CN107041729A - Binocular near infrared imaging system and blood vessel recognition methods - Google Patents
Binocular near infrared imaging system and blood vessel recognition methods Download PDFInfo
- Publication number
- CN107041729A CN107041729A CN201611262901.3A CN201611262901A CN107041729A CN 107041729 A CN107041729 A CN 107041729A CN 201611262901 A CN201611262901 A CN 201611262901A CN 107041729 A CN107041729 A CN 107041729A
- Authority
- CN
- China
- Prior art keywords
- image
- blood
- vessel
- binocular
- blood vessel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
- A61B5/0064—Body surface scanning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4887—Locating particular structures in or on the body
- A61B5/489—Blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7203—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal
Abstract
The present invention relates to a kind of binocular near infrared imaging system and blood vessel recognition methods.The binocular near infrared imaging system includes：Binocular camera shooting mechanism (11), infrared light supply (13), processor (15), the processor (15) electrically connect to carry out the infrared image collected by the binocular camera shooting mechanism (11) the 3-D view identifying processing of blood vessel respectively with the binocular camera shooting mechanism (11) and the infrared light supply (13).The embodiment of the present invention utilizes absorptivity of the hemoglobin to the near infrared light mechanism different from its hetero-organization in blood vessel, and the principle of parallax of the binocular image using binocular vision imaging mechanism, by binocular vision imaging mechanism and coordinate infrared light supply to carry out image variants to skin histology with realize to blood vessel space three-dimensional identification.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of binocular near infrared imaging system and blood vessel identification side
Method.
Background technology
Vascular puncture is unsuccessfully to cause one of fuse cord of medical tangle, in clinical vascular puncture process, due to part
Patient's epidermis is plump, and blood vessel is tiny, be difficult to find that, also part traumatic patient is due to excessive blood loss, go into a coma no consciousness, blood vessel
Do not fill, cause the medical worker in intravenous injection to can not find blood vessel, also infant patient is due to its physiological reason and its property
Lattice feature, it is difficult to find blood vessel to make medical worker, considerably increases time of the medical worker with single sufferer, this not only makes
Patient body pain, stress, and doctor-patient relationship is become very nervous.
In order to solve this problem, key is how blood vessel is accurately recognized.Found by studying, it is near red
The erythrocyte and surrounding tissue of venae subcutaneae or artery can be distinguished, near-infrared by outer light source according to its specific wavelength
The tissue of human body is penetrated, using the specific absorption Spectrum characteristic of deoxyhemoglobin, and the hemoglobin in venous blood
Absorption peak highest.Many companies are attempting to solve this problem by researching and developing particular device.Chinese patent literature
CN102663355A, patent name is：The identifying system and method combined based on hand back vein with hand, it is according to vein blood vessel
Imaging characteristicses devise the acquisition mode of near infrared imaging, are realized according to infrared thermal imaging principle using thermal infrared imager remote red
Outer hand back vein imaging, sends infrared light for 850nm LED arrays using peak wavelength according near infrared imaging principle and shines
Shooter is carried on the back, and the imaging of near-infrared hand back vein is realized using Near Infrared CCD collection hand back vein image；Hand back vein and hand knot
The recognition methods of conjunction is the characteristic vector that hand back vein and hand are extracted to the image progress of acquisition processing, then again and has been deposited
The characteristic vector of storage carries out matching and is identified result.Chinese patent literature CN203483398A, patent name is：It is a kind of infrared
Blood vessel imaging instrument, effectively filters out visible ray and infrared light supply under natural environment by infraluminescence diode array transmitting light and sends out
The visible light part in radiation is projected, only allows near-infrared radiation to pass through, to improve the quality of collection image.
Although being disclosed in above-mentioned patent document using near infrared light come auxiliary judgment vessel position, the identification to blood vessel
Precision not enough because in actual applications, the identification for blood vessel will not only identify its two-dimensional coordinate in skin histology,
Its 3 d space coordinate is also identified, so really paramedical personnel could complete to puncture by hand, be more beneficial for machine complete
Into automatic puncturing action.
The content of the invention
Therefore, to solve the technological deficiency and deficiency that prior art is present, the present invention proposes a kind of binocular near infrared imaging
System and blood vessel recognition methods.
The embodiments of the invention provide a kind of binocular near infrared imaging system (10), wherein, including：
Binocular camera shooting mechanism (11)；
Infrared light supply (13)；
Processor (15), is electrically connected with the binocular camera shooting mechanism (11) and the infrared light supply (13) with to by described double respectively
The infrared image that lens camera structure (11) is collected carries out three-dimensional blood-vessel image identifying processing.
In one embodiment of the invention, the processor (15) carries including image acquisition units (151), blood vessel feature
Take unit (153), image matching unit (155) and three-dimensional reconstruction unit (157)；Wherein,
Described image collecting unit (151) is used to control the binocular camera shooting mechanism (11) to adopt skin histology progress infrared image
Collect to form the first image and the second image；
The blood vessel feature extraction unit (153), which is used to be filtered described first image and second image, to be handled and goes
Background image in addition to blood vessel is to form the first blood-vessel image and the second blood-vessel image；
Described image matching unit (155) is used to carry out matching treatment to first blood-vessel image and second blood-vessel image
To select the image-region of Optimum Matching from first blood-vessel image and second blood-vessel image；
The three-dimensional reconstruction unit (157) is based on the visual difference of corresponding pixel points in the image-region according to the Optimum Matching
Vessel depth is calculated to complete the reconstruction of blood vessel 3-D view.
