CN111513918A - Full-automatic eye ground laser treatment system based on machine vision - Google Patents
Full-automatic eye ground laser treatment system based on machine vision Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/008—Methods or devices for eye surgery using laser
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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
- A61B3/0008—Apparatus for testing the eyes; Instruments for examining the eyes provided with illuminating means
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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
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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
- A61B3/13—Ophthalmic microscopes
- A61B3/135—Slit-lamp microscopes
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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
- A61B3/14—Arrangements specially adapted for eye photography
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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
- A61B3/14—Arrangements specially adapted for eye photography
- A61B3/145—Arrangements specially adapted for eye photography by video means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/008—Methods or devices for eye surgery using laser
- A61F2009/00861—Methods or devices for eye surgery using laser adapted for treatment at a particular location
- A61F2009/00863—Retina
Abstract
The invention discloses a full-automatic fundus laser treatment system based on machine vision, and belongs to the field of optics. The invention comprises an eyeground digital image acquisition unit, an upper computer software processing unit and an embedded laser control unit. The fundus digital image acquisition unit comprises a slit lamp microscope system and a CCD industrial camera. The upper computer software processing unit comprises a UI control interface module, a fundus image processing module and a communication module. The embedded laser control unit comprises a laser focusing control module, a laser positioning control module and a laser power and frequency control module. The invention collects the fundus digital image by the fundus digital image collecting unit, processes and identifies the characteristics of the fundus image by the artificial intelligent algorithm of the upper computer end software processing unit, demarcates the treatment area, plans the treatment path and automatically treats the fundus of the patient by the embedded laser control unit. The invention provides a full-automatic fundus laser treatment system with high working efficiency, high accuracy and high automation level.
Description
Technical Field
The invention relates to the technical field of intelligent medical instruments, in particular to a full-automatic fundus laser treatment system based on machine vision.
Background
Retinal photocoagulation treatment is a classic treatment method for retinal vascular diseases, particularly diabetic retinopathy, but the traditional laser photocoagulation treatment has long time, high labor intensity, high operation requirement and long learning curve. Wherein, the whole retina laser Photocoagulation (PRP) needs to be finished by 2-4 times, the number of 1200-1600 laser spots is finished, and the whole treatment period needs 0.5-1.5 hours. And different doctors have differences in the judgment of laser energy (light spot response level), light spot size and space selection, resulting in different treatment effects. Such treatment has very high requirements on the professional knowledge and the operation skill of ophthalmologists, and cannot be carried out in primary hospitals. The prevalence rate of Proliferative Diabetic Retinopathy (PDR) reaches up to 7.5%, PRP treatment is needed when the PDR is dispersed in various places of China, medical resources are unbalanced, and the shortage of basic medical resources causes that most patients cannot be treated in time, so that irreversible damage to vision is caused, and heavy economic burden is brought to the patients and families.
The latest fundus laser treatment instrument at present comprises: VISULASS, available from Zeiss, USA, Versa pulse Power suite, available from Aceraceae, Supra Dual 532 available from Glassy, Japan, MC-500 available from Nidek, Japan, etc., mainly include a single-spot laser mode and a multi-spot scanning laser mode. The single-point laser mode is the most widely used retinal photocoagulation treatment in clinic, and has good treatment effect and few complications, but in many cases, the treatment is very time-consuming, the light spot spacing is different, and the light spot response is uneven. Compared with the traditional single-point laser, the multi-point laser scanning mode has the advantages of short exposure time, low energy density and more accurate positioning, can continuously emit a plurality of laser pulses by stepping on the foot switch once, and forms laser spots with different arrangement shapes, such as circular, rectangular, arc and yellow spot, through a preset mode. When treating diabetic retinopathy, one or two treatments can complete the whole retinal photocoagulation. However, in the multi-spot scanning mode, the treatment effect is poor when referring to the single-spot laser parameters, so that the multi-spot scanning mode is not widely applied in clinic, and the laser parameters still need to be further adjusted. The two modes still need to be operated by experienced ophthalmologists, cannot be developed in primary hospitals, and cannot meet the treatment requirements of domestic patients.
