CN111035356B - Automatic aligning and focusing eye ground or anterior segment imaging system and method - Google Patents

Automatic aligning and focusing eye ground or anterior segment imaging system and method Download PDF

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CN111035356B
CN111035356B CN201911383551.XA CN201911383551A CN111035356B CN 111035356 B CN111035356 B CN 111035356B CN 201911383551 A CN201911383551 A CN 201911383551A CN 111035356 B CN111035356 B CN 111035356B
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imaging
lens
stereo camera
alignment
unit
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CN111035356A (en
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胡建明
易虹
陈方林
张俊林
张向阳
熊海波
殷尉
靖志成
卿源华
方杨
李雪
曹杨
孔春阳
崔玉亭
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Chongqing Normal University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/12—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for looking at the eye fundus, e.g. ophthalmoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
    • A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
    • A61B3/14—Arrangements specially adapted for eye photography
    • A61B3/15—Arrangements specially adapted for eye photography with means for aligning, spacing or blocking spurious reflection ; with means for relaxing
    • A61B3/152—Arrangements specially adapted for eye photography with means for aligning, spacing or blocking spurious reflection ; with means for relaxing for aligning

Abstract

The invention provides an automatically aligning and focusing fundus or anterior segment imaging system, which is placed on an X, Y, Z three-axis electric platform. The system comprises: the system comprises an illumination unit, an imaging unit, a guiding alignment unit, an Optical Coherence Tomography (OCT) unit and an ocular lens (201), wherein the imaging unit comprises an imaging optical path and an optical path conversion device, the optical path conversion device is moved into the imaging unit when the system performs anterior segment imaging, and the optical path conversion device is removed from the imaging unit when the system performs fundus imaging. The anterior ocular segment imaging system realizes anterior ocular segment alignment through the anterior ocular segment alignment unit, realizes fundus alignment through the guide alignment unit, or directly realizes anterior ocular segment alignment and fundus alignment through the guide alignment unit, thereby realizing anterior ocular segment and fundus imaging, and the whole operation process is completely completed by the imaging system independently without being equipped with professional technicians; the imaging system is awakened from a dormant state through a signal of the pressure sensor I, and is in the dormant state at a non-working period, so that the energy consumption of the system is saved; thereby enabling unattended eye imaging.

Description

Automatic aligning and focusing eye ground or anterior segment imaging system and method
Technical Field
The present invention relates to eye examination devices, and more particularly to an automatically aligning and focusing fundus or anterior segment imaging system and method.
Background
Lesions of the eye are usually detected by imaging of the anterior segment or fundus, e.g. lesions of macular disease appear in the fundus, and early detection of lesions is required for early treatment of the disease. Fundus imaging includes imaging of the fundus surface, accomplished by a fundus camera; two-dimensional section imaging and three-dimensional stereo imaging in the fundus tissue are completed by an OCT system. The use of current eye ground imaging device, the people that need to be examined places its head on with the forehead in the check out test set leans on, then by the personage who has received the training, such as doctor, optometrist, manual adjustment removes check out test set aligns focusing and shoots the inspection, and this inspection process needs the operator through professional training to rely on operator's skill experience, have professional requirement to operating personnel, thereby restricted eye imaging device's popularization and popularization, and increased the human cost of equipment use unit, be unfavorable for reducing user's inspection expense.
Therefore, there is a need for an imaging system that can automatically align and focus to complete fundus examination, i.e., without the assistance of a professional, the examiner can place the head on the examination apparatus by himself, and the eye imaging apparatus can automatically align and image the anterior part of the eye or the fundus or both.
Disclosure of Invention
In view of the foregoing, the present invention provides an auto-aligning and focusing fundus or anterior segment imaging system and method.
The invention provides an automatic alignment and focusing eye ground or anterior segment imaging system, which is characterized in that: the method comprises the following steps: an illumination unit, an imaging unit including an imaging optical path and an optical path conversion device which is moved into the imaging unit when the system performs anterior segment imaging, and which is removed from the fundus imaging unit when the system performs fundus imaging, a guide alignment unit, an OCT unit, and an eyepiece 201;
the illumination unit is used for providing an illumination light source for the imaging unit and the guide alignment unit, and comprises an alignment light source 101, an illumination light source 103 and an illumination light path, the illumination light path is used for transmitting light of the illumination light source 103 and the alignment light source 101 to an eye preset area, the illumination light path sequentially comprises a first lens 102, a second lens 104, a filter 105, an annular light through aperture 106, a third lens 107, a first reflector 108, a fourth lens 109 and a second reflector 202 from right to left, the alignment light source 101 is arranged on the right side of the first lens 102, and the illumination light source 103 is arranged between the transmission light paths of the first lens 102 and the second lens 104;
the imaging optical path sequentially comprises a sixth lens 204, an eighth lens 207 and a first imaging sensor 208 which are arranged on the right side of the ocular lens 201 and are confocal with the ocular lens 201 from left to right;
the optical path conversion device is a movable fifth lens 203 arranged between the ocular lens 201 and the transmission optical path of the sixth lens 204;
the guiding alignment unit comprises a sixth lens 204, a first dichroic mirror 206, a second dichroic mirror 301, a seventh lens 302 and a second imaging sensor 303, the first dichroic mirror 206 and the second dichroic mirror 301 are used for changing the optical path of the incident alignment light beam, the changed optical path is parallel to the optical path of the incident alignment light beam, the light propagation direction is opposite, and the seventh lens 302 and the second imaging sensor 303 are coaxial with the changed optical path;
the OCT unit comprises a sixth lens 204, a first dichroic mirror 206, a galvanometer 401 and a tenth lens 405, and the OCT unit and the ocular lens 201 form an OCT measurement branched path; the galvanometer 401 is disposed above the first dichroic mirror 206, and the tenth lens 405 is a fiber collimator lens for coupling the light returning from the fundus oculi into an optical fiber. The OCT system can be spectral domain OCT or swept domain OCT.
Further, the system further comprises an eye front alignment unit for achieving alignment of the eye front, the eye front alignment unit comprises a first stereo camera 501 and a second stereo camera 502, the first stereo camera 501 and the second stereo camera 502 are symmetrically arranged on two sides of the imaging light path, and an intersection point of an optical axis of the first stereo camera 501 and an optical axis of the second stereo camera 502 is located on the imaging light path.
