CN108577812A - A kind of high-precision near-infrared fluorescent navigation imaging system and method - Google Patents
A kind of high-precision near-infrared fluorescent navigation imaging system and method Download PDFInfo
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- CN108577812A CN108577812A CN201810467526.9A CN201810467526A CN108577812A CN 108577812 A CN108577812 A CN 108577812A CN 201810467526 A CN201810467526 A CN 201810467526A CN 108577812 A CN108577812 A CN 108577812A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000003287 optical effect Effects 0.000 claims abstract description 14
- 230000004927 fusion Effects 0.000 claims description 6
- 230000003760 hair shine Effects 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 230000035807 sensation Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 3
- 210000001519 tissue Anatomy 0.000 description 13
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000002073 fluorescence micrograph Methods 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
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- 230000017531 blood circulation Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000000701 chemical imaging Methods 0.000 description 1
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Classifications
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- 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
- A61B5/0071—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by measuring fluorescence emission
Abstract
The invention discloses a kind of high-precision near-infrared fluorescent navigation imaging system and methods, visible light and near-infrared fluorescent separate detection are realized using two independent imaging optical paths, it is limited without light splitting optical path, the camera lens of more short focus can be selected as needed, realize broader imaging viewing field, while structure is simpler, compact.
Description
Technical field
The present invention relates to a kind of fluorescence navigation imaging system more particularly to a kind of high-precision near-infrared fluorescent navigation at
As system and method.
Background technology
Near-infrared fluorescent developing technique has been widely used in target site development and assessment in operation now, such as：Lymph
System, blood circulation system and linked groups etc..The imaging system for adapting to the technology normally only provides one-color fluorescence imaging, no back of the body
The display of scape information, it is difficult to accurately confirm the corresponding position of fluorescence and actual tissue, it is accurate that patient is guided to position target site.
In order to intuitively show that background tissue information and corresponding fluorescence, existing product obtain tissue by the method for double camera spectroscopic imaging
White light figure and fluorogram, and on the basis of White-light image, fluorescence signal on label, as navigation picture in accurate art.It is double
Camera system is imaged using the same camera lens, and it is photosensitive to realize that white light and fluorescence separate by light-splitting device, is closed using algorithm
At output near-infrared fluorescent navigation picture；But it is limited to imaging spectrometer light path, the focal length of imaging lens cannot be too short, therefore
It cannot accomplish Wide-angle, when needing the big visual field, need larger operating distance, it is inconvenient to use.
Therefore, the existing technology needs to be improved and developed.
Invention content
The purpose of the present invention is to provide a kind of high-precision near-infrared fluorescent navigation imaging system and methods, it is intended to solve existing
The field angle limitation problem of some double camera fluorescence navigation systems.
Technical scheme is as follows：A kind of high-precision near-infrared fluorescent navigation imaging system, wherein including short-pass
Optical filter；First lens；Visible light photosensitive element；Long wave pass filter；Second lens；Near-infrared fluorescent photosensitive element；Image
Processing module；Display；The visible light photosensitive element and near-infrared fluorescent photosensitive element are connect with image processing module respectively；
After white light and exciting light that external light source is sent out reach tissue, wherein white light and part exciting light by Tissue reflectance, due to
White light may carry color after being reflected, for by the white light of Tissue reflectance, hereinafter referred to as visible light；Meanwhile a part swashs
The fluorescent molecular organized that shines absorbs, and inspires near-infrared fluorescent；The short wave pass filter reflects near-infrared fluorescent and swashs
It shines, through visible light；Through short wave pass filter visible light by the first lens focus, image in visible light photosensitive element；
The long wave pass filter piece reflection visible light and exciting light, through near-infrared fluorescent；It is glimmering through the near-infrared of long wave pass filter
Light images in near-infrared fluorescent photosensitive element by the second lens focus；The image of visible light photosensitive element and near-infrared fluorescent sense
The image of optical element is transferred to image processing module and is handled；Image processing module is from visible images and near-infrared fluorescent
Frame out overlapping region is cut on image, and by the image of near-infrared fluorescent photosensitive element, passes through algorithm fusion to visible light figure
As upper, visible images of the formation with fluorescence navigation markup, and be transferred to display and show.
The high-precision near-infrared fluorescent navigates imaging system, wherein preferably, the focal distance ratio of second lens the
The focal length of one lens is short.