Disclosure of Invention
In order to make up for the defects of the traditional fundus laser therapeutic apparatus, a full-automatic fundus laser therapeutic system with the functions of automatically identifying the fundus therapeutic area, accurately and quickly positioning laser and dynamically focusing in real time is needed.
The purpose of the invention is realized by the following technical scheme:
a full-automatic fundus laser treatment system based on machine vision is characterized by at least comprising: the device comprises an eyeground digital image acquisition unit, an upper computer software processing unit and a laser; the fundus digital image acquisition unit is connected with the upper computer software processing unit which is connected with the embedded laser control unit;
the fundus digital image acquisition unit comprises: a slit-lamp microscope system and an industrial-grade CCD camera; the slit light zone is formed by the light in the slit lamp microscope system through the slit so as to illuminate the eyes, and the microscope system is used for amplifying the internal tissues of the eyes so as to be convenient for observation; the industrial CCD camera is connected with the slit lamp microscope system, generates fundus image signals or video signals passing through the slit lamp microscope system and transmits the fundus image signals or the video signals to the upper computer software processing unit; the slit-lamp microscope system comprises a slit-lamp illumination system and a microscope system; the slit-lamp illumination system comprises: the device comprises a light source, a condenser, a slit diaphragm, a light filter, a projection lens and a plane reflector; the light source is positioned on the negative focus of the condenser lens for condensing, and the light transmitted through the condenser lens passes through a pair of slit diaphragms with adjustable widths and an optical filter and then passes through the projection lens and the plane reflector to irradiate the condensed light of the light source to the eyeball of the patient; the microscope system includes: the device comprises a front objective, a compound lens, an ocular, a steering triple prism and a CCD imager; the part to be imaged is located on the object focal plane of the front objective, parallel light emitted from the part to be imaged sequentially passes through the front objective and the compound lens to be imaged on the object focal plane of the eyepiece, is finally magnified and imaged again by the eyepiece, then passes through the steering triple prism to steer or split the magnified image, and then is directly observed by naked eyes or imaged by a CCD imager.
The upper computer software processing unit comprises: the system comprises a UI control interface module, a fundus image processing module and a communication module; the UI control interface module is mainly used for a man-machine interaction control function and displaying the fundus digital image and the treatment effect in real time; the eyeground image processing module identifies eyeground image characteristics by using a digital image processing technology and a machine learning technology, divides a treatment area and a non-treatment area and plans a laser treatment path; the communication module sends the control laser instruction to the embedded laser control module;
the laser includes: the embedded laser control unit and the laser light path; the embedded laser control unit includes: the device comprises a laser focusing control module, a laser positioning control module and a laser power and frequency control module; the embedded laser control unit is connected with the upper computer software processing module and is used for receiving control instructions of the upper computer software processing module on laser positioning scanning, laser power control and laser facula; the laser focusing module realizes the control of the size of laser spots by changing the structure or distance of a focusing lens; the laser positioning control module realizes the control of the laser plane position by utilizing the rotation of the galvanometer; the laser power and frequency module is used for controlling laser emission energy according to the pathological symptoms of the patient and matching with the laser scanning rate; the laser light path includes: the laser beam expanding device comprises a laser source, a laser beam expanding system, an x-axis plane reflector, a zoom lens and a y-axis plane reflector, wherein the laser source is positioned at the object focus of the laser beam expanding system, is changed into parallel light through the laser beam expanding system, then sequentially passes through the x-axis plane reflector and the zoom lens, and is focused on the reflector through an additionally arranged scanning lens after being emitted from the y-axis plane reflector, and the laser is reflected into an eyeball through the reflector; the additionally arranged scanning lens is arranged between the reflector and the projection lens, the light path of the slit lamp illumination system is overlapped from the central axis of the scanning lens, and laser emitted from the y-axis plane reflector in the laser is refracted through the edge of the scanning lens; the two servo motors are used for respectively controlling the x-axis plane reflecting mirror, the y-axis plane reflecting mirror is used for controlling laser two-dimensional fast scanning, and the other servo motor is used for controlling the one-dimensional movement of the zoom lens on the optical axis and changing the focal length of the laser treatment optical system to realize dynamic focusing.