Further, the system also includes a refractive adjustment device, which is a sixth lens 204 that can move left and right along the imaging optical path.
Further, the OCT unit further includes an auto-focusing unit including a half mirror 402, a ninth lens 403, and a third imaging sensor 404, the half mirror 402 is disposed between the vibrating mirror 401 and the tenth lens 405 for separating the incident alignment light beam from the incident light beam in a manner perpendicular to the incident direction of the original light beam, and the ninth lens 403 and the third imaging sensor 404 are coaxial with the alignment light beam separated by the half mirror 402.
Further, the system also comprises an adjusting table and a controller, the adjusting table is controlled by the controller to receive the control signal and complete the corresponding position adjustment of the control signal, and the illumination unit, the imaging unit, the guiding and aligning unit, the OCT unit and the ocular lens 201 are all arranged on the adjusting table.
Further, the system further comprises a lower jaw supporting device which is arranged opposite to the ocular lens 201 and comprises a portal frame, a jaw support 602 arranged under a portal frame cross beam and at the intersection of a portal frame symmetry axis, a forehead pasting board 606 arranged in the center of the cross beam, a group of canthus cameras 603 symmetrically arranged on a portal frame longitudinal beam, a pressure sensor I601 arranged under the jaw support 602, a pressure sensor II 604 arranged at the lower end of the forehead pasting board 606 and positioned over the jaw support, and a position sensor 605 arranged on the pasting degree of the forehead of a user of the forehead pasting board and the forehead pasting board.
Accordingly, the present invention also provides an automatically aligning and focusing fundus or anterior segment imaging method according to any one of claims 1 to 6, characterized in that: the method comprises the following steps:
s1: adjusting the eyes to the condition that the extension line of the canthus is coincident or nearly coincident with the connecting line of the pair of canthus cameras;
s2: adjusting the eye front alignment unit to make the intersection of the optical axis of the first stereo camera and the optical axis of the second stereo camera coincide with the pupil of the eye;
s3: moving the fifth lens into an imaging light path to realize the imaging of the front part of the eye;
s4: moving the fifth lens out of the imaging light path, guiding the alignment unit to realize fundus alignment and realizing fundus molding; the fundus alignment comprises refractive compensation adjustment, wherein the refractive compensation adjustment is specifically to move the sixth lens left and right, wherein the sixth lens is moved left when the user is myopic, and the sixth lens is moved right when the user is hyperopic;
s4: fundus OCT imaging.
Further, the step S2 specifically includes the following steps:
s201: establishing a three-dimensional coordinate system I of a space where a first stereo camera is located;
establishing a three-dimensional coordinate system II of the space where the second stereo camera is located;
establishing a three-dimensional coordinate system III of a space where the eye to be detected is located;
wherein, XY planes of the three-dimensional coordinate systems I, II and III are coplanar;
s202: adjusting the position of the stereo camera to align the stereo camera with the eye to be detected on an XY plane;
s203: adjusting the position of the stereo camera to align the stereo camera with the eye to be measured on the Z axis;
wherein Z is0The alignment of the axes was done as follows:
Figure BDA0002342892310000041
wherein Z is0Denotes the amount of deviation of the intersection a in the Z axis, Z1 denotes the Z-axis coordinates of the image point a1 of the intersection a on the first stereo camera, and m denotes the magnification of the stereo camera imaging system.
Further, the step S202 includes the following steps:
(1) determining the coordinate A (x) of the intersection A of the vertical line passing through the center point of the eye and the XY plane0,y0,z0) The coordinate A1 (x) of the image point A1 of the intersection A on the first stereo camera is acquired1,y1,z1) While the coordinate A2 (x) of the image point A2 of the intersection point A on the second stereo camera2,y2,z2)；
(2)
a, judging the X-axis coordinate X of the image point A11With the X-axis coordinate X of image point A22Whether or not X is satisfied1＝-X2Wherein x is1X-axis coordinate, X, representing image point A12Representing the X-axis coordinate of image point a2,
if yes, the intersection point A is aligned in the X-axis direction but deviated in the Y direction, and the deviation amount in the Y direction is calculated by the following method:
Figure BDA0002342892310000042
wherein, yoRepresents the deviation of the intersection A in the Y direction, x1The X-axis coordinate of the image point A1 is represented, a represents half of the distance between the center of the first stereo camera and the center of the second stereo camera, b represents the distance between the principal point of the imaging lens of the first stereo camera and the CCD, and the distance between the optical axis of the imaging lens of the second stereo camera and the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axes of the first stereo camera and the second stereo camera;
and according to yoThe adjusting table is moved to realize the alignment of the XY plane;
if not, entering the step b;
b: determining the X-axis coordinate X of image point A11With the X-axis coordinate X of image point A22Whether or not 2X is satisfied1X2 sinα＝(X2-X1) b cos α, wherein, x1Denotes the X-axis coordinate of the image point A1, a denotes the bisection of the distance between the center of the first stereo camera and the center of the second stereo cameraOne of them, b represents the distance from the principal point of the first stereo camera imaging lens to the CCD and the distance from the principal point of the second stereo camera imaging lens to the CCD, alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axis of the first stereo camera and the second stereo camera,
if yes, the intersection point A is aligned in the Y-axis direction but deviated in the X-axis direction, and the deviation amount in the X-axis direction is calculated by the following method:
Figure BDA0002342892310000051
wherein x isoRepresents the deviation amount, X, of the intersection A in the X direction1The X-axis coordinate of the image point A1 is represented, a represents half of the distance between the center of the first stereo camera and the center of the second stereo camera, b represents the distance between the principal point of the imaging lens of the first stereo camera and the CCD, and the distance between the principal point of the imaging lens of the second stereo camera and the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axis of the first stereo camera and the second stereo camera;
and according to xoMoving the adjusting table to realize the alignment of the XY plane;
if not, entering the step c;
c: the intersection point A deviates in the X-axis direction and the Y-axis direction, and the deviation is calculated by adopting the following method:
Figure BDA0002342892310000061
wherein x isoRepresents the deviation amount of the intersection A in the X direction, yoRepresents the deviation amount, x, of the intersection A in the Y direction1Denotes the X-axis coordinate of the image point A1, a denotes one-half of the distance between the center of the first stereo camera and the center of the second stereo camera, b denotes the distance between the principal point of the imaging lens of the first stereo camera and the CCD and the distance between the principal point of the imaging lens of the second stereo camera and the CCD, and a denotes the distance between the optical axis of the first stereo camera and the first stereo cameraAn angle between the symmetry axes of the stereo camera and the second stereo camera;
and according to xo yoThe adjustment stage is moved to achieve the alignment of the XY plane.