A method of using high-precision near-infrared fluorescent as described in any one of the above embodiments navigation imaging system, wherein tool
Body includes the following steps：
Step S1：After the white light and exciting light that external light source is sent out reach tissue, wherein white light and part exciting light are anti-by tissue
It penetrates to form exciting light and visible light, the fluorescent molecular that part exciting light is organized absorbs, and inspires near-infrared fluorescent；
Step S2：Exciting light, visible light and near-infrared fluorescent pass through short wave pass filter, and it is glimmering that short wave pass filter reflects near-infrared
Light and exciting light, through visible light；Exciting light, visible light and near-infrared fluorescent pass through long wave pass filter piece, long wave pass filter piece
Visible light and exciting light are reflected, through near-infrared fluorescent；
Step S3：Through short wave pass filter visible light by the first lens focus, image in visible light photosensitive element, formation can
Light-exposed image；Through long wave pass filter near-infrared fluorescent by the second lens focus, image in near-infrared fluorescent photosensitive element,
Form near-infrared fluorescent image；
Step S4：The image of visible light photosensitive element and the image of near-infrared fluorescent photosensitive element are transferred to image processing module
It is handled, forms the visible images with fluorescence navigation markup, and be transferred to display and show.
The method of the high-precision near-infrared fluorescent navigation imaging system, wherein in the step S4, it is seen that light sensation light
The image of element and the image of near-infrared fluorescent photosensitive element are transferred to image processing module and are handled, concrete processing procedure
It is as follows：Image processing module cuts frame out overlapping region from visible images and near-infrared fluorescent image, and by near-infrared
The image of fluorescence photosensitive element, by algorithm fusion to visible images, forming the visible light figure with fluorescence navigation markup
Picture.
The method of the described high-precision near-infrared fluorescent navigation imaging system, wherein described image data processing module is according to can
The object brightness of the reality photosensitive situation and actual requirement of light-exposed photosensitive element calculates exposure setting, while to visible light sensation
Optical element and near-infrared fluorescent photosensitive element are exposed control.
Beneficial effects of the present invention：The present invention passes through a kind of high-precision near-infrared fluorescent navigation imaging system of offer and side
Method realizes visible light and near-infrared fluorescent separate detection using two independent imaging optical paths, can without light splitting optical path limitation
To select the camera lens of more short focus as needed, broader imaging viewing field is realized, while structure is simpler, compact.
Description of the drawings
Fig. 1 is the structural schematic diagram of high-precision near-infrared fluorescent navigation imaging system in the present invention.
Fig. 2 is the schematic diagram for cutting frame out overlapping region in the present invention in visible images and near-infrared fluorescent image.
Fig. 3 a are visible images in the present invention.
Fig. 3 b are in the present invention into IR fluorescence image.
Fig. 3 c are fluorescence navigation pictures in the present invention.
Fig. 4 is the step flow chart of the method for high-precision near-infrared fluorescent navigation imaging system in the present invention.
Specific implementation mode
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
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 " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, do not indicate or imply the indicated device or element must have a particular orientation, with spy
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are only used for
Purpose is described, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.
" first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more feature.
In description of the invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be to be electrically connected or can mutually communicate to be mechanical connection；It can be directly connected, it can also be by between intermediary
It connects connected, can be the interaction relationship of the connection or two elements inside two elements.For the ordinary skill of this field
For personnel, 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 the "upper" of second feature or "lower"
It may include that the first and second features are in direct contact, can also not be to be in direct contact but pass through it including the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first special
Sign is right over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
The imaging system as shown in Figure 1, a kind of high-precision near-infrared fluorescent navigates, including short wave pass filter 1；First lens
2；Visible light photosensitive element 3；Long wave pass filter 4；Second lens 5；Near-infrared fluorescent photosensitive element 6；Image processing module 7；
Display 8；The visible light photosensitive element 3 and near-infrared fluorescent photosensitive element 6 are connect with image processing module 7 respectively；
After white light and exciting light that external light source is sent out reach tissue, wherein white light and part exciting light by Tissue reflectance, due to
White light may carry color after being reflected, for by the white light of Tissue reflectance, hereinafter referred to as visible light；Meanwhile a part swashs
The fluorescent molecular organized that shines absorbs, and inspires near-infrared fluorescent；The short wave pass filter 1 reflects near-infrared fluorescent and swashs
It shines, through visible light；It is focused by the first lens 2 through the visible light of short wave pass filter 1, images in visible light photosensitive element
3；The long wave pass filter piece 4 reflects visible light and exciting light, through near-infrared fluorescent；Through the close red of long wave pass filter 4
Outer fluorescence is focused by the second lens 5, images in near-infrared fluorescent photosensitive element 6；The image and near-infrared of visible light photosensitive element 3
The image of fluorescence photosensitive element 6 is transferred to image processing module 7 and is handled；Image processing module 7 from visible images and
Frame out overlapping region is cut in near-infrared fluorescent image（As shown in Fig. 2, dotted portion is overlapping region）, and near-infrared is glimmering
The image of light sensation optical element 6, by algorithm fusion to visible images, forming the visible light figure with fluorescence navigation markup
Picture, and it is transferred to the display of display 8.
