CN112587066A - Scanning optical tomography endoscopic imaging system based on spatial attitude sensing - Google Patents
Scanning optical tomography endoscopic imaging system based on spatial attitude sensing Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0073—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by tomography, i.e. reconstruction of 3D images from 2D projections
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
Abstract
The invention provides a scanning optical tomography endoscopic imaging system based on spatial attitude perception, which solves the problems that the traditional scanning optical coherent imaging system cannot be applied to the inside of a human body, the imaging mode is inflexible and the imaging quality is poor. The method is suitable for endoscopic imaging of a bladder system or esophagus, intestinal tract and the like, the depth of the formed tissue image is more than 3mm, the imaging resolution is in the micron order, and the imaging frame frequency can reach 1000 fps.
Description
Technical Field
The invention belongs to the field of biomedical imaging, and particularly relates to a scanning optical tomography endoscopic imaging system based on spatial attitude sensing.
Background
In 1991, Optical Coherence Tomography (OCT) was first reported in Science by d.huang et al to MIT and was successfully applied to two-dimensional imaging of human retina, enabling high resolution real-time imaging inside living biological tissues. The method adopts a low-coherence light source, divides the low-coherence light source into two beams of object light and reference light through an optical fiber coupler, controls a reference mirror to move longitudinally in one path of the reference light to obtain coherent signals at different positions in the longitudinal axis direction in one path of the object light, and realizes two-dimensional scanning by moving the object light transversely. This technique is affected by the rate of movement of the reference mirror and the imaging rate is limited.
In 1995, the concept of spectral domain optical coherence tomography was first proposed by Fercher et al. The method does not need to move a reference mirror to realize axial scanning of a sample, so that the scanning speed is increased, meanwhile, the spectrum of an interference signal is parallelly detected by a spectrometer, the imaging speed is also greatly improved, but the imaging frame frequency is still limited due to the speed limit of the spectrometer.
In 1997, a first swept-frequency optical coherence tomography system in the world is built by Fujimoto group, a broadband light source of time-domain OCT is replaced by a swept-frequency light source, and an interference signal containing sample depth information is acquired by adopting a single-point detector. In 2006, the Huber research group first applied the Fourier domain mode-locked laser technology to frequency-sweep OCT imaging, and through development, the technology can already realize high-speed imaging of several MHz magnitude. Then, a commercialized single-point detector and a digital acquisition card are adopted, so that the SSOCT system has higher acquisition speed, and the artifact caused by sample movement in the imaging process is also inhibited.
The traditional sweep-frequency optical coherent imaging system cannot be applied to the inside of a human body, and has inflexible imaging mode and poor imaging quality, so that the practicability of the system is limited.
Disclosure of Invention
Based on the defects, the invention provides the scanning optical tomography endoscopic imaging system based on spatial attitude perception, which can be applied to endoscopic imaging of intestinal tracts, digestive tracts and urinary systems, particularly real-time imaging of tissue structures with certain depth, and the system solves the problems that the traditional scanning optical coherence imaging system cannot be applied to the inside of a human body, and has inflexible imaging mode and poor imaging quality.
The technical scheme adopted by the invention is as follows: a frequency sweep optical chromatography endoscopic imaging system based on spatial attitude sensing comprises a light source, two groups of couplers, two groups of polarization controllers, two groups of circulators, a collimator, a reflector, an endoscopic probe system, a balance detector, a data acquisition card and a computer, wherein the light source comprises a frequency sweep light source and a calibration light source; an object light is connected with an endoscopic probe system, different depth layers of a sample are irradiated and reflected back, return light of reference light is input into a second coupler after passing through a first circulator, return light of the object light is input into the second coupler after passing through the second circulator, two groups of polarization controllers are respectively connected with two paths of light paths of the object light and the reference light, so that the return light meets interference conditions, interference signals are output to a balance detector through the second coupler, then are collected by a data acquisition card and are uploaded to a computer, imaging is completed through calculation of the computer, one end of the endoscopic probe system is provided with a gyroscope, the gyroscope is in electrical signal connection with the computer, the other end of the endoscopic probe system is a probe window, the three-dimensional position coordinates of the probe window are positioned by the gyroscope in real time, further the spatial position of a focus point of the probe window and the reflected light intensity distribution in the depth direction of the sample are obtained, and depth information filling is performed by combining the three-dimensional space position, and moving the endoscopic probe, simultaneously obtaining a surface scanning image of the sample at a specific depth in real time, and rotating the endoscopic probe to further obtain a planar scanning image.