In one embodiment of the invention, the processor (15) also includes image enhancing unit (152), described image
Enhancement unit (152) carries out grey level enhancement processing to first blood-vessel image and second blood-vessel image.
In one embodiment of the invention, the infrared light supply (13) is arranged at the of the binocular camera shooting mechanism (11)
At the perpendicular bisector position of the central point line of one image mechanism and the second image mechanism.
In one embodiment of the invention, in addition to scaling board (17), the scaling board (17) is gridiron pattern structure, is used
In to the first image mechanism of the binocular camera shooting mechanism (11) and the second image mechanism progress stereo calibration.
An alternative embodiment of the invention provides a kind of blood vessel recognition methods, including：
Under infrared light supply irradiation, first image and the second image at the same position of dermal tissue harvesting；
Blood vessel feature extraction is carried out to described first image and second image and forms the first blood-vessel image and the second vessel graph
Picture；
Stereo matching is carried out to first blood-vessel image and second blood-vessel image to form three-dimensional blood-vessel image to complete pair
The identification of blood vessel.
In one embodiment of the invention, in addition to：
Use scaling board to demarcate the first image mechanism and the second image mechanism of binocular camera shooting mechanism to reduce described
The Stereo matching difficulty of one blood-vessel image and second blood-vessel image, the scaling board is gridiron pattern structure.
In one embodiment of the invention, the first image mechanism of binocular camera shooting mechanism and second are taken the photograph using scaling board
Camera structure is demarcated, including：
First image mechanism and second image mechanism are controlled while gathering the image formation first under same scaling board
Uncalibrated image and the second uncalibrated image；
Carry out demarcation respectively to the first uncalibrated image multiple described and multiple described second uncalibrated images and form the first calibration result
With the second calibration result；
First calibration result and second calibration result are handled using Zhang Dingyou standardizations to complete three-dimensional mark
It is fixed.
In one embodiment of the invention, three-dimensional is carried out to first blood-vessel image and second blood-vessel image
With the three-dimensional blood-vessel image of formation, including：
Step 1, selection image window；
Step 2, using described image window to first blood-vessel image carry out block of pixels selection and determine all the first pixels
Point；
Step 3, using described image window to second blood-vessel image carry out block of pixels selection and determine all the second pixels
Point；
The absolute value sum of the corresponding grey scale difference of step 4, whole first pixels of calculating and whole second pixels；
Step 5, judge described image window whether in hunting zone；
If so, the absolute value sum of current gray scale difference is preserved, and the mobile described image window in second blood-vessel image,
Continue executing with step 3；
If it is not, performing step 6；
Step 6, select from the absolute value sum of multiple gray scale differences of preservation minimum as Optimum Matching result, and will
The corresponding described image window of the Optimum Matching result is selected in first blood-vessel image and second blood-vessel image
Image-region as Stereo matching image-region；
Step 7, according to the depth between the disparity computation corresponding pixel points of the corresponding pixel points in the image-region of Stereo matching
To complete two-dimentional blood-vessel image to the reconstruct of three-dimensional blood-vessel image.
In one embodiment of the invention, in addition to：
Selected from the three-dimensional blood-vessel image according to the gentle degree of the transverse width and blood vessel of blood vessel in the range of certain length
Acupuncture treatment point position；
The three-dimensional coordinate information of the acupuncture treatment point position is sent to display device so that medical worker refers to or sends to holding
Row mechanism is for automatic puncturing.
The embodiment of the present invention, by binocular vision imaging mechanism and coordinate infrared light supply to skin histology carry out image adopt
Collection, blood vessel is identified using absorptivity of the hemoglobin in blood vessel to the near infrared light principle different from its hetero-organization, and
The reconstruction of 3-D view is realized using the principle of parallax of the binocular image of binocular vision imaging mechanism, so as to complete blood vessel in space
Three-dimensional identification.
By the detailed description below with reference to accompanying drawing, other side and feature of the invention becomes obvious.But should know
Road, the accompanying drawing is only the purpose design explained, not as the restriction of the scope of the present invention, because it should refer to
Appended claims.It should also be noted that unless otherwise noted, it is not necessary to scale accompanying drawing, they merely attempt to concept
Ground illustrates structure described herein and flow.
Brief description of the drawings
Below in conjunction with accompanying drawing, the embodiment to the present invention is described in detail.
Fig. 1 is a kind of structural representation of binocular near infrared imaging system provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of binocular camera shooting mechanism provided in an embodiment of the present invention；
Fig. 3 is the structural representation of another binocular camera shooting mechanism provided in an embodiment of the present invention；
Fig. 4 is a kind of structure distribution schematic diagram of reflective infrared light supply provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of reflective infrared light supply layout provided in an embodiment of the present invention；
Fig. 6 is a kind of structure distribution schematic diagram of transmission-type infrared light supply provided in an embodiment of the present invention；
Fig. 7 is a kind of structural representation of scaling board provided in an embodiment of the present invention；
Fig. 8 is a kind of operation principle schematic diagram of projection-type scaling board provided in an embodiment of the present invention
Fig. 9 is the structural representation of another binocular near infrared imaging system provided in an embodiment of the present invention；
Figure 10 is a kind of schematic flow sheet of blood vessel recognition methods provided in an embodiment of the present invention；
Figure 11 is a kind of schematic diagram of image solid matching method provided in an embodiment of the present invention；
Figure 12 is a kind of track schematic diagram of puncture path provided in an embodiment of the present invention.