Furthermore, the fundus digital image acquisition unit adopts an integrated digital slit lamp microscope structure, wherein an illumination system of a slit lamp microscope system adopts a Kohler illumination system, light forms slit light bands through slits so as to illuminate eyes, a microscope system of the slit lamp microscope system adopts a parallel Galileo zoom system structure to realize discontinuous zoom, an integrated light path is formed in a light splitting mode, and an industrial camera CCD is used for acquiring fundus digital images;
furthermore, the UI control interface module in the upper computer software processing unit mainly comprises a real-time fundus digital image display module, a planned fundus treatment area, a laser power control button, a laser frequency control button and the like; the fundus image processing module in the upper computer software processing unit identifies the characteristics of blood vessels, optic discs, fovea centralis, macular regions and the like in fundus images by using a digital image processing technology and a machine learning technology, divides laser treatment regions and non-treatment regions, and automatically plans a laser treatment path;
furthermore, a laser focusing control module in the embedded laser control unit forms a closed-loop feedback system by utilizing collected feedback information of a hollow domain and a frequency domain in a digital image containing laser spots, so that real-time dynamic focusing is realized, the higher the frequency in the image is, the better the focusing effect is, and the smaller the spots are; the laser positioning control module in the embedded laser control unit controls the deflection of the two-dimensional galvanometer by using a microprocessor chip, so that laser micron-scale precision scanning is realized.
With the addition of the technical solution shown in FIG. 2, two optical paths are written
In summary, compared with the prior art, the invention has the following beneficial effects:
a. early diagnosis and early prevention
For early patients, if the condition can be found and treated in time, the deterioration process of the condition can be well controlled and delayed. Meanwhile, the effect of manual diagnosis depends on the diagnosis and treatment experience of the clinician, and misdiagnosis and missed diagnosis caused by insufficient experience of the clinician occur frequently. Therefore, it is significant to automatically and accurately process and analyze the color fundus images by using the techniques of image processing, pattern recognition, machine learning, etc. so as to realize quick and reliable computer-aided diagnosis and treatment.
b. Reducing the workload of doctors and improving the working efficiency
The traditional fundus laser treatment needs 1000 laser shots, a skilled doctor needs to finish the laser shots for 1 hour or more and 3 to 4 times, and the working intensity of the doctor is very high. Moreover, an unskilled doctor needs to repeatedly position and focus each point, which takes longer time. The automatic positioning and the automatic focusing of the laser spot position are realized through the visual guidance system, the workload of doctors is greatly reduced, the working efficiency is improved, the common doctors can finish the laser treatment of 1000 points at one time within half an hour, the treatment process is shortened, and the pain of patients is relieved.
c. Improve the precision and fineness of treatment
Traditional fundus laser treatment usually needs to observe the pathological change region through the doctor, has artifical location and control laser power operation in traditional laser treatment process for laser power can only rely on people's subjective experience control, can't reach the effect of controlling laser power more meticulously, and because positioning accuracy is lower moreover, probably damage the normal tissue of fundus, especially loss macula lutea leads to the eyesight seriously impaired. The invention automatically identifies the pathological changes through a machine learning algorithm, automatically plans the treatment area according to the degree and the area of the pathological changes, and automatically controls the laser power and accurately positions.