Accordingly, the present invention also provides an automatically aligning and focusing fundus or anterior segment imaging method according to any one of claims 1 to 6, characterized in that: the method comprises the following steps:
s1: adjusting the eyes to the condition that the extension line of the canthus coincides or nearly coincides with the connecting line of the pair of canthus cameras;
s2: moving the fifth lens into an imaging light path, and guiding the alignment unit to realize alignment of the anterior segment of the eye so as to realize imaging of the anterior segment of the eye;
s3: moving the fifth lens out of the imaging light path, guiding the alignment unit to realize fundus alignment, and realizing fundus imaging; the fundus alignment comprises refractive compensation adjustment, wherein the refractive compensation adjustment is specifically to move the sixth lens left and right, wherein the sixth lens is moved left for near vision and right for far vision;
s4: fundus imaging. The fundus imaging includes fundus OCT imaging and fundus camera imaging.
The invention has the beneficial technical effects that: the anterior ocular segment imaging system realizes anterior ocular segment alignment through the anterior ocular segment alignment unit, realizes fundus alignment through the guide alignment unit, or directly realizes anterior ocular segment alignment and fundus alignment through the guide alignment unit, thereby realizing anterior ocular segment and fundus imaging, and the whole operation process is completely completed by the imaging system independently without being equipped with professional technicians; the imaging system is awakened from a dormant state through a signal of the pressure sensor I, and is in the dormant state at a non-working period, so that the energy consumption of the system is saved; thereby realizing unattended eye imaging.
Drawings
The invention is further described below with reference to the following figures and examples:
fig. 1 is a block diagram of a first embodiment of the present invention.
Fig. 2 is a structural block diagram of a second embodiment of the present invention.
Fig. 3 is a schematic diagram of the optical path structure of the present invention.
Fig. 4 is a block diagram of the structure of the adjusting table of the present invention.
Fig. 5 is a schematic view of the jaw support structure of the present invention.
Fig. 6 is an optical path diagram of the anterior ocular alignment unit of the present invention.
Fig. 7 is a block diagram of the structure of the adjusting station of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
the invention provides an automatic aligning and focusing fundus or anterior segment imaging system, which is characterized in that: the method comprises the following steps: as shown in fig. 1, an illumination unit, an imaging unit including an imaging optical path and an optical path conversion device which is moved into the imaging unit when the system performs anterior ocular segment imaging and is removed from the imaging unit when the system performs fundus imaging, a guide alignment unit, an OCT unit, and an eyepiece (201);
the illumination unit is used for imaging unit and simultaneously for guide alignment unit provides illumination light source, the illumination unit includes alignment light source 101, illumination light source 103 and illumination light path, illumination light path is used for with illumination light source 103 and alignment light source 101 light transmission to the eyes preset the region, preset the region and shoot the region for the pupil of eyes or iris and the eye ground around the pupil, illumination light path includes from right to left in proper order: the direction shown in fig. 3 is from right to left, in this embodiment, that is, from right to left, the transmission direction of light emitted by the light source is from right to left, the first lens 102, the second lens 104, the filter 105 are visible light filters, the annular light-transmitting aperture 106, the third lens 107, the first mirror 108, the fourth lens 109, and the second mirror 202, the alignment light source 101 is disposed on the right side of the first lens 102, and the illumination light source 103 is disposed between the transmission light paths of the first lens 102 and the second lens 104; in the present embodiment, the directional terms "left", "right", "up" and "down" are left, right, up and down in the drawings, but the directional terms do not limit the present patent; as shown in fig. 3, a lens 102 images a near-infrared light source 101 to a visible light source 103, a lens 104 uniformly images the near-infrared light source 101 and the visible light source 103 to an annular light-passing aperture 106, a visible light filter 105 is arranged on one side of the light-passing aperture 106 close to the lens 104, the visible light filter 105 absorbs visible light and transmits near-infrared light, and lenses 107 and 109, together with an ocular lens 201, are imaged to a pupil through the annular light-passing aperture 106 via a reflecting mirror 108 and a reflecting mirror 202, and irradiate the fundus via the pupil; the light source for illuminating the annular diaphragm is near infrared light or near infrared light and visible light; the ocular lens is a lens closest to the eyes of the person to be inspected; the illumination light source 103 is visible light, the alignment light source 101 is near infrared light, the wavelength of the near infrared light is a certain wavelength or a certain wavelength range from 750nm to 950nm, the absorption rate of the near infrared band in human eyes is low, and the near infrared band cannot be sensed by the human eyes, so that the bands of the guidance imaging light source and the OCT light source are both in the near infrared band; when the guiding alignment unit guides and aligns, the filter 105 moves into the illumination light path, at this time, the visible light cannot enter the eye to be detected through the illumination light path, and at this time, the visible light enters the eye to be detected as near-infrared light; when the imaging unit is imaging, the filter 105 is moved out of the illumination optical path, and the visible light enters the eye to be detected through the illumination optical path.