Figure 13 is a kind of inserting needle path schematic diagram for puncturing adjustment section provided in an embodiment of the present invention.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.
Embodiment one
Fig. 1 is referred to, Fig. 1 is a kind of structural representation of binocular near infrared imaging system provided in an embodiment of the present invention.This is
System 10 include binocular camera shooting mechanism 11, infrared light supply 13 and processor 15, the processor 15 respectively with the binocular camera shooting mechanism
11 and the infrared light supply 13 electrically connect to carry out the infrared image collected by the binocular camera shooting mechanism 11 three-dimensional blood vessel
Image recognition processing.
Wherein, the processor 15 includes image acquisition units 151, blood vessel feature extraction unit 153, image matching unit
155 and three-dimensional reconstruction unit 157.Described image collecting unit 151 is used to control the binocular camera shooting mechanism 11 to skin histology
Infrared image acquisition is carried out to form the first image and the second image；The blood vessel feature extraction unit 153 is used for described the
One image and second image, which are filtered, to be handled and removes the background image beyond blood vessel to form first vessel graph
Picture and the second blood-vessel image；Described image matching unit 155 is used for first blood-vessel image and second blood-vessel image
Matching treatment is carried out to select the image-region of Optimum Matching from first blood-vessel image and second blood-vessel image；
The visual difference that the three-dimensional reconstruction unit 157 is used for corresponding pixel points in the image-region according to the Optimum Matching calculates blood vessel
Depth is to complete the reconstruction of blood vessel 3-D view.
Further, the processor 15 also includes image enhancing unit 152, described in 152 pairs of described image enhancement unit
First blood-vessel image and second blood vessel carry out grey level enhancement processing to be ready blood vessel feature extraction.
Fig. 2 is referred to, Fig. 2 is a kind of structural representation of binocular camera shooting mechanism provided in an embodiment of the present invention.The binocular
The optical axis of image mechanism be parallel construction, i.e., by two CCD cameras (i.e. the first camera lens and the second camera lens) combination, optical axis and
The imaging plane perpendicular of CCD camera, the X-axis of two CCD cameras is overlapped, and Y-axis is parallel to each other, the CCD camera of left and right two
Focal length and other inner parameters it is equal.
Fig. 3 is referred to, Fig. 3 is the structural representation of another binocular camera shooting mechanism provided in an embodiment of the present invention.This pair
The optical axis of lens camera structure is non-parallel configuration, can also be combined by two CCD cameras, the imaging of optical axis and CCD camera
Plane has a certain degree, and X-axis, the Y-axis of two CCD cameras have a certain degree respectively, Jiao of two CCD cameras in left and right
Away from and other inner parameters it is equal.
For the setting of reflective infrared light supply, Fig. 4 and Fig. 5, Fig. 4 are referred to anti-for one kind provided in an embodiment of the present invention
The structure distribution schematic diagram of formula infrared light supply is penetrated, Fig. 5 is a kind of reflective infrared light supply layout provided in an embodiment of the present invention
Schematic diagram.For example, using the binocular structure of parallel optical axis, the blood vessel under near infrared light is obtained by two CCD cameras
And skin image, by being transmitted to after optical filter on imaging sensor, optical filter here plays a part of obstructing natural light.Its
In, infrared light supply is placed on the perpendicular bisector of two CCD camera central point lines.
For the setting of the infrared light supply of projection-type, Fig. 6 is referred to, Fig. 6 is a kind of transmission provided in an embodiment of the present invention
The structure distribution schematic diagram of formula infrared light supply.It is near red by such as two groups in order that CCD camera receives apparent image
Outer light source, is individually positioned on the bottom plate with two CCD camera fixed distances.
In addition, it is a kind of structural representation of scaling board provided in an embodiment of the present invention, Fig. 8 to refer to Fig. 7 and Fig. 8, Fig. 7
For a kind of operation principle schematic diagram of projection-type scaling board provided in an embodiment of the present invention.The scaling board 17 is gridiron pattern structure.
Because the binocular near infrared imaging system is when installing and using for the first time or changing working environment, it is required for carrying out again equipment
Demarcation, to ensure accuracy of the equipment in blood vessel recognizes the course of work.The present invention is used for the binocular using scaling board 17
First camera lens of image mechanism 11 and the second camera lens carry out stereo calibration.The scaling board is special Infrared Plane scaling board, is
Projection-type plane reference plate based on active radiation.That is, gridiron pattern is drawn on scaling board first, then white portion is carved
Wear, obtain a scaling board for having square hole, one infrared area radiation source is placed on behind scaling board during demarcation, at square hole
Infra-red radiation due to not being blocked being irradiated to infrared focal plane array, and the part the being blocked radiation intensity of itself is remote small
In external radiation source, thus clearly infrared chessboard table images may finally be obtained, this structure is used in the demarcation of the present invention
There is extraordinary effect for demarcation.