Drawings
FIG. 1 shows a block diagram of a fully automated fundus laser treatment system based on machine vision;
FIG. 2 shows a schematic diagram of the optical path in a fully automated fundus laser treatment system based on machine vision;
in fig. 2: 201. a slit-lamp light source, 202, a condenser lens; 203. the device comprises a slit lamp diaphragm, 204, a slit lamp illumination system, 205, an optical filter, 206, a projection lens, 207, a laser light source, 208, a laser beam expanding system, 209, an x-axis plane mirror, 210, a zoom lens, 211, a y-axis plane mirror, 212, a scanning lens, 213, an eyeball, 214, a reflector, 215, a front objective lens, 216, a compound lens group, 217, a microscopic image acquisition system, 218, a relay lens, 219, a CCD camera, 220, an eyepiece and 221, the naked eye of a doctor.
Detailed Description
For better clarity and understanding of the objects, aspects and advantages of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples. However, the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
Referring to fig. 1, there is shown a block diagram of a fully automatic fundus laser treatment system unit based on machine vision, comprising: the fundus digital image acquisition unit 110, the upper computer software processing unit 120 and the embedded laser control unit 130; the fundus digital image acquisition unit 110 is connected with the upper computer software processing unit 120, fundus digital image information is transmitted to the upper computer software unit 120, the upper computer software processing unit 120 is connected with the embedded laser control unit 130, and fundus digital images are analyzed and processed by the upper computer software unit 120 to generate a series of laser control instructions to be sent to the embedded laser control unit 130; the embedded laser control unit 130 is configured to convert a laser control command, and is configured to accurately control positioning, spot size, power, and frequency of the laser.
Further, the upper computer software processing unit 120 includes a UI control interface module 121, a fundus image processing module 122, and a communication module 123; the UI control interface module 121 displays the fundus image of the patient in real time, marks the characteristics of the fundus and the treatment area of the patient, and sends control instruction information to the embedded laser control unit 130 after a doctor presses a confirmation button to indicate that the treatment area is confirmed, selects laser power, spot size and frequency and clicks to start treatment; the fundus image processing module 122 identifies the characteristics of blood vessels, optic discs, fovea centralis, yellow spots and the like in fundus images by using a digital image processing technology and a machine learning technology, divides treatment areas and non-treatment areas, automatically plans a laser treatment path, and adopts a depth learning algorithm to realize accurate prediction of the laser focus position according to the size of the acquired laser spot, thereby realizing accurate and rapid focusing; the communication module 123 receives the image information collected by the fundus digital image collecting unit 110 and sends a control laser instruction to the embedded laser control module 130;
referring to fig. 2, an optical schematic diagram of a fully automatic fundus laser treatment system based on machine vision is shown, which comprises a laser treatment optical system 222, a microscopic image acquisition system 217 and a slit lamp illumination system 204; the laser treatment optical system 222 mainly includes: a laser source 207, a laser beam expanding system 208, an x-axis plane mirror 209, a zoom lens 210, a y-axis plane mirror 211 and a plane mirror 214; the slit-lamp illumination system 204 mainly includes: a slit-lamp light source 201, a condenser lens 202, a slit diaphragm 203, an optical filter 205 and a projection lens 206; the microscopic image acquisition system 217 mainly includes: a front objective lens 215, a compound lens 216, a relay lens 218, a CCD camera 219 and an ocular lens 220.