The imaging optical path sequentially comprises a sixth lens 204, an eighth lens 207 and a first imaging sensor 208 which are arranged on the right side of the ocular lens (201) and are confocal with the ocular lens 201 from left to right; left to right as viewed in the direction shown in fig. 3, and in the present embodiment, left to right as viewed indicates the direction of transmission of light reflected by the eye;
the optical path conversion device is a movable fifth lens 203 arranged between the ocular lens 201 and the transmission optical path of the sixth lens 204;
the guiding alignment unit comprises a sixth lens 204, a first dichroic mirror 206, a second dichroic mirror 301, a seventh lens 302 and a second imaging sensor 303, the first dichroic mirror 206 and the second dichroic mirror 301 are used for changing the optical path of the incident alignment light beam, the changed optical path is parallel to the optical path of the incident alignment light beam, the light propagation direction is opposite, and the seventh lens 302 and the second imaging sensor 303 are coaxial with the changed optical path;
the OCT unit includes a sixth lens 204, a first dichroic mirror 206, a galvanometer 401, a tenth lens 405, and the optical coherence tomography OCT, the galvanometer 401 is disposed above the first dichroic mirror 206, and the tenth lens 405 and the optical coherence tomography OCT are coaxial. The galvanometer 401 can be rotatably adjusted so as to adjust an OCT imaging optical transmission path, thereby realizing the scanning of a visible region of the fundus and the OCT imaging.
Through the technical scheme, the alignment and imaging of the front part of the eye and the alignment and imaging of the fundus can be realized, and the optical path structure is simple.
In this embodiment, the system further includes an eye front alignment unit for aligning the eye front, the eye front alignment unit includes a first stereo camera 501 and a second stereo camera 502, the first stereo camera 501 and the second stereo camera 502 are symmetrically disposed on two sides of the imaging light path, and an intersection point of an optical axis of the first stereo camera 501 and an optical axis of the second stereo camera 502 is located on the imaging light path. The first stereo camera and the second stereo camera have the same structure and parameters. Through the technical scheme, the alignment of the front of the eye is realized. When the intersection point of the optical axes of the first stereo camera 501 and the second stereo camera 502 coincides with the pupil center of the eye to be detected, it indicates alignment.
In this embodiment, the system further includes a dioptric adjustment device, which is a sixth lens 204 capable of moving left and right along the imaging optical path, and the sixth lens moves left and right to compensate a dioptric system caused by a myopic eye or a hyperopic eye, so as to achieve fundus alignment and clear imaging. If the diopter of the eye to be measured is normal, namely no myopia or no hyperopia exists, the diopter adjusting device does not need to be adjusted, and after the front part of the eye is aligned to image, the optical conversion device, namely the fifth lens 203 is moved out of the imaging optical path, so that the fundus alignment imaging can be realized; if the eye to be measured is not diopter-normal, i.e. there is myopia or hyperopia, then compensation can be made within the range of +/-20 diopters by moving the dioptric compensation device, i.e. the sixth lens 204, left or right.
In this embodiment, the OCT unit further includes an auto-focusing unit including a half mirror 402, a ninth lens 403, and a third imaging sensor 404, the half mirror 402 is disposed between the vibrating mirror 401 and the tenth lens 405 for separating the incident alignment beam from the incident beam in a manner perpendicular to the incident direction of the original beam, and the ninth lens 403 and the third imaging sensor 404 are both coaxial with the alignment beam separated by the half mirror 402. The fundus autofocus OCT unit can move in and out of the optical path, and move in and out of the optical path when fundus focusing is required. The focusing method is to scan the fundus imaging area with a galvanometer, and to converge the return beam from the fundus to the imaging sensor 404 via the lens 403. The received light intensity signal at 404 is subjected to gaussian fitting or other similar surface fitting to calculate the area of 50% of its peak power, or reasonable peak power intensity areas such as 30%, 70%, etc. And averaging the area of 50% area of the peak power of N points acquired in the scanning area, finishing OCT focusing if the area is less than or equal to a threshold value, moving out an OCT automatic focusing unit, and performing OCT imaging process.
In the present embodiment, the lens used may be a lens combination or may be an aspheric lens.
In this embodiment, the system further includes an adjusting stage 700 and a controller, as shown in fig. 7, the adjusting stage 700 is controlled by the controller to receive the control signal and perform the corresponding position adjustment of the control signal, and the illumination unit, the imaging unit, the guiding and aligning unit, the OCT unit and the eyepiece 201 are all disposed on the adjusting stage. The anterior ocular segment alignment unit is also arranged on the adjusting table, the alignment of the system is firstly the alignment of the anterior ocular segment under the experiment and then the alignment of the fundus oculi, when the anterior ocular segment alignment is realized, two ways are provided, one way is the anterior ocular segment alignment realized by the anterior ocular segment alignment unit, the other way is the anterior ocular segment alignment realized by the guide alignment unit and the light path conversion device, the system can randomly select any way, or a certain way is preset in the system to realize the anterior ocular segment alignment preferentially. The adjustment stage 700 is used to adjust the position of the device thereon by moving the X, Y and Z axes of the adjustment stage to adjust the position of the system on the adjustment stage 700 to achieve alignment.
The controller automatically determines the pupil center according to the pupil image in the second camera sensor 303 of the guide alignment unit, determines the positioning measurement by determining the spatial reference position of the pupil center relative to the imaging device, controls the adjusting table to move, enables the optical axis of the automatic alignment optical device to be superposed with the optical axis of the eye of the person to be inspected, and simultaneously enables the focal length of the automatic alignment optical device to be the best focal length with the clearest imaging; after positioning is completed, anterior segment imaging can be performed, and after anterior segment imaging is completed, the controller can display the image on a user interface and store the image in the data storage device; the whole imaging process realizes the alignment of the front of the eye by the guide alignment unit or the alignment unit of the front of the eye, photographs the front of the eye by the camera sensor 208 if necessary, then moves out the fifth lens 203, realizes the focusing of the fundus imaging by moving the sixth lens 204 back and forth, collects the OCT, and photographs the fundus by the camera sensor 208 after the OCT is collected.
After the alignment of the anterior part of the eye is completed, the lens 203 is removed, and at this time, if the person to be inspected has no myopia or hyperopia, the alignment state is directly imaged on the fundus; if the examiner has myopia or hyperopia, the controller is required to control the driver to adjust the position of the fundus focusing lens group 204 so as to realize the focus adjustment of fundus imaging and ensure that the fundus imaging definition is optimal; that is, after the anterior ocular segment alignment is completed, the lens 203 is removed, the controller activates the fundus camera, receives the image of the fundus camera, generates a position shift signal of the fundus focusing mirror group 204 from the image information of the fundus camera and transmits the signal to the driving mechanism, and the driving mechanism adjusts the position of the focusing mirror group 204, thereby achieving the best fundus imaging resolution. In this embodiment, a +/-20 diopter range may be compensated.