The operation principle of the binocular near infrared imaging system of the present invention is as follows：
Fig. 9 is referred to, Fig. 9 is the structural representation of another binocular near infrared imaging system provided in an embodiment of the present invention.CCD
Camera gets human or animal's body surface image, and view data is converted into data signal by analog signal, given by image pick-up card
DSP carries out image procossing, and DSP carries out image enhaucament to the image collected, then extracts blood vessel feature, then by screen collection
Card is converted to the signal that USB interface can be recognized, now, industry control has been put into by human or animal's body surface image of image procossing
Two images are matched by machine by upper software, and the upper software is for example write by OpenCV, by Stereo matching handle with
The three-dimensional reconstruction to original image is completed, is shown afterwards in display screen, suitable acupuncture treatment point is marked.
The embodiment of the present invention, coordinates infrared light supply using binocular camera shooting mechanism, passes through IMAQ, camera lens demarcation, image
A series of modes such as correction, Stereo matching and depth recovery realize the three-dimensional identification of blood vessel, find most suitable acupuncture treatment point, aid in
Medical worker punctures or indicated that by hand machine completes automatic puncturing action.
Embodiment two
Figure 10 is referred to, Figure 10 is a kind of schematic flow sheet of blood vessel recognition methods provided in an embodiment of the present invention.The present embodiment
On the basis of above-described embodiment, the blood vessel recognition methods to the present invention is described in detail.Specifically, this method can include
Following steps：
Step a, infrared light supply irradiation under, first image and the second image at the same position of dermal tissue harvesting；
Step b, blood vessel feature extraction is carried out to described first image and second image form the first blood-vessel image and second
Blood-vessel image；
Step c, first blood-vessel image and second blood-vessel image are carried out Stereo matching formed three-dimensional blood-vessel image with
Complete blood vessel identification.
For step a, instruction control infrared light supply irradiation skin histology is sent by image acquisition units, while controlling binocular
The first image mechanism and the second image mechanism of image mechanism carry out IMAQ to the same position of the skin histology, obtain respectively
Skin and the two dimensional image (i.e. the first image and the second image) of vessel information must be included.Afterwards, by image enhancing unit to figure
It is that next step blood vessel feature extraction is ready to strengthen the contrast of skin and blood vessel as carrying out gray scale stretching.
For step b, the first image and the second image after treatment is filtered by blood vessel feature extraction unit
Processing, is filtered except EV other information, such as skin information, artery-sparing information, and the step is used for later stage quickening matching
Speed.
For step c, the image for only remaining with vessel information is matched, using Region Matching, in certain window
In, compare the pixel similarity in the two local windows, search out the first and second two blood-vessel images in onesize window
The maximum central point of mouth region domain coefficient correlation, it is believed that the match is successful.Because two images have identical horizontal parallax, it can pass through
Compare the pixel similarity in the two local windows, calculate the depth of current pixel.
Specifically, Figure 11 is referred to, Figure 11 is a kind of signal of image solid matching method provided in an embodiment of the present invention
Figure.This method may include steps of：
Step 1, selection image window；
Step 2, using described image window to first blood-vessel image carry out block of pixels selection and determine all the first pixels
Point；
Step 3, using described image window to second blood-vessel image carry out block of pixels selection and determine all the second pixels
Point；
The absolute value sum of the corresponding grey scale difference of step 4, whole first pixels of calculating and whole second pixels；
Step 5, judge described image window whether in hunting zone；
If so, the absolute value sum of current gray scale difference is preserved, and the mobile described image window in second blood-vessel image,
Continue executing with step 3；
If it is not, performing step 6；
Step 6, select from the absolute value sum of multiple gray scale differences of preservation minimum as Optimum Matching result, and will
The corresponding described image window of the Optimum Matching result is selected in first blood-vessel image and second blood-vessel image
Image-region as Stereo matching image-region；
Step 7, according to the depth between the disparity computation corresponding pixel points of the corresponding pixel points in the image-region of Stereo matching
To complete two-dimentional blood-vessel image to the reconstruct of three-dimensional blood-vessel image.
In addition, after step c, can also comprise the following steps：
Step d, transverse width and blood vessel according to blood vessel from the three-dimensional blood-vessel image are gentle in the range of certain length
Degree selection acupuncture treatment point position；
Step e, the three-dimensional coordinate information that the acupuncture treatment is put into position are sent to display device so that medical worker refers to or sends out
Executing agency is delivered to for automatic puncturing.
Particularly with automatic puncturing equipment, the simple two-dimensional coordinate for providing blood vessel is to have no idea to realize machine automatic puncturing
, only intactly show the 3-D view of blood vessel, can react exactly blood vessel skin histology detail location simultaneously
The tendency situation of blood vessel can be showed, suitable acupuncture treatment point thus can be just selected, it is possible to it is determined that suitable puncture path.
For puncture path, automatic puncturing equipment is preferably applied to, the automatic puncturing equipment includes binocular near infrared imaging
System and 6 axle piercing mechanisms.The 6 axle piercing mechanism includes X straight lines axis mechanism, Y straight lines axis mechanism, Z straight lines axis mechanism, level and returned
Rotating shaft mechanism, vertical axis of rotation mechanism and push axis mechanism.The 3-D view of blood vessel is got in binocular near infrared imaging system
Information is simultaneously determined behind acupuncture treatment point position, is determined suitable puncture path by controller and is controlled 6 axle piercing mechanisms to perform the puncture
Path.