A slit-lamp light source 201 in the slit-lamp microscope system 110 is positioned at an object focus of a condenser lens 202 for condensing light, and the condensed light of the light source is irradiated to an eyeball 213 of a patient through a pair of slit-lamp diaphragms 203 with adjustable widths and an optical filter 204 and then through a projection lens 206 and a reflector 214; the microscope image acquisition system mainly comprises: a front lens group 215, a composite lens group 216, an eyepiece group 220, a steering prism 218 and a CCD camera 219; the eyeball of the patient is positioned on the object focal plane of the front storage lens group 215, parallel light is emitted, the parallel light is imaged on the object focal plane of the ocular group 220 through the composite lens group 216, and finally the parallel light is magnified and imaged again by the ocular group 220, the steering triple prism 219 of the composite lens can achieve the light splitting and steering effects, can be directly observed by the naked eye 221 of a doctor and can also be imaged by the CCD camera 219, the industrial CCD camera 219 is connected with the slit lamp microscope system 111, and the generated fundus image signal is transmitted to the upper computer software processing unit 120 to be processed;
further, the embedded laser control module 130 respectively and accurately controls the positioning, the spot size, the power and the frequency of the laser by taking a microprocessor chip STM32 as a core; the laser focusing control module 131 controls the servo motor to rotate, so that the zoom lens 210 moves, the focal length of the laser treatment system is changed, the size of a laser spot is controlled, laser spot image information acquired by the industrial CCD camera 219 is fed back to the laser focusing control module 131, a closed-loop system is formed, accurate and dynamic focusing is achieved, and the focusing precision can reach 50 um; the laser positioning control module 132 controls the deflection of the x-axis plane mirror 209 and the y-axis plane mirror 211, so as to realize the rapid and accurate scanning and positioning of the laser, feed back the positioning error through the encoder, rapidly and accurately control the laser by adopting a PID control algorithm, and the positioning accuracy can reach 10 microns. The laser power and frequency control module 133 changes the bias current of the laser 201 through the output electrical signal, thereby realizing the power and frequency control of the laser.
The invention is applied to the field of clinical fundus laser surgery, and the full-automatic fundus laser treatment system based on machine vision has the advantages of high-resolution digital acquisition of fundus images, intelligent fundus image recognition and analysis, automatic planning of laser treatment areas and paths, friendly human-computer interaction interface, high-precision and high-speed laser positioning, dynamic focusing and the like, is a deep fusion of the field of artificial intelligence and the field of medical instruments, and has important significance.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included in the scope of the present invention.
Claims (4)
1. A full-automatic fundus laser treatment system based on machine vision is characterized by at least comprising: the device comprises an eyeground digital image acquisition unit, an upper computer software processing unit and a laser; the fundus digital image acquisition unit is connected with the upper computer software processing unit which is connected with the embedded laser control unit;
the fundus digital image acquisition unit comprises: a slit-lamp microscope system and an industrial-grade CCD camera; the slit light zone is formed by the light in the slit lamp microscope system through the slit so as to illuminate the eyes, and the microscope system is used for amplifying the internal tissues of the eyes so as to be convenient for observation; the industrial CCD camera is connected with the slit lamp microscope system, generates fundus image signals or video signals passing through the slit lamp microscope system and transmits the fundus image signals or the video signals to the upper computer software processing unit; the slit-lamp microscope system comprises a slit-lamp illumination system and a microscope system; the slit-lamp illumination system comprises: the device comprises a light source, a condenser, a slit diaphragm, a light filter, a projection lens and a plane reflector; the light source is positioned on the negative focus of the condenser lens for condensing, and the light transmitted through the condenser lens passes through a pair of slit diaphragms with adjustable widths and an optical filter and then passes through the projection lens and the plane reflector to irradiate the condensed light of the light source to the eyeball of the patient; the microscope system includes: the device comprises a front objective, a compound lens, an ocular, a steering triple prism and a CCD imager; the part to be imaged is located on the object focal plane of the front objective, parallel light emitted from the part to be imaged sequentially passes through the front objective and the compound lens to be imaged on the object focal plane of the eyepiece, is finally magnified and imaged again by the eyepiece, then passes through the steering triple prism to steer or split the magnified image, and then is directly observed by naked eyes or imaged by a CCD imager.