Preferably, focal distance ratio the first lens 2 of the second lens 5 are short so that near-infrared fluorescent image visual field bigger, covering can
Then light-exposed image f iotaeld-of-view cuts out coincidence picture, in fluorescent image from near-infrared fluorescent image as shown in figs 3 a-3 c
Dotted line surrounds part, carries out image co-registration, realizes visible light whole-view field imaging.
Specifically, by replace short wave pass filter 1 and long wave pass filter 4 may be implemented other special spectrums at
Picture.
As shown in figure 4, a kind of method of high-precision near-infrared fluorescent navigation imaging system as described above, specifically includes
Following steps：
Step S1：After the white light and exciting light that external light source is sent out reach tissue, wherein white light and part exciting light are anti-by tissue
It penetrates to form exciting light and visible light, the fluorescent molecular that part exciting light is organized absorbs, and inspires near-infrared fluorescent；
Step S2：Exciting light, visible light and near-infrared fluorescent pass through short wave pass filter 1, and short wave pass filter 1 reflects near-infrared
Fluorescence and exciting light, through visible light；Exciting light, visible light and near-infrared fluorescent pass through long wave pass filter piece 4, long wave pass filter
Piece 4 reflects visible light and exciting light, through near-infrared fluorescent；
Step S3：It is focused by the first lens 2 through the visible light of short wave pass filter 1, images in visible light photosensitive element 3, shape
At visible images；It is focused by the second lens 5 through the near-infrared fluorescent of long wave pass filter 4, images in near-infrared fluorescent sense
Optical element 6 forms near-infrared fluorescent image；
Step S4：The image of visible light photosensitive element 3 and the image of near-infrared fluorescent photosensitive element 6 are transferred to image procossing mould
Block 7 is handled, and the visible images with fluorescence navigation markup are formed, and is transferred to the display of display 8.
Specifically, in the step S4, it is seen that the image of the image and near-infrared fluorescent photosensitive element 6 of light sensation optical element 3
It is transferred to image processing module 7 to be handled, concrete processing procedure is as follows：Image processing module 7 is from visible images and closely
Frame out overlapping region is cut on IR fluorescence image, and by the image of near-infrared fluorescent photosensitive element 6, is arrived by algorithm fusion
On visible images, the visible images with fluorescence navigation markup are formed.
Specifically, described image data processing module 7 is arranged according to the object brightness of system and images in visible light photosensitive element 3
Brightness of image, calculate time for exposure and gain, at the same to visible light photosensitive element 3 and near-infrared fluorescent photosensitive element 6 into
Row spectrum assignment（It specifically, can be bright with target after the acquisition visible light of image processing module 7 photosensitive element 3 is transmitted through the image come
Degree compares, and then calculates time for exposure and gain, adjustment visible light photosensitive element 3 and near-infrared fluorescent photosensitive element 6, most
Eventually so that visible images overall brightness meets the setting of object brightness）.The technical program utilizes two independent imaging optical paths
It realizes visible light and near-infrared fluorescent separate detection, is limited without light splitting optical path, more short focus can be selected as needed
Camera lens realizes broader imaging viewing field, while structure is simpler, compact.
In the description of this specification, reference term " embodiment ", " certain embodiments ", " schematically implementation
What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the present invention.In this specification
In, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect range.