Figure 12 is referred to, Figure 12 is a kind of track schematic diagram of puncture path provided in an embodiment of the present invention.The puncture road
Footpath can include fast rough section, section is accurately positioned at a slow speed, section is punctured, pierces through adjustment section, horizontal sliding section, withdraw of the needle section and quickly move back
Return section, altogether 7 sections.Wherein,
(1) fast rough section (A sections)：This section of track is linked by the rotary shaft of U, V two and the linear axis of X, Y, Z tri-, and needle point is from zero-bit
(X0,Y0,Z0) to (Xm,Ym,Zm- a) geometric locus that is formed when being approached with particular pose；
(2) section (B sections) is accurately positioned at a slow speed：This section of track is linked by the rotary shaft of U, V two and the linear axis of X, Y, Z tri-, needle point from
(Xm,Ym,Zm- a) to (XM ＇,YM ＇,ZM ＇) geometric locus that is formed when being approached with particular pose；
(3) section (C sections) is punctured：This section of track, under the premise of the rotary shaft of U, V two and the locking of the linear axis of X, Y, Z tri-, needle point is straight with W
Bobbin displacement L1, vascular wall is punctured from (XM ＇,YM ＇,ZM ＇) reach (Xn,Yn,Zn) when the geometric locus that is formed；
(4) adjustment section (E sections) is pierced through：This section of track, under the premise of U rotary shafts and the locking of the linear axis of X, Y, Z tri-, needle point is straight with W
Bobbin displacement L2, while V rotary shafts are rotated after α angles, from (Xn,Yn,Zn) reach (XN ＇,YN ＇,ZN ＇) when the rail that is formed
Trace curve；
(5) horizontal sliding section (F sections)：This section of track, under the premise of the rotary shaft of U, V two and the locking of the linear axis of X, Y, Z tri-, needle point is straight with W
Bobbin displacement L3, from (XN ＇,YN ＇,ZN ＇) reach (X1,Y1,Z1) when the geometric locus that is formed.
(6) withdraw of the needle section (G sections)：This section of track, the rotary shaft of U, V two and the linear axis of X, Y, Z tri- locking under the premise of, needle point with
W linear axis displacements L4, exit beyond skin, from (X1,Y1,Z1) reach (X2,Y2,Z2) when the geometric locus that is formed.
(7) section (H sections) is quickly retracted：This section of track is linked by the rotary shaft of U, V two and the linear axis of X, Y, Z, W tetra-, needle point from
(X2,Y2,Z2) return to (X0,Y0,Z0) when the geometric locus that is formed.
Wherein, Figure 13 is referred to, Figure 13 is a kind of inserting needle path signal for puncturing adjustment section provided in an embodiment of the present invention
Figure.For piercing through adjustment section, in the 3-D view obtained by binocular near infrared imaging system, by the flat of inlet point Approximate selection
When pushing away, needle point is moved according to arc track, and the attitudes vibration of syringe needle is as shown in the figure.In this process, V axles rotation alpha angle, because
It is larger with blood vessel vertical direction angle during for syringe needle puncture vessel, when needle point punctures blood vessel side intravasation, prevent needle point
Another vascellum laterale of scuffing is punctured, syringe needle and blood vessel vertical direction angle should be reduced；α angles are an angles for being continually changing adjustment,
Clinically blood sampling angle is typically chosen in lower 15 ° ~ 25 ° of pin by hand, pushes pin basic at 5 °, angle constantly reduces.And the present invention
Mechanical mechanism, because precision is high, can set the wider angle changed automatically, the present invention is preferably from inserting needle in puncture
45 ° to push pin 5 ° it is any adjustable, Adjustment principle is that human body body-sensing pain is minimum, while the minimum principle of blood vessel stress deformation.
Alternatively, after automatic puncturing equipment is turned back on every time, it is required for weighing the binocular infrared imaging system
New demarcation.The demarcation mode can be：
Use scaling board to demarcate the first image mechanism and the second image mechanism of binocular camera shooting mechanism to reduce described
The Stereo matching difficulty of one blood-vessel image and second blood-vessel image, the scaling board is gridiron pattern structure.Specifically：
First image mechanism and second image mechanism are controlled while gathering the image formation first under same scaling board
Uncalibrated image and the second uncalibrated image；
Carry out demarcation respectively to the first uncalibrated image multiple described and multiple described second uncalibrated images and form the first calibration result
With the second calibration result；
First calibration result and second calibration result are handled using Zhang Dingyou standardizations to complete three-dimensional mark
It is fixed.
It should be noted that：Stereo calibration is retouched dependent on spin matrix and translation vector between finding two video cameras
State two video camera space geometry relations.Stereo calibration and monocular-camera calibration principle are far from each other, and both differences are
Relation between searching video camera between relation or video camera and chessboard, stereo calibration obtains being a spin matrix and translation
Vector, monocular demarcation obtains being multiple spin matrixs and translation vector.Initially set up Camera Linear Model, it is contemplated that distortion ginseng
Number influence, respectively to the independent demarcation of left and right cameras, using result as the input of stereo calibration, finally gets after stereo calibration
The inside and outside parameter of left and right cameras.