The invention also has the following technical characteristics:
1. the imaging method of the surface scanning image of the sample depth is that the return light wave of the reference light path interferes with the reflected light of the object light path at different depths under each discrete frequency spectrum by the scanning light source, and the interference intensity meets the following formula:
wherein I is light intensity, k is wave vector, rho is regulation factor, rRIs the reflection coefficient of the reference arm mirror; n represents the reflective layers at different depths of the sample, N represents the total reflective layer,
representing the reflection coefficient, z, of each layer of the sampleRRepresenting the path of the reference arm through the various layers of the sample,
the distance from the emergent light of the first coupler to the second coupler through the collimator and the reflector is taken as a reference arm, and the distance from the emergent light of the first coupler to the second coupler through the endoscopic probe system and the sample is taken as an object light arm;
the lateral resolution is:
where f is the focal length of the focusing objective lens, D is the spot diameter of the object beam on the sample, and λcIs the center wavelength of the light source;
the axial resolution is:
in the formula, deltazRepresents the axial resolution; lambda [ alpha ]cIs the central wavelength of the light source, and Δ λ is the light sourceThe full width at half maximum of the spectrum of (a), n is the refractive index of the sample.
2. The outer layer of the endoscopic probe system is a metal cylinder, a glass column is arranged in the metal cylinder, one end of the metal cylinder is an optical fiber inlet end, 1 or more three-dimensional gyroscopes are arranged at the end, optical fibers enter the metal cylinder from one end of the glass column, the other end of the glass column is connected with a refractive index gradual change lens, the refractive index gradual change lens is connected with a prism, a glass window is arranged at the position, corresponding to the reflection of the prism, of the other end of the metal cylinder, and light beams are converged on a sample after being reflected by the refractive index gradual change lens and the prism through the expansion of the glass column.
3. The material of the glass column is the same as or similar to the refractive index of the fiber core of the optical fiber.
4. The sweep frequency light source is a working light source, the output wavelength of the sweep frequency light source is continuously changed within a certain wavelength range, and the center frequency is 980nm-1550 nm.
The invention has the following beneficial effects and advantages: on the basis of the basic principle of Fourier transform swept-frequency OCT, the invention adopts a high-speed swept-frequency light source based on the spatial attitude sensing technology and algorithm, overcomes the speed limit of the traditional coherent imaging mode, optimally designs an imaging light path, combines with endoscopic imaging, exerts the speed advantage of the swept-frequency light source and expands the application range of the optical coherent tomography technology. The invention is suitable for endoscopic imaging of intestinal tracts, digestive tracts and urinary systems, and can carry out real-time imaging on tissue structures with certain depth. The invention carries out image reconstruction based on spatial attitude sensing, and has the advantages of manual operation, flexibility, controllability, high speed and high imaging quality. The depth of the tissue image formed by the invention is more than 3mm, the imaging resolution is micron order, and the imaging frame frequency can reach 1000 fps.