In this embodiment, the system further includes a lower jaw supporting device, the lower jaw supporting device is disposed opposite to the eyepiece 201, as shown in fig. 4, the lower jaw supporting device includes a portal frame, a jaw support 602 disposed at an intersection of a cross beam of the portal frame and a symmetry axis of the portal frame, a forehead patch 606 disposed at the center of the cross beam, a set of eye angle cameras 603 symmetrically disposed on a longitudinal beam of the portal frame, a pressure sensor i 601 disposed below the jaw support 602, a pressure sensor ii 604 disposed at a lower end of the forehead patch 606 and located directly above the jaw support, and a position sensor 605 disposed on a fitting degree of a forehead of a user of the forehead patch and the forehead patch.
As shown in fig. 4 and 5, the lower jaw of the person to be inspected is placed on the jaw support 602, the pressure sensor i 601 arranged below the jaw support 602 transmits a pressure signal to the controller, the controller activates the system in the standby state, the position sensor 605 on the forehead pasting plate checks whether the forehead of the person to be inspected is pasted on the forehead pasting sheet, if not, the person to be inspected is reminded to paste the forehead on the forehead pasting sheet by voice, and a group of cameras arranged on the portal frame longitudinal arm are utilized, imaging the vicinity of the external canthus of the person to be detected, judging whether the canthus of the person to be detected is positioned on the same horizontal plane in a group of cameras according to the displayed image information, if not, controlling a jaw support motor to drive a jaw support to move up and down by controlling a jaw support motor driving device until the connecting line of the canthus of the person to be detected is superposed with the extension line of the canthus camera 603, namely, the eye to be detected reaches a preset position. The pressure detector is set for preventing children or persons with small heads from being squeezed, when the imaging sensor 603 detects that the eye angle is low and the jaw support 602 needs to be moved upwards by the motor under the jaw support, the head is clamped between the lower end of the forehead pasting plate 606 and the jaw support, and the pressure sensor 604 has a pressure signal to transmit to the controller, so that the operation of the motor for moving the jaw support upwards is stopped, and any injury is avoided.
Correspondingly, the invention also provides an eye imaging alignment method, which is characterized in that: the method comprises the following steps:
s1: adjusting the eyes to the condition that the extension line of the canthus coincides or nearly coincides with the connecting line of the pair of canthus cameras; as shown in fig. 4 and 5, when the user scans the two-dimensional code on the system device or inputs user information, the system is powered on and in a standby state.
The user places the chin on the jaw support (602), and the pressure sensor (601) senses sufficient pressure to start operation. The canthus imaging device 603 shoots the face side image, analyzes the deviation amount of the canthus distance setting position, and the motor at the lower end of the jaw support moves to adjust the jaw support to move up and down, so that the canthus is adjusted to the setting position in the camera 603. A mandible is placed on a jaw support 602 by a person to be inspected, a pressure sensor I601 arranged below the jaw support 602 transmits a pressure signal to a controller, the controller inspects whether the forehead of the person to be inspected is attached to a forehead patch through a position sensor 605 of the forehead patch, if not, the person to be inspected is reminded to attach the forehead patch tightly by voice, after the attachment is completed, a group of cameras arranged on a portal frame longitudinal arm are started, and image information returned by the group of cameras is received, the controller judges whether the canthus of the person to be inspected is located on the same horizontal plane in the group of cameras according to the image information, if not, the controller controls a jaw support motor to drive the jaw support 602 to move up and down through controlling a jaw support motor driving device until the connecting line of the canthus of the person to be inspected is superposed with the extension line of the canthus camera 603, namely, the eye to be inspected reaches a preset position
S2: adjusting the eye front alignment unit to make the intersection of the optical axis of the first stereo camera and the optical axis of the second stereo camera coincide with the pupil of the eye;
s3: moving the fifth lens into an imaging light path to realize anterior segment imaging;
s4: moving the fifth lens out of the imaging light path, guiding the alignment unit to realize fundus alignment and realizing fundus imaging; the fundus alignment comprises refractive compensation adjustment, wherein the refractive compensation adjustment is specifically to move the sixth lens left and right, wherein the sixth lens is moved left when the user is myopic, and the sixth lens is moved right when the user is hyperopic; that is, after the anterior ocular segment alignment is completed, the lens 203 is removed, the controller activates the fundus camera, receives the image of the fundus camera, generates a position shift signal of the fundus focusing mirror group 204 from the image information of the fundus camera and transmits the signal to the driving mechanism, and the driving mechanism adjusts the position of the focusing mirror group 204, thereby achieving the best fundus imaging resolution. In this embodiment, a +/-20 diopter range may be compensated.
S5: fundus OCT imaging. The OCT imaging is the existing OCT imaging, and the details are not repeated. When the automatic focusing unit is used for OCT imaging and the focal length needs to be adjusted, the automatic focusing unit is integrally moved into the OCT imaging unit to adjust the focal length, and the OCT imaging unit is moved out after the focal length is adjusted. Before OCT imaging, the automatic focusing unit is moved into an imaging optical path of the OCT imaging unit, the optimal OCT image plane is determined by measuring the size of a light spot of an imaging of an eyeground return light spot on the third imaging sensor 404 and moving the adjusting table back and forth, and after the optimal OCT image plane is determined, the automatic focusing unit is moved out of the imaging optical path of the OCT imaging unit to start OCT imaging.
The step S2 specifically includes the following steps:
s201: establishing a three-dimensional coordinate system I of a space where a first stereo camera is located;
establishing a three-dimensional coordinate system II of the space where the second stereo camera is located;
establishing a three-dimensional coordinate system III of a space where the eye to be detected is located;
wherein, XY planes of the three-dimensional coordinate systems I, II and III are coplanar;
s202: adjusting the position of the stereo camera to align the stereo camera with the eye to be detected on an XY plane;
s203: adjusting the position of the stereo camera to align the stereo camera with the eye to be measured on the Z axis;
wherein Z is0The alignment of the axes was done as follows:
Figure BDA0002342892310000131
wherein Z is0Denotes the amount of deviation of the intersection a in the Z axis, Z1 denotes the Z-axis coordinates of the image point a1 of the intersection a on the first stereo camera, and m denotes the magnification of the stereo camera imaging system.