In summary, specific case used herein is set forth to the principle and embodiment of the present invention, the above
The explanation of embodiment is only intended to the method and its core concept for helping to understand the present invention；Simultaneously for the general skill of this area
Art personnel, according to the thought of the present invention, will change in specific embodiments and applications, in summary, this
Description be should not be construed as limiting the invention, and protection scope of the present invention should be defined by appended claim.
Claims (10)
1. a kind of binocular near infrared imaging system (10), it is characterised in that including：
Binocular camera shooting mechanism (11)；
Infrared light supply (13)；
Processor (15), is electrically connected with the binocular camera shooting mechanism (11) and the infrared light supply (13) with to by described double respectively
The infrared image that lens camera structure (11) is collected carries out three-dimensional blood-vessel image identifying processing.
2. system (10) according to claim 1, it is characterised in that the processor (15) includes image acquisition units
(151), blood vessel feature extraction unit (153), image matching unit (155) and three-dimensional reconstruction unit (157)；Wherein,
Described image collecting unit (151) is used to control the binocular camera shooting mechanism (11) to adopt skin histology progress infrared image
Collect to form the first image and the second image；
The blood vessel feature extraction unit (153), which is used to be filtered described first image and second image, to be handled and goes
Background image in addition to blood vessel is to form the first blood-vessel image and the second blood-vessel image；
Described image matching unit (155) is used to carry out matching treatment to first blood-vessel image and second blood-vessel image
To select the image-region of Optimum Matching from first blood-vessel image and second blood-vessel image；
The three-dimensional reconstruction unit (157) is based on the visual difference of corresponding pixel points in the image-region according to the Optimum Matching
Vessel depth is calculated to complete the reconstruction of blood vessel 3-D view.
3. system (10) according to claim 2, it is characterised in that the processor (15) also includes image enhancing unit
(152), described image enhancement unit (152) is carried out at grey level enhancement to first blood-vessel image and second blood-vessel image
Reason.
4. system (10) according to claim 1, it is characterised in that the infrared light supply (13) is arranged at the binocular and taken the photograph
At the perpendicular bisector position of first image mechanism of camera structure (11) and the central point line of the second image mechanism.
5. system (10) according to claim 1, it is characterised in that also including scaling board (17), the scaling board (17)
For gridiron pattern structure, three-dimensional mark is carried out for the first image mechanism to the binocular camera shooting mechanism (11) and the second image mechanism
It is fixed.
6. a kind of blood vessel recognition methods, it is characterised in that including：
Under infrared light supply irradiation, first image and the second image at the same position of dermal tissue harvesting；
Blood vessel feature extraction is carried out to described first image and second image and forms the first blood-vessel image and the second vessel graph
Picture；
Stereo matching is carried out to first blood-vessel image and second blood-vessel image to form three-dimensional blood-vessel image to complete pair
The identification of blood vessel.
7. method according to claim 6, it is characterised in that also include：
Use scaling board to demarcate the first image mechanism and the second image mechanism of binocular camera shooting mechanism to reduce described
The Stereo matching difficulty of one blood-vessel image and second blood-vessel image, the scaling board is gridiron pattern structure.
8. method according to claim 7, it is characterised in that using first video camera of the scaling board to binocular camera shooting mechanism
Structure and the second image mechanism are demarcated, including：
First image mechanism and second image mechanism are controlled while gathering the image formation first under same scaling board
Uncalibrated image and the second uncalibrated image；
Carry out demarcation respectively to the first uncalibrated image multiple described and multiple described second uncalibrated images and form the first calibration result
With the second calibration result；
First calibration result and second calibration result are handled using Zhang Dingyou standardizations to complete three-dimensional mark
It is fixed.
9. method according to claim 6, it is characterised in that to first blood-vessel image and second blood-vessel image
Carry out Stereo matching and form three-dimensional blood-vessel image, including：
Step 1, selection image window；
Step 2, using described image window to first blood-vessel image carry out block of pixels selection and determine all the first pixels
Point；
Step 3, using described image window to second blood-vessel image carry out block of pixels selection and determine all the second pixels
Point；
The absolute value sum of the corresponding grey scale difference of step 4, whole first pixels of calculating and whole second pixels；
Step 5, judge described image window whether in hunting zone；
If so, the absolute value sum of current gray scale difference is preserved, and the mobile described image window in second blood-vessel image,
Continue executing with step 3；
If it is not, performing step 6；
Step 6, select from the absolute value sum of multiple gray scale differences of preservation minimum as Optimum Matching result, and will
The corresponding described image window of the Optimum Matching result is selected in first blood-vessel image and second blood-vessel image
Image-region as Stereo matching image-region；
Step 7, according to the depth between the disparity computation corresponding pixel points of the corresponding pixel points in the image-region of Stereo matching
To complete two-dimentional blood-vessel image to the reconstruct of three-dimensional blood-vessel image.
