixed position in region.Location determination therein is substantially to determine operative region, is determined simultaneously
After the home position of lesion, it is reference point setting in motion to select coordinate basic point, and the process of movement is made of two aspects：
On the one hand it is the scanning of galvanometer, vibration mirror scanning range is the square of 2.2 × 2.2mm areas under 10 times of object lens
Interior, scanning range can reach in the square of 4.4 × 4.4mm areas under 5 times of object lens.The basic identification of its control module is such as
Automatically controlling in Fig. 4 is shown, it is necessary first to start sweeping for 2-D vibration mirror after probe apparatus 3 is automatically positioned and chooses original point
It retouches, obtains optical signalling reconstruction image, translation probe apparatus 3 arrives the next position, repeats above procedure, guided operation boundary is sentenced
It is fixed to complete, finally complete splicing and the image reconstruction of entire operative region of image.
In conjunction with shown in Fig. 5, the mode that probe apparatus 3 scans sample is illustrated.Operative region is used in the present embodiment
Complete scan, in operative region, scanning process is diversified, and the present embodiment uses snake scan mode, and region is complete
Full scan is completed.Specifically, below scanning objective it is vibration mirror scanning region, area is smaller.Current region scans through
Cheng Hou is scanned into subsequent region.Detailed process is：It is (x to take preliminary sweep point0, y0, z0), due to Z in follow up scan point
Axis is fixed, and Z=0 is taken because calculating this for convenience, and scanning process later is so according to snake scan mode until (xn,
yn, zn) terminate the scanning in this region.
On the other hand, the mass motion of probe apparatus 3 is for example, by using unenhanced mode, translation and be main movement side up and down
Formula, translation be to be able to it is larger range of scanning biological tissue so as to reduce doctor operation complexity, can also more precisely
The comprehensive lesion tumor resection degree judged in surgical procedure；Z-axis is moved up and down primarily to adjusting the focal length of object lens, originally
Probe needs doctor to look at image stop button in real time without design auto-focusing discriminating function during moving up and down
To reach focus effects.It needs the position for y-axis to be gradually demarcated as the movement of integer in translation motion, also illustrates that simultaneously
The translation of entire operative region is need by (x0, y0, z0)、(x1, y1, z1)、…(xn, yn, zn) a translational motion completion sweeps
It retouches.
According to the above embodiments of the present invention, a micron fraction can be provided based on FD-OCT and fluorescence imaging and high light spectrum image-forming
The image information guiding operation of resolution, overcomes guiding and analysis in the operation of existing ultrasonic, biological biopsy, while being also avoided that
The radioactivity of CT in art overcomes the resolution ratio defect of MRI, CT in art；Scan mode, the simple mechanism structure provided a convenient
With light channel structure, greatly reduce manufacturing cost, improve image taking speed using 2-D vibration mirror so that in the course of surgery can
Enough guiding in real time operations are implemented.
The application scenarios of the present invention are mainly the excision of tumour in surgical operation, lesion, especially tumor boundaries and remnants
The identification of tumour, such as the tumour in the operation of neurosurgery, glioma, ependymoma etc..Probe has simple in structure, cost
Cheap, surgical operation is using simple, easy to operate, image taking speed is fast, image spatial resolution is high, small, light weight, image
The advantages that with obvious effects.