The step S202 includes the steps of:
(1) determining the coordinate A (x) of the intersection A of the vertical line passing through the center point of the eye and the XY plane0,y0,z0) The coordinate A1 (x) of the image point A1 of the intersection A on the first stereo camera is acquired1,y1,z1) While the intersection point A is on the second stereo cameraCoordinate a2 (x) of image point a22,y2,z2)；
(2)
a, judging the X-axis coordinate X of the image point A11With the X-axis coordinate X of image point A22Whether or not X is satisfied1＝-X2Wherein x is1X-axis coordinate, X, representing image point A12Representing the X-axis coordinate of image point a2,
if yes, the intersection point A is aligned in the X-axis direction but deviated in the Y direction, and the deviation amount in the Y direction is calculated by the following method:
Figure BDA0002342892310000132
wherein, yoRepresents the deviation of the intersection A in the Y direction, x1The X-axis coordinate of the image point A1 is represented, a represents half of the distance between the center of the first stereo camera and the center of the second stereo camera, b represents the distance between the principal point of the imaging lens of the first stereo camera and the CCD, and the distance between the optical axis of the imaging lens of the second stereo camera and the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axes of the first stereo camera and the second stereo camera;
and according to yoThe adjusting table is moved to realize the alignment of the XY plane;
if not, entering the step b;
b: determining the X-axis coordinate X of image point A11With the X-axis coordinate X of image point A22Whether or not it satisfies 2X1X2 sinα＝(X2-X1) b cos α, wherein, x1Denotes the X-axis coordinate of the image point a1, a denotes one-half of the distance between the center of the first stereo camera and the center of the second stereo camera, b denotes the distance between the principal point of the imaging lens of the first stereo camera and the CCD and the distance between the optical axis of the imaging lens of the second stereo camera and the CCD, a denotes the angle between the optical axis of the first stereo camera and the symmetry axis of the first stereo camera and the second stereo camera,
if yes, the intersection point A is aligned in the Y-axis direction but deviated in the X-axis direction, and the deviation amount in the X-axis direction is calculated by the following method:
Figure BDA0002342892310000141
wherein x isoRepresents the deviation amount, X, of the intersection A in the X direction1The X-axis coordinate of the image point A1 is represented, a represents half of the distance between the center of the first stereo camera and the center of the second stereo camera, b represents the distance between the principal point of the imaging lens of the first stereo camera and the CCD, and the distance between the principal point of the imaging lens of the second stereo camera and the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axes of the first stereo camera and the second stereo camera;
and according to xoThe adjusting table is moved to realize the alignment of the XY plane;
if not, entering the step c;
c: the intersection point A deviates in the X-axis direction and the Y-axis direction, and the deviation is calculated by adopting the following method:
Figure BDA0002342892310000151
wherein x isoRepresents the deviation amount of the intersection A in the X direction, yoRepresents the deviation amount, x, of the intersection A in the Y direction1The X-axis coordinate of the image point A1 is represented, a represents half of the distance between the center of the first stereo camera and the center of the second stereo camera, b represents the distance between the principal point of the imaging lens of the first stereo camera and the CCD, and the distance between the optical axis of the imaging lens of the second stereo camera and the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axes of the first stereo camera and the second stereo camera;
accordingly, step c may also be determined by,
Figure BDA0002342892310000152
wherein x isoRepresents the deviation amount, y, of the point A to be aligned in the X directionoRepresents the deviation amount, x, of the point A to be aligned in the Y direction1Represents the X-axis coordinate of the image point A1, a represents half of the distance between the center of the first stereo camera and the center of the second stereo camera, b represents the distance between the principal point of the imaging lens of the first stereo camera and the CCD, and the distance between the principal point of the imaging lens of the second stereo camera and the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axis of the first stereo camera and the second stereo camera
And according to xo yoThe adjustment stage is moved to achieve the alignment of the XY plane.
As shown in fig. 6, the two-phase machines are symmetrically placed, OO1′O1"is the optical axis of the first stereo camera, OO2′O2"is the optical axis of the second stereo camera, the optical axes of the two imaging systems intersect at the point O, the point O is the ideal imaging object point, when the pupil center is at the point, the two cameras will be imaged to the center O of the two cameras respectively1″、O2"where the center is the intersection of the optical axis of the first stereo camera or the second stereo camera and the CCD, the system is in alignment. The straight line where OM is located is a symmetry axis of the two cameras, namely an imaging light path axis of the imaging unit. 01″02"is 2a, O1′O1″＝O2′O2B, a coordinate system as shown in the above figure is established, and the CCD1 is positioned at X1、Z1In the coordinate plane, the origin of coordinates is located at the center O of the CCD11"; CCD2 is located at X2、Z2In the coordinate plane, the origin of coordinates is located at the center O of the CCD22"; the object being located at X0、Y0、Z0In the coordinate system, the origin of the coordinates is the point O. The X, Y planes of the three coordinate systems are coplanar. After the coordinates of the object A to be aligned under the coordinate systems of X0, Y0 and Z0 are calculated, the coordinate value of the point A is moved by the system where the two stereo cameras are located along the coordinate axes of X0, Y0 and Z0, so that the point A and the point O are overlapped, and alignment is realized.