10. method according to claim 6, it is characterised in that also include：
Selected from the three-dimensional blood-vessel image according to the gentle degree of the transverse width and blood vessel of blood vessel in the range of certain length
Acupuncture treatment point position；
The three-dimensional coordinate information of the acupuncture treatment point position is sent to display device so that medical worker refers to or sends to holding
Row mechanism is for automatic puncturing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262901.3A CN107041729A (en) | 2016-12-30 | 2016-12-30 | Binocular near infrared imaging system and blood vessel recognition methods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262901.3A CN107041729A (en) | 2016-12-30 | 2016-12-30 | Binocular near infrared imaging system and blood vessel recognition methods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107041729A true CN107041729A (en) | 2017-08-15 |
Family
ID=59543543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611262901.3A Pending CN107041729A (en) | 2016-12-30 | 2016-12-30 | Binocular near infrared imaging system and blood vessel recognition methods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107041729A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108073918A (en) * | 2018-01-26 | 2018-05-25 | 浙江大学 | The vascular arteriovenous crossing compression feature extracting method of eye ground |
| CN108535252A (en) * | 2018-02-23 | 2018-09-14 | 广州市派客朴食信息科技有限责任公司 | A kind of binocular stereo vision food recognition methods |
| CN109077882A (en) * | 2018-08-27 | 2018-12-25 | 复旦大学附属中山医院 | Venipuncture system based on near-infrared spectrum technique |
| CN109171905A (en) * | 2018-10-11 | 2019-01-11 | 青岛浦利医疗技术有限公司 | Guiding puncture equipment based on infrared imaging |
| CN109717932A (en) * | 2017-10-27 | 2019-05-07 | 西门子保健有限责任公司 | The determination of vascular puncture position |
| CN109886220A (en) * | 2019-02-26 | 2019-06-14 | 北京凌云天润智能科技有限公司 | A kind of characteristics extraction and comparison algorithm of finger vein image |
| CN109963093A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | The LED array lamp calculation for condenser selection of the binocular infrared photography lighting system of vehicle-mounted pedestrian detection system |
| CN109963084A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Pedestrian detection infrared photography lighting device |
| CN110464304A (en) * | 2019-08-20 | 2019-11-19 | 吉林大学第一医院 | A kind of blood-sampling method and equipment |
| CN111096796A (en) * | 2019-12-30 | 2020-05-05 | 哈尔滨工业大学 | Full-automatic vein puncture robot multilayer control system |
| CN111820918A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling device |
| CN111820917A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Binocular vision blood sampling device and blood sampling robot with same |
| CN112734652A (en) * | 2020-12-22 | 2021-04-30 | 同济大学 | Near-infrared blood vessel image projection correction method based on binocular vision |
| CN112932482A (en) * | 2021-01-28 | 2021-06-11 | 南通帕克医用材料有限公司 | Puncture technology based on monocular camera recognition |
| WO2022117849A1 (en) * | 2020-12-03 | 2022-06-09 | B. Braun Melsungen Ag | Image guided catheter insertion system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102221409A (en) * | 2011-04-12 | 2011-10-19 | 华南理工大学 | Near infrared calibration board design method |
| CN102813504A (en) * | 2012-08-29 | 2012-12-12 | 北京理工大学 | Multi-spectral three-dimensional venous image display device |
| CN102894960A (en) * | 2012-08-29 | 2013-01-30 | 北京理工大学 | Transmission-type hand back vein three-dimensional infrared imager |
| CN102999939A (en) * | 2012-09-21 | 2013-03-27 | 魏益群 | Coordinate acquisition device, real-time three-dimensional reconstruction system, real-time three-dimensional reconstruction method and three-dimensional interactive equipment |
| CN103226817A (en) * | 2013-04-12 | 2013-07-31 | 武汉大学 | Superficial venous image augmented reality method and device based on perspective projection |
| CN104154898A (en) * | 2014-04-24 | 2014-11-19 | 深圳大学 | Active ranging method and system |
| CN204347866U (en) * | 2014-12-18 | 2015-05-20 | 湖北润宏科技有限公司 | Embedded binocular iris recognition device |
-
2016
- 2016-12-30 CN CN201611262901.3A patent/CN107041729A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102221409A (en) * | 2011-04-12 | 2011-10-19 | 华南理工大学 | Near infrared calibration board design method |
| CN102813504A (en) * | 2012-08-29 | 2012-12-12 | 北京理工大学 | Multi-spectral three-dimensional venous image display device |
| CN102894960A (en) * | 2012-08-29 | 2013-01-30 | 北京理工大学 | Transmission-type hand back vein three-dimensional infrared imager |
| CN102999939A (en) * | 2012-09-21 | 2013-03-27 | 魏益群 | Coordinate acquisition device, real-time three-dimensional reconstruction system, real-time three-dimensional reconstruction method and three-dimensional interactive equipment |
| CN103226817A (en) * | 2013-04-12 | 2013-07-31 | 武汉大学 | Superficial venous image augmented reality method and device based on perspective projection |
| CN104154898A (en) * | 2014-04-24 | 2014-11-19 | 深圳大学 | Active ranging method and system |
| CN204347866U (en) * | 2014-12-18 | 2015-05-20 | 湖北润宏科技有限公司 | Embedded binocular iris recognition device |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109717932A (en) * | 2017-10-27 | 2019-05-07 | 西门子保健有限责任公司 | The determination of vascular puncture position |