Drawings
FIG. 1 is a diagram of the optical path structure of the present invention;
FIG. 2 is a block diagram of an endoscopic probe system;
FIG. 3 is an imaging view of the rotating endoscopic probe;
the device comprises a sweep frequency light source 1, a sweep frequency light source 2, a calibration light source 3, a first coupler 4, a second coupler 5, a first polarization controller 6, a second polarization controller 7, a first circulator 8, a second circulator 9, a collimator 10, a reflector 11, an endoscopic probe system 12, a gyroscope 13, a balance detector 14, a data acquisition card 15, a computer 16, a sample 17, an optical fiber 18, a metal cylinder 19, a glass cylinder 20, a refractive index gradient lens 21, a glass window 22 and a prism.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples:
example 1
As shown in fig. 1, a swept-frequency optical tomography endoscopic imaging system based on spatial attitude sensing comprises a light source, two groups of couplers, two groups of polarization controllers, two groups of circulators, a collimator, a reflector, an endoscopic probe system, a balance detector, a data acquisition card and a computer, wherein the light source comprises a swept-frequency light source and a calibration light source, the calibration light source is usually in a visible light band and can be removed during imaging, the data acquisition card is in electrical signal connection with the computer, the swept-frequency light source is in electrical signal connection with the data acquisition card, the swept-frequency light source respectively provides a k clock signal and a trigger signal to the data acquisition card, the swept-frequency light source is divided into object light and reference light by the first coupler, the reference light is connected with the collimator, and the object light and the; an object light is connected with an endoscopic probe system, different depth layers of a sample are irradiated and reflected back, return light of reference light is input into a second coupler after passing through a first circulator, return light of the object light is input into the second coupler after passing through the second circulator, two groups of polarization controllers are respectively connected with two paths of light paths of the object light and the reference light, so that the return light meets interference conditions, interference signals are output to a balance detector through the second coupler, then are collected by a data acquisition card and are uploaded to a computer, imaging is completed under the control of the computer, one end of the endoscopic probe system is provided with a gyroscope, the other end of the endoscopic probe system is a probe window, the gyroscope is in signal connection with the computer, the gyroscope positions of the three-dimensional positions of the probe window are positioned in real time, further, the spatial position of a focus point of the probe window and the reflected light intensity distribution in the depth direction of the sample are obtained, and depth information is filled by combining the three-dimensional, and when the endoscopic probe is moved, the computer obtains a surface scanning image of the specific depth of the sample in real time, and the endoscopic probe is rotated to obtain a planar scanning image. The sweep frequency light source is a working light source, the output wavelength of the sweep frequency light source is continuously changed in a certain wavelength range, and the center frequency is 980nm, 1310nm or 1550 nm. The imaging method of the surface scanning image of the sample depth is that the return light wave of the reference light path interferes with the reflected light of the object light path at different depths under each discrete frequency spectrum by the scanning light source, and the interference intensity meets the following formula:
wherein I is light intensity, k is wave vector, rho is regulation factor, rRIs the reflection coefficient of the reference arm mirror; n represents the reflective layers at different depths of the sample, N represents the total reflective layer,
representing the reflection coefficient, z, of each layer of the sampleRRepresenting the path of the reference arm through the various layers of the sample,
the distance from the emergent light of the first coupler to the second coupler through the collimator and the reflector is taken as a reference arm, and the distance from the emergent light of the first coupler to the second coupler through the endoscopic probe system and the sample is taken as an object light arm;
the lateral resolution is:
where f is the focal length of the focusing objective lens, D is the spot diameter of the object beam on the sample, and λcIs the center wavelength of the light source;
the axial resolution is:
in the formula, deltazRepresents the axial resolution; lambda [ alpha ]cΔ λ is the spectral full width at half maximum of the light source, and n is the refractive index of the sample, at the center wavelength of the light source.
As shown in fig. 2, the outer layer of the endoscopic probe system is a metal cylinder, a glass cylinder is arranged in the metal cylinder, one end of the metal cylinder is an optical fiber inlet end, the end is provided with 1 three-dimensional gyroscope, optical fibers enter the metal cylinder from one end of the glass cylinder, the other end of the glass cylinder is connected with a graded-index lens, the graded-index lens is connected with a prism, a glass window is arranged at a position corresponding to the reflection of the prism at the other end of the metal cylinder, and light beams are converged on a sample after being reflected by the graded-index lens and the prism through the expansion of the glass cylinder. The material of the glass column is the same as or similar to the refractive index of the fiber core of the optical fiber. The glazing material is selected to meet a high transmission at the wavelength of the light source used.
Example 2
This embodiment is the same as embodiment 1, except that a swept-frequency light source with a center frequency of 1260-.
Example 3
The scanning optical tomography endoscopic imaging system based on spatial attitude perception in embodiment 1 or embodiment 2 is adopted, the system utilizes the three-dimensional positioning function of a gyroscope, combines an optical tomography imaging technology and an interpolation algorithm, and realizes the endoscopic three-dimensional tomography method, the system is based on the principle of coherent Fourier transform tomography, adopts a scanning laser as a light source, utilizes the gyroscope to position the spatial coordinates of an endoscope rod prism, obtains a tomography image with a specific depth through a reconstruction algorithm, and displays the tomography image in real time, and the using steps are as follows:
(1) and positioning the three-dimensional position coordinates of the probe windowing in real time by the gyroscope, and further pushing the spatial position of the windowing focus point.