Correspondingly, the invention also provides an eye imaging alignment method, which is characterized in that: the method comprises the following steps:
s1: adjusting the eyes to the condition that the extension line of the canthus coincides or nearly coincides with the connecting line of the pair of canthus cameras;
s2: moving the fifth lens into an imaging light path, and guiding the alignment unit to realize alignment of the anterior segment of the eye so as to realize imaging of the anterior segment of the eye; the alignment unit is guided to image the front part of the eye to be measured through the second camera sensor, and the position of the adjusting table is controlled through the controller to realize alignment through the existing image alignment algorithm;
s3: moving the fifth lens out of the imaging light path, guiding the alignment unit to realize fundus alignment and realizing fundus imaging; the fundus alignment comprises refractive compensation adjustment, wherein the refractive compensation adjustment is specifically to move the sixth lens left and right, wherein the sixth lens is moved left for short sight and moved right for long sight; the alignment unit is guided to image the fundus of the eye to be measured through the second camera sensor, and the alignment is realized through the existing image alignment algorithm and the position of the adjusting table controlled by the controller;
s4: fundus OCT imaging. The OCT imaging is the existing OCT imaging, and the details are not repeated. When the automatic focusing unit is used for OCT imaging and the focal length needs to be adjusted, the automatic focusing unit is integrally moved into the OCT imaging unit to adjust the focal length, and the OCT imaging unit is moved out after the focal length is adjusted. Before OCT imaging, the automatic focusing unit is moved into an imaging optical path of the OCT imaging unit, the optimal OCT image plane is determined by measuring the size of a light spot of an imaging of an eyeground return light spot on the third imaging sensor 404 and moving the adjusting table back and forth, and after the optimal OCT image plane is determined, the automatic focusing unit is moved out of the imaging optical path of the OCT imaging unit to start OCT imaging.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (10)

1. An automatically aligning and focusing fundus or anterior segment imaging system, comprising: the method comprises the following steps: an illumination unit, an imaging unit, a guide alignment unit, an OCT unit, and an ocular lens (201), the imaging unit including an imaging optical path and an optical path conversion device, the optical path conversion device being moved into the imaging unit when the system performs anterior segment imaging, the optical path conversion device being removed from the imaging unit when the system performs fundus imaging;
the illumination unit is used for providing an alignment light source for the imaging unit and the guide alignment unit, and comprises an alignment light source (101), an illumination light source (103) and an illumination light path, wherein the illumination light path is used for transmitting light of the illumination light source (103) and the alignment light source (101) to an eye preset area, the illumination light path sequentially comprises a first lens (102), a second lens (104), a filter (105), an annular light through aperture (106), a third lens (107), a first reflector (108), a fourth lens (109) and a second reflector (202) from right to left, the alignment light source (101) is arranged on the right side of the first lens (102), and the illumination light source (103) is arranged between the transmission light paths of the first lens (102) and the second lens (104);
the imaging optical path sequentially comprises a sixth lens (204), an eighth lens (207) and a first imaging sensor (208) which are arranged on the right side of the ocular lens (201) and are confocal with the ocular lens (201) from left to right;
the optical path conversion device is a movable fifth lens (203) arranged between the ocular lens (201) and the transmission optical path of the sixth lens (204);
the guiding and aligning unit comprises a sixth lens (204), a first dichroic mirror (206), a second dichroic mirror (301), a seventh lens (302) and a second imaging sensor (303), wherein the first dichroic mirror (206) transmits visible light for fundus imaging and reflects near infrared light for alignment guiding and OCT imaging, and the second dichroic mirror (301) transmits OCT imaging light beams and reflects the alignment guiding light beams; the guide alignment unit, the fifth lens (203) and the ocular lens (201) form a guide alignment imaging optical path;
the OCT unit comprises a sixth lens (204), a first dichroic mirror (206), a vibrating mirror (401), a tenth lens (405) and optical coherence tomography OCT, wherein the vibrating mirror (401) is arranged above the first dichroic mirror (206), and the OCT unit and an eyepiece form an OCT measurement branch optical path.
2. An automatically aligning and focusing fundus or anterior segment imaging system according to claim 1 and wherein: the system further comprises an eye front alignment unit used for achieving alignment of the eye front, the eye front alignment unit comprises a first stereo camera (501) and a second stereo camera (502), the first stereo camera (501) and the second stereo camera (502) are symmetrically arranged on two sides of the imaging light path, a symmetry axis is located on an optical axis of the imaging light path, an intersection point of the optical axis of the first stereo camera (501) and the optical axis of the second stereo camera (502) is located on the optical axis of the imaging light path, and a plane where the intersection point is located and perpendicular to the optical axis of the imaging light path is an ideal object plane, namely an alignment plane.
3. An automatically aligning and focusing fundus or anterior segment imaging system according to claim 2 and wherein: the system also includes a refractive adjustment device that is a sixth lens (204) movable left and right along the imaging optical path.
4. An automatically aligning and focusing fundus or anterior segment imaging system according to claim 1 and wherein: the OCT unit further comprises a fundus OCT automatic focusing unit, the automatic focusing unit comprises a semi-reflecting and semi-transparent mirror (402), a ninth lens (403) and a third imaging sensor (404), the semi-reflecting and semi-transparent mirror (402) is arranged between the galvanometer (401) and the tenth lens (405) and is used for reflecting OCT imaging light beams returning from the fundus to the ninth lens (403) and converging the OCT imaging light beams to the third imaging sensor (404) through the ninth lens (403).
5. An automatically aligning and focusing fundus or anterior ocular segment imaging system as claimed in claim 2 wherein: the system also comprises an adjusting table and a controller, wherein the adjusting table is an X, Y, Z triaxial electric displacement platform, is controlled by the controller to receive control signals and complete corresponding position adjustment of the control signals, and the illumination unit, the imaging unit, the guiding alignment unit, the OCT unit, the ocular lens (201) and the anterior ocular segment alignment unit are all arranged on the adjusting table.
6. An automatically aligning and focusing fundus or anterior segment imaging system according to claim 2 and wherein: the system further comprises a lower jaw supporting device, the lower jaw supporting device and the ocular lens (201) are arranged oppositely, the lower jaw supporting device comprises a portal frame, jaw supports (602) arranged under a portal frame cross beam and at the intersection of a portal frame symmetry axis, a forehead pasting plate (606) arranged in the center of the cross beam, a group of canthus cameras (603) symmetrically arranged on a portal frame longitudinal beam, pressure sensors I (601) arranged under the jaw supports (602), pressure sensors II (604) arranged at the lower end of the forehead pasting plate (606) and located above the jaw supports, and position sensors (605) arranged on the fitting degree of the forehead of a user of the forehead pasting plate and the forehead pasting plate.