| US11229773B2 (en) | 2017-10-27 | 2022-01-25 | Siemens Healthcare Gmbh | Determining a vessel puncture position |
| CN109717932B (en) * | 2017-10-27 | 2021-10-29 | 西门子保健有限责任公司 | Determination of a vascular puncture location |
| CN109963084B (en) * | 2017-12-25 | 2022-07-08 | 大连楼兰科技股份有限公司 | Infrared camera lighting device for pedestrian detection |
| CN109963093A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | The LED array lamp calculation for condenser selection of the binocular infrared photography lighting system of vehicle-mounted pedestrian detection system |
| CN109963084A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Pedestrian detection infrared photography lighting device |
| CN108073918A (en) * | 2018-01-26 | 2018-05-25 | 浙江大学 | The vascular arteriovenous crossing compression feature extracting method of eye ground |
| CN108073918B (en) * | 2018-01-26 | 2022-04-29 | 浙江大学 | Method for extracting blood vessel arteriovenous cross compression characteristics of fundus retina |
| CN108535252A (en) * | 2018-02-23 | 2018-09-14 | 广州市派客朴食信息科技有限责任公司 | A kind of binocular stereo vision food recognition methods |
| CN109077882A (en) * | 2018-08-27 | 2018-12-25 | 复旦大学附属中山医院 | Venipuncture system based on near-infrared spectrum technique |
| CN109171905B (en) * | 2018-10-11 | 2020-06-30 | 青岛浦利医疗技术有限公司 | Puncture guiding device based on infrared imaging |
| CN109171905A (en) * | 2018-10-11 | 2019-01-11 | 青岛浦利医疗技术有限公司 | Guiding puncture equipment based on infrared imaging |
| CN109886220A (en) * | 2019-02-26 | 2019-06-14 | 北京凌云天润智能科技有限公司 | A kind of characteristics extraction and comparison algorithm of finger vein image |
| CN110464304A (en) * | 2019-08-20 | 2019-11-19 | 吉林大学第一医院 | A kind of blood-sampling method and equipment |
| CN111096796A (en) * | 2019-12-30 | 2020-05-05 | 哈尔滨工业大学 | Full-automatic vein puncture robot multilayer control system |
| CN111096796B (en) * | 2019-12-30 | 2021-11-19 | 哈尔滨工业大学 | Full-automatic vein puncture robot multilayer control system |
| CN111820918A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Blood sampling device |
| CN111820917A (en) * | 2020-06-05 | 2020-10-27 | 哈工大机器人(中山)无人装备与人工智能研究院 | Binocular vision blood sampling device and blood sampling robot with same |
| WO2022117849A1 (en) * | 2020-12-03 | 2022-06-09 | B. Braun Melsungen Ag | Image guided catheter insertion system and method |
| CN112734652A (en) * | 2020-12-22 | 2021-04-30 | 同济大学 | Near-infrared blood vessel image projection correction method based on binocular vision |
| CN112932482A (en) * | 2021-01-28 | 2021-06-11 | 南通帕克医用材料有限公司 | Puncture technology based on monocular camera recognition |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107041729A (en) | Binocular near infrared imaging system and blood vessel recognition methods | |
| US9554117B2 (en) | System and method for non-invasive patient-image registration | |
| US9743875B2 (en) | Automated vessel puncture device using three-dimensional(3D) near infrared (NIR) imaging and a robotically driven needle | |
| EP1841361B1 (en) | System for inserting a needle into a blood vessel | |
| CN104799815B (en) | A kind of vim and vigour harvester and method based on image guiding | |
| CN107874832A (en) | Bone surgery set navigation system and method | |
| CN105848566B (en) | The equipment of Non-invasive detection for predetermined biological structure | |
| CN102894960A (en) | Transmission-type hand back vein three-dimensional infrared imager | |
| CN106974623A (en) | Blood vessel identification lancing system, blood vessel recognition methods | |
| Chen et al. | Portable robot for autonomous venipuncture using 3D near infrared image guidance | |
| CN102813504A (en) | Multi-spectral three-dimensional venous image display device | |
| JP6972049B2 (en) | Image processing method and image processing device using elastic mapping of vascular plexus structure | |
| CN104414620B (en) | Vein localization method and device based on binocular camera shooting | |
| US9522240B2 (en) | Visualization apparatus for vein | |
| Meng et al. | Prototype design for wearable veins localization system using near infrared imaging technique | |
| KR102097390B1 (en) | Smart glasses display device based on eye tracking | |
| CN106994001B (en) | Portable multispectral camera device and use method thereof | |
| CN110992388B (en) | Method, device and system for constructing indwelling needle image segmentation model and positioning needle tip | |
| CN106510626A (en) | Human body superficial layer vein three-dimensional reconstruction device and method based on binocular stereoscopic vision | |
| CN103720457A (en) | Catheter discrimination and guidance system | |
| CN107270818A (en) | It is a kind of to utilize the method for monitoring CCD the real time measures laser probe and plane of illumination spacing walk-off angle degree | |
| CN108392181A (en) | Region-of-interest tracks of device | |
| CN112656369A (en) | AR technology-based near-infrared fluorescent parathyroid gland identification enhancement method | |
| Marathe et al. | A novel wireless vein finder | |
| CN111553322A (en) | Binocular principle-based hand vein depth detection device and detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chang Keke Inventor after: Dang Lei Inventor after: Li Zhuo Inventor after: Yang Wenbo Inventor after: Zhu Rui Inventor before: Chang Keke Inventor before: Dang Lei Inventor before: Li Zhuo Inventor before: Yang Wenbo Inventor before: Zhu Rui Inventor before: Li Jianan |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170815 |