To sum up, the intelligent imaging system according to the ... of the embodiment of the present invention for surgical operation, both can be to soft tissue especially
It is the stereochemical structure functional imaging of brain tissue and brain stem tissue, and can be with resolving acquisition OCT and fluorescent high spectral image, and energy
The real time imagery in art is acquired, there is of simple structure and low cost, surgical operation to use simple, easy to operate, image taking speed
Soon, image spatial resolution is high, small, light weight, image effect clear advantage.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or
Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects
It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (6)
1. a kind of intelligent imaging system for surgical operation, which is characterized in that including：
Frequency domain optical-coherence tomography subsystem, the frequency domain optical-coherence tomography subsystem are used for through infrared light to biology
Tissue be irradiated and generate reflected light, to form the interference of sample light and reference light, by spectrometer to the sample light with
Reference light is imaged after being divided using CCD, and is carried out Fast Fourier Transform (FFT) to CCD imaging results and obtained the biology
The depth image of tissue extracts the depth direction of feature and convolutional neural networks algorithm to lesion region in conjunction with optical attenuation coefficient
It realizes and judges and analyze；
Fluorescence imaging and hyperspectral analysis subsystem, the fluorescence imaging and hyperspectral analysis subsystem are used for the biological group
The fluorescent characteristic knitted is analyzed, to obtain fluorescence extent of polymerization and intensity distribution, according to the fluorescence extent of polymerization and intensity
Distribution is accurately positioned and is judged to the function in the biological tissue, and is determined according to the function in the biological tissue
Position and judging result control spectrometer rotation sweep, to form Hyperspectral imaging, and pass through artificial intelligence and machine learning algorithm
The image analysis in superficial layer direction is realized to reach exact classification and segmentation to the pathological tissues of operative region；And
Probe apparatus, the probe apparatus are used for the frequency domain optical-coherence tomography subsystem and fluorescence imaging and EO-1 hyperion
The light path of analyzing subsystem is coupled, and the depth image and the Hyperspectral imaging to the biological tissue merge, and obtain
To the structure function image of the biological tissue, operative region is determined according to the structure function image of the biological tissue, in hand
It is scanned in art region to obtain quasi real time operative region imaging in art, wherein
The mass motion of the probe apparatus includes manual movement mode and mechanical motion mode, and the manual movement mode is hand
The dynamic movement for controlling the probe apparatus in x, y, z direction, meanwhile, external galvanometer integrally sweeps entire operative region
It retouches, the mechanical motion mode is the movement for automatically controlling the probe apparatus in x, y, z direction, meanwhile, external galvanometer is whole
Body is scanned entire operative region, and the galvanometer of the outside is integrally scanned entire operative region, specifically includes：
The initial position for choosing the probe apparatus is (x0,y0,z0), for the scan pattern of galvanometer, mould is scanned with 2-D vibration mirror
The scanning under the initial position is completed on the basis of formula, while by signal and image reconstruction and being stored, this inner scanning is waited for
Continue subsequent point scan position (x after the completion1,y1,z1), start same 2-D vibration mirror scanning, while reconstruction signal and image,
Until being recycled to position (xn-1,yn-1,zn-1) and rebuild, until the complete end of scan of entire operative region, reach final position
(xn,yn,zn), z therein is constant or is directly disposed as 0.
2. the intelligent imaging system according to claim 1 for surgical operation, which is characterized in that
The light source of the frequency domain optical-coherence tomography subsystem and fluorescence imaging and the wave of the light source of hyperspectral analysis subsystem
Long different, the light source of the frequency domain optical-coherence tomography subsystem is near infrared light, the fluorescence imaging and hyperspectral analysis
The light source of subsystem is blue violet light.
3. the intelligent imaging system according to claim 1 for surgical operation, which is characterized in that the probe apparatus
Scan mode includes inner scanning and external scan, wherein the inner scanning scans for galvanometer adjustable two dimension, and the outside is swept
It retouches as the mass motion of the probe apparatus.
4. the intelligent imaging system according to claim 1 for surgical operation, which is characterized in that the probe apparatus is also
For after being completed to operation sector scanning, obtained image being spliced and being merged, kept according to mutual information and edge
Degree assesses fusion results, and is screened to obtained image according to assessment result.
5. the intelligent imaging system according to claim 4 for surgical operation, which is characterized in that wherein, using overlapping
The algorithm of region linear transitions carries out image mosaic, specifically includes：
If the width of overlapping region is L, it is δ to take the transition factor, and wherein the value range of δ is 0≤δ≤1, the weight of two source images
The x-axis and y-axis maximum and minimum value in folded region are denoted as x respectivelymax, xminAnd ymax, yminThen the transition factor can be expressed asThe pixel value of overlapping region is：
I=δ IA(x,y)+(1-δ)IB(x,y)
Wherein IA, IBRespectively figure A and the figure corresponding pixel values of B.
6. the intelligent imaging system according to claim 5 for surgical operation, which is characterized in that wherein, use is objective
Method for quantitatively evaluating assesses the fusion results, wherein
Mutual information between source images light coherence tomography images A, postoperative middle Hyperspectral imaging B and blending image F can be obtained by following formula
?：
MIABIF=MIAF+MIBF
Wherein, L is the number of greyscale levels of image, PAFAnd PBFIt is difference source images light coherence tomography images A, postoperative middle Hyperspectral imaging
The joint probability density of B and fused image F, PB, PBAnd PFIt is source images light coherence tomography images A, postoperative middle EO-1 hyperion respectively
The probability density of image B and blending image F；
The edge conservation degree is calculated by following formula：
Wherein, WithSide between expression source images A and blending image F respectively
The preservation situation of edge amplitude and phase, QBFAnd QAFIt is similar, the size of M and N expression images, ωAAnd ωBIt is weight coefficient, QAB/F
Value range be [0,1].
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