(2) The intensity distribution of reflected light with a certain depth is obtained by the imaging basic principle, and depth information is filled by combining the three-dimensional space position positioned by the gyroscope.
(3) And when the endoscopic probe is manually moved, a surface scanning image with a specific depth is obtained in real time.
(4) When the endoscopic probe is manually rotated, a planar scan will be obtained, as shown in fig. 3.
Claims (5)
1. A frequency sweep optical chromatography endoscopic imaging system based on space attitude sensing comprises a light source, two groups of couplers, two groups of polarization controllers, two groups of circulators, a collimator, a reflector, an endoscopic probe system, a balance detector, a data acquisition card and a computer, wherein the light source comprises a frequency sweep light source and a calibration light source; an object light is connected with an endoscopic probe system, different depth layers of a sample are irradiated and reflected back, return light of reference light is input into a second coupler after passing through a first circulator, return light of the object light is input into the second coupler after passing through the second circulator, two groups of polarization controllers are respectively connected with two paths of light paths of the object light and the reference light, so that the return light meets interference conditions, interference signals are output to a balance detector through the second coupler, then are collected by a data acquisition card and are uploaded to a computer, imaging is completed through calculation of the computer, one end of the endoscopic probe system is provided with a gyroscope, the gyroscope is in electrical signal connection with the computer, the other end of the endoscopic probe system is a probe window, the three-dimensional position coordinates of the probe window are positioned by the gyroscope in real time, further the spatial position of a focus point of the probe window and the reflected light intensity distribution in the depth direction of the sample are obtained, and depth information filling is performed by combining the three-dimensional space position, and moving the endoscopic probe, simultaneously obtaining a surface scanning image of the sample at a specific depth in real time, and rotating the endoscopic probe to further obtain a planar scanning image.
2. A swept frequency optical tomography endoscopic imaging system based on spatial pose sensing according to claim 1, wherein: the imaging method of the surface scanning image of the sample depth is that the return light wave of the reference light path interferes with the reflected light of the object light path at different depths under each discrete frequency spectrum by the scanning light source, and the interference intensity meets the following formula:
wherein I is light intensity, k is wave vector, rho is regulation factor, rRIs the reflection coefficient of the reference arm mirror; n represents the reflective layers at different depths of the sample, N represents the total reflective layer,
representing the reflection coefficient, z, of each layer of the sampleRRepresenting the path of the reference arm through the various layers of the sample,
the distance from the emergent light of the first coupler to the second coupler through the collimator and the reflector is taken as a reference arm, and the distance from the emergent light of the first coupler to the second coupler through the endoscopic probe system and the sample is taken as an object light arm;
the lateral resolution is:
where f is the focal length of the focusing objective lens, D is the spot diameter of the object beam on the sample, and λcIs the center wavelength of the light source;
the axial resolution is:
in the formula, deltazRepresents the axial resolution; lambda [ alpha ]cΔ λ is the spectral full width at half maximum of the light source, and n is the refractive index of the sample, at the center wavelength of the light source.
3. A swept frequency optical tomography endoscopic imaging system based on spatial pose sensing according to claim 1 or 2, characterized in that: the outer layer of the endoscopic probe system is a metal cylinder, a glass column is arranged in the metal cylinder, one end of the metal cylinder is an optical fiber inlet end, 1 or more three-dimensional gyroscopes are arranged at the end, optical fibers enter the metal cylinder from one end of the glass column, the other end of the glass column is connected with a refractive index gradual change lens, the refractive index gradual change lens is connected with a prism, a glass window is arranged at the position, corresponding to the reflection of the prism, of the other end of the metal cylinder, and light beams are converged on a sample after being reflected by the refractive index gradual change lens and the prism through the expansion of the glass column.
4. A swept frequency optical tomography endoscopic imaging system based on spatial pose sensing according to claim 3, wherein: the material of the glass column is the same as or similar to the refractive index of the fiber core of the optical fiber.
5. A swept frequency optical tomography endoscopic imaging system based on spatial pose sensing according to claim 1 or 2, characterized in that: the sweep frequency light source is a working light source, the output wavelength of the sweep frequency light source is continuously changed within a certain wavelength range, and the center frequency is 980nm-1550 nm.
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| CN114159029A (en) * | 2021-11-30 | 2022-03-11 | 深圳先进技术研究院 | Optical coherence tomography system and imaging catheter thereof |
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