Claims (5)
- The imaging system 1. a kind of high-precision near-infrared fluorescent navigates, which is characterized in that including short wave pass filter；First lens； Visible light photosensitive element；Long wave pass filter；Second lens；Near-infrared fluorescent photosensitive element；Image processing module；Display； The visible light photosensitive element and near-infrared fluorescent photosensitive element are connect with image processing module respectively；After white light and exciting light that external light source is sent out reach tissue, wherein white light and part exciting light by Tissue reflectance, due to White light may carry color after being reflected, for by the white light of Tissue reflectance, hereinafter referred to as visible light；Meanwhile a part swashs The fluorescent molecular organized that shines absorbs, and inspires near-infrared fluorescent；The short wave pass filter reflects near-infrared fluorescent and swashs It shines, through visible light；Through short wave pass filter visible light by the first lens focus, image in visible light photosensitive element； The long wave pass filter piece reflection visible light and exciting light, through near-infrared fluorescent；It is glimmering through the near-infrared of long wave pass filter Light images in near-infrared fluorescent photosensitive element by the second lens focus；The image of visible light photosensitive element and near-infrared fluorescent sense The image of optical element is transferred to image processing module and is handled；Image processing module is from visible images and near-infrared fluorescent Frame out overlapping region is cut on image, and by the image of near-infrared fluorescent photosensitive element, passes through algorithm fusion to visible light figure As upper, visible images of the formation with fluorescence navigation markup, and be transferred to display and show.
- The imaging system 2. high-precision near-infrared fluorescent according to claim 1 navigates, which is characterized in that second lens The first lens of focal distance ratio focal length it is short.
- 3. a kind of method for imaging system of being navigated using high-precision near-infrared fluorescent as claimed in claim 1 or 2, feature are existed In specifically including following steps：Step S1：After the white light and exciting light that external light source is sent out reach tissue, wherein white light and part exciting light are anti-by tissue It penetrates to form exciting light and visible light, the fluorescent molecular that part exciting light is organized absorbs, and inspires near-infrared fluorescent；Step S2：Exciting light, visible light and near-infrared fluorescent pass through short wave pass filter, and it is glimmering that short wave pass filter reflects near-infrared Light and exciting light, through visible light；Exciting light, visible light and near-infrared fluorescent pass through long wave pass filter piece, long wave pass filter piece Visible light and exciting light are reflected, through near-infrared fluorescent；Step S3：Through short wave pass filter visible light by the first lens focus, image in visible light photosensitive element, formation can Light-exposed image；Through long wave pass filter near-infrared fluorescent by the second lens focus, image in near-infrared fluorescent photosensitive element, Form near-infrared fluorescent image；Step S4：The image of visible light photosensitive element and the image of near-infrared fluorescent photosensitive element are transferred to image processing module It is handled, forms the visible images with fluorescence navigation markup, and be transferred to display and show.
- 4. the method for high-precision near-infrared fluorescent navigation imaging system according to claim 3, which is characterized in that the step In rapid S4, it is seen that the image of light sensation optical element and the image of near-infrared fluorescent photosensitive element are transferred to image processing module progress Processing, concrete processing procedure are as follows：Image processing module cuts frame out weight from visible images and near-infrared fluorescent image Region is closed, and by the image of near-infrared fluorescent photosensitive element, by the way that on algorithm fusion to visible images, formation is led with fluorescence The visible images of navigation mark note.
- 5. the method for high-precision near-infrared fluorescent navigation imaging system according to claim 3, which is characterized in that the figure As data processing module is according to the object brightness of the reality photosensitive situation and actual requirement of visible light photosensitive element, calculates exposure and set It sets, while control is exposed to visible light photosensitive element and near-infrared fluorescent photosensitive element.
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| CN110236694A (en) * | 2019-06-04 | 2019-09-17 | 广东欧谱曼迪科技有限公司 | Same screen near-infrared bispectrum fluorescence imaging method and system based on spectral response characteristic |
| CN111380843A (en) * | 2019-06-28 | 2020-07-07 | 南京大学 | Device design and imaging method of high-sensitivity visible-near infrared double-channel laser fluorescence microscope |
| CN114469344A (en) * | 2022-01-27 | 2022-05-13 | 上海安翰医疗技术有限公司 | Navigation head and surgical navigation equipment |
| WO2022179117A1 (en) * | 2021-02-25 | 2022-09-01 | 南京微纳科技研究院有限公司 | Navigation method and apparatus based on fluorescence molecular imaging, and storage medium |
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