7. An imaging method based on the automatically aligned and focused fundus or anterior segment imaging system of claim 6, characterized in that: the method comprises the following steps:
s1: adjusting the eyes to the condition that the extension line of the canthus coincides or nearly coincides with the connecting line of the pair of canthus cameras;
s2: adjusting an eye front alignment unit to enable the intersection of the optical axis of the first stereo camera and the optical axis of the second stereo camera to coincide with the pupil of the eye;
s3: moving the fifth lens into an imaging light path to realize anterior segment imaging;
s4: moving the fifth lens out of the imaging light path, guiding the alignment unit to realize fundus alignment and realizing fundus molding; the fundus alignment comprises refractive compensation adjustment, wherein the refractive compensation adjustment is specifically to move the sixth lens left and right, wherein the sixth lens is moved left when the user is myopic, and the sixth lens is moved right when the user is hyperopic;
s5: fundus OCT imaging.
8. The imaging method according to claim 7, characterized in that: the step S2 specifically includes the following steps:
s201: establishing a three-dimensional coordinate system I of a space where a first stereo camera is located;
establishing a three-dimensional coordinate system II of the space where the second stereo camera is located;
establishing a three-dimensional coordinate system III of a space where the eye to be detected is located;
wherein, XY planes of the three-dimensional coordinate systems I, II and III are coplanar;
s202: adjusting the position of the stereo camera to align the stereo camera with the eye to be detected on an XY plane;
s203: adjusting the position of the stereo camera to align the stereo camera with the eye to be measured on the Z axis;
wherein Z is0The alignment of the axes is done as follows:
Figure FDA0003614460940000031
wherein Z is0The amount of deviation of the intersection point a in the Z axis is indicated, the intersection point a is the intersection point of the optical axis of the first stereo camera and the optical axis of the second stereo camera, Z1 indicates the coordinates of the Z axis of the image point a1 of the intersection point a on the first stereo camera, and m indicates the magnification of the stereo camera imaging system.
9. The imaging method according to claim 8, characterized in that: the step S202 includes the steps of:
(1) determining the coordinate A (x) of the intersection A of the vertical line passing through the center point of the eye and the XY plane0,y0,z0) The coordinate A1 (x) of the image point A1 of the intersection A on the first stereo camera is acquired1,y1,z1) While the coordinate A2 (x) of the image point A2 of the intersection point A on the second stereo camera2,y2,z2)；(2)
a, judging the X-axis coordinate X of the image point A11With the X-axis coordinate X of image point A22Whether or not X is satisfied1＝-X2Wherein x is1X-axis coordinate, X, representing image point A12Representing the X-axis coordinate of image point a2,
if yes, the intersection point A is aligned in the X-axis direction but deviated in the Y direction, and the deviation amount in the Y direction is calculated by the following method:
Figure FDA0003614460940000041
wherein, yoRepresents the deviation of the intersection A in the Y direction, x1The X-axis coordinate of the image point A1 is represented, a represents half of the distance between the intersection point of the optical axis of the first stereo camera and the CCD and the intersection point of the optical axis of the second stereo camera and the CCD, b represents the distance between the principal point of the imaging lens of the first stereo camera and the CCD and the distance between the principal point of the imaging lens of the second stereo camera and the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axes of the first stereo camera and the second stereo camera;
and according to yoThe adjusting table is moved to realize the alignment of the XY plane;
if not, entering the step b;
b: determining the X-axis coordinate X of image point A11With the X-axis coordinate X of image point A22Whether or not 2X is satisfied1X2sinα＝(X2-X1) b cos α, wherein, x1Denotes the X-axis coordinate of the image point a1, a denotes one-half of the distance between the center of the first stereo camera and the center of the second stereo camera, b denotes the distance between the principal point of the imaging lens of the first stereo camera and the CCD and the distance between the optical axis of the imaging lens of the second stereo camera and the CCD, a denotes the angle between the optical axis of the first stereo camera and the symmetry axis of the first stereo camera and the second stereo camera,
if yes, the intersection point A is aligned in the Y-axis direction but deviated in the X-axis direction, and the deviation amount in the X-axis direction is calculated by the following method:
Figure FDA0003614460940000051
wherein x isoRepresents the aboveDeviation of intersection A in X-direction, X1The X-axis coordinate of the image point A1 is represented, a represents half of the distance between the center of the first stereo camera and the center of the second stereo camera, b represents the distance between the principal point of the imaging lens of the first stereo camera and the CCD, and the distance between the principal point of the imaging lens of the second stereo camera and the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axes of the first stereo camera and the second stereo camera;
and according to xoThe adjusting table is moved to realize the alignment of the XY plane;
if not, entering the step c;
c: the intersection point A deviates in the X-axis direction and the Y-axis direction, and the deviation is calculated by adopting the following method:
Figure FDA0003614460940000052
wherein x isoRepresents the deviation amount of the intersection A in the X direction, yoRepresents the deviation of the intersection A in the Y direction, x1The X-axis coordinate of the image point A1 is represented, a represents half of the distance between the center of the first stereo camera and the center of the second stereo camera, b represents the distance from the principal point of the imaging lens of the first stereo camera to the CCD, and the distance from the principal point of the imaging lens of the second stereo camera to the CCD, and alpha represents the included angle between the optical axis of the first stereo camera and the symmetry axis of the first stereo camera and the second stereo camera;
and according to xo yoThe adjustment stage is moved to achieve the alignment of the XY plane.
10. An imaging method based on the automatically aligned and focused fundus or anterior segment imaging system of claim 6, characterized in that: the method comprises the following steps:
s1: adjusting the eyes to the condition that the extension line of the canthus coincides or nearly coincides with the connecting line of the pair of canthus cameras;
s2: moving the fifth lens into an imaging light path, and guiding the alignment unit to realize the alignment of the front part of the eye, the alignment of the front part of the eye and the imaging of the front part of the eye;
s3: moving the fifth lens out of an imaging optical path, guiding an alignment unit to realize fundus alignment and focusing, wherein the focusing comprises refraction compensation adjustment, the refraction compensation adjustment is specifically to move the sixth lens left and right, if the sixth lens is short-sighted, the sixth lens is moved left, if the sixth lens is long-sighted, the sixth lens is moved right, and OCT focusing imaging is performed;
s4: fundus camera imaging.
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