The upper computer software processing unit comprises: the system comprises a UI control interface module, a fundus image processing module and a communication module; the UI control interface module is mainly used for a man-machine interaction control function and displaying the fundus digital image and the treatment effect in real time; the eyeground image processing module identifies eyeground image characteristics by using a digital image processing technology and a machine learning technology, divides a treatment area and a non-treatment area and plans a laser treatment path; the communication module sends the control laser instruction to the embedded laser control module;
the laser includes: the embedded laser control unit and the laser light path; the embedded laser control unit includes: the device comprises a laser focusing control module, a laser positioning control module and a laser power and frequency control module; the embedded laser control unit is connected with the upper computer software processing module and is used for receiving control instructions of the upper computer software processing module on laser positioning scanning, laser power control and laser facula; the laser focusing module realizes the control of the size of laser spots by changing the structure or distance of a focusing lens; the laser positioning control module realizes the control of the laser plane position by utilizing the rotation of the galvanometer; the laser power and frequency module is used for controlling laser emission energy according to the pathological symptoms of the patient and matching with the laser scanning rate; the laser light path includes: the laser beam expanding device comprises a laser source, a laser beam expanding system, an x-axis plane reflector, a zoom lens and a y-axis plane reflector, wherein the laser source is positioned at the object focus of the laser beam expanding system, is changed into parallel light through the laser beam expanding system, then sequentially passes through the x-axis plane reflector and the zoom lens, and is focused on the reflector through an additionally arranged scanning lens after being emitted from the y-axis plane reflector, and the laser is reflected into an eyeball through the reflector; the additionally arranged scanning lens is arranged between the reflector and the projection lens, the light path of the slit lamp illumination system is overlapped from the central axis of the scanning lens, and laser emitted from the y-axis plane reflector in the laser is refracted through the edge of the scanning lens; the two servo motors are used for respectively controlling the x-axis plane reflecting mirror, the y-axis plane reflecting mirror is used for controlling laser two-dimensional fast scanning, and the other servo motor is used for controlling the one-dimensional movement of the zoom lens on the optical axis and changing the focal length of the laser treatment optical system to realize dynamic focusing.
2. The fully automatic fundus laser treatment system based on machine vision as claimed in claim 1, characterized in that said fundus digital image collecting unit adopts an integrated digital slit-lamp microscope structure, wherein the slit-lamp microscope system adopts a kohler illumination system, the light forms slit light band through the slit to illuminate the eye, and the slit-lamp microscope system adopts a parallel galileo zoom system structure to realize discontinuous zoom, and adopts a light splitting form to form an integrated light path, and uses an industrial camera CCD to collect fundus digital image.
3. The full-automatic fundus laser treatment system based on machine vision according to claim 1, characterized in that said UI control interface module in the upper computer software processing unit mainly comprises real-time display fundus digital image, planned fundus treatment area, laser power control button, laser frequency control button, etc.; the fundus image processing module in the upper computer software processing unit identifies the characteristics of blood vessels, optic discs, fovea centralis, macular regions and the like in the fundus image by using a digital image processing technology and a machine learning technology, divides laser treatment regions and non-treatment regions, and automatically plans a laser treatment path.
4. The full-automatic fundus laser treatment system based on machine vision as claimed in claim 1, characterized in that the laser focusing control module in said embedded laser control unit utilizes the collected feedback information of the hollow domain and the frequency domain in the digital image containing laser spots to form a closed loop feedback system to realize real-time dynamic focusing, the higher the frequency in the image is, the better the focusing effect is, the smaller the spot is; the laser positioning control module in the embedded laser control unit controls the deflection of the two-dimensional galvanometer by using a microprocessor chip, so that laser micron-scale precision scanning is realized.
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| CN112401829A (en) * | 2020-11-26 | 2021-02-26 | 温州眼视光国际创新中心 | Remote intelligent control system of slit lamp |
| CN113456893A (en) * | 2021-07-26 | 2021-10-01 | 温州医科大学附属眼视光医院 | Preparation method of fibrinogen-coated blue-dyed amnion basement membrane |
| CN114887232A (en) * | 2022-07-15 | 2022-08-12 | 北京鹰瞳科技发展股份有限公司 | Method for controlling red light irradiation of eye fundus and related product |
| CN116271563A (en) * | 2023-04-18 | 2023-06-23 | 广州市五合医疗器械有限公司 | Semiconductor laser therapeutic apparatus control method and system |
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