CN112823736A - Optical coherence tomography system based on mechanical arm auxiliary positioning - Google Patents
Optical coherence tomography system based on mechanical arm auxiliary positioning Download PDFInfo
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- CN112823736A CN112823736A CN201911143446.9A CN201911143446A CN112823736A CN 112823736 A CN112823736 A CN 112823736A CN 201911143446 A CN201911143446 A CN 201911143446A CN 112823736 A CN112823736 A CN 112823736A
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- mechanical arm
- dichroic mirror
- oct
- coherence tomography
- tomography system
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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
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/02007—Evaluating blood vessel condition, e.g. elasticity, compliance
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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
- A61B5/0066—Optical coherence imaging
Abstract
The invention relates to the field of medical imaging equipment, and discloses an optical coherence tomography system based on mechanical arm auxiliary positioning, which comprises a mechanical arm and an OCT imaging probe; the OCT imaging probe comprises a shell and an optical processing module, wherein the shell is connected with an execution end of a mechanical arm, the optical processing module is arranged in the shell and comprises a collimating lens, an MEMS (micro-electromechanical system) galvanometer, a focusing lens group, a dichroic mirror, a reflecting mirror and a camera module which are sequentially arranged along a light path, and the transmission light direction of the dichroic mirror corresponds to a scanning imaging port; the mechanical arm is used for adjusting the position of the scanning imaging port according to the position information acquired by the camera module by acquiring the image of the target object; the OCT imaging probe can be positioned in an auxiliary way by the mechanical arm while OCT scanning imaging of the target object is realized, so that the target object can be identified and positioned quickly, the accuracy and stability of target imaging are ensured, the OCT imaging probe is particularly suitable for OCT scanning imaging of blood vessels, and the labor intensity of doctors is reduced.
Description
Technical Field
The invention relates to the field of medical imaging equipment, in particular to an optical coherence tomography system based on mechanical arm auxiliary positioning.
Background
Optical Coherence Tomography (OCT), as a high resolution, high speed imaging technique, can provide three-dimensional imaging for biological tissues that other imaging techniques cannot achieve. The OCT technology is used for blood vessel imaging, has higher application potential on the detection and long-term patency of blood vessels after anastomosis in an operation, and plays an increasingly significant role in the diagnosis and treatment of blood vessel related diseases.
At present, when a doctor uses an OCT technology to image a blood vessel in an operation, the requirement on the doctor medical operation is more and more strict along with the more and more delicate blood vessel operation. However, the conventional OCT probe is inconvenient for the operation because the beam scanning galvanometer is bulky. The existing portable handheld imaging probe based on MEMS provides great convenience for the blood vessel examination in the operation, but the handheld imaging mode and the image motion artifact caused by the combined action of physiological respiration and heartbeat motion of the imaged blood vessel can cause adverse effect on effect evaluation, and the accurate and stable imaging of the target is difficult to carry out; in addition, in order to reduce the influence of the movement on the imaging effect, the doctor needs to pay attention to the stable holding of the probe, which is a burden for the doctor during the operation and increases the fatigue of the staff such as the doctor.
Disclosure of Invention
Technical problem to be solved
The embodiment of the invention provides an optical coherence tomography system based on mechanical arm auxiliary positioning, which is used for solving or partially solving the problems that the existing OCT imaging equipment in the traditional technology is unstable and inconvenient in handheld operation and seriously influences the accuracy and stability of target imaging when operating a probe for imaging.
(II) technical scheme
In order to solve the technical problem, an embodiment of the present invention provides an optical coherence tomography system based on mechanical arm assisted positioning, including a mechanical arm and an OCT imaging probe; the OCT imaging probe comprises a shell and an optical processing module, wherein the shell is connected with an execution end of the mechanical arm, and the optical processing module is arranged in the shell; the optical processing module comprises a collimating lens, an MEMS (micro-electromechanical system) vibrating mirror, a focusing lens group, a dichroic mirror, a reflecting mirror and a camera module which are sequentially arranged along a light path, and the direction of transmitted light on the dichroic mirror corresponds to a scanning imaging port on the shell; the mechanical arm is used for adjusting the position of the scanning imaging port according to position information acquired by the image of the target object acquired by the camera module.
The OCT imaging system also comprises an OCT image acquisition unit, a central control unit and a mechanical arm control unit; the OCT image acquisition unit is used for acquiring reflected light from the collimating lens, transmitting the acquired reflected light to the central control unit after performing photoelectric conversion on the acquired reflected light, and generating an OCT image by the central control unit; the central control unit is also used for identifying the position of the target object according to the image information of the target object transmitted by the camera module and controlling the working dynamics of the mechanical arm through the mechanical arm control unit.
The fixed end of the mechanical arm is connected with the movable trolley or the fixed platform; the execution end of the mechanical arm is connected with one end of the switching pod, and the other end of the switching pod is connected with the shell.
The optical axis of the collimating lens and the mirror surface of the MEMS galvanometer in a zero bias state form an included angle of 45 degrees; the optical axis of the focusing lens group is perpendicular to the optical axis of the collimating lens, and the optical axis of the focusing lens group and the dichroic mirror form an included angle of 45 degrees; the reflecting mirror is parallel to the dichroic mirror and is positioned on one horizontal side of the dichroic mirror, and the reflecting surface of the reflecting mirror faces the coating surface of the dichroic mirror.
The shell comprises a handheld part, a switching part and a carrying part, wherein the handheld part, the switching part and the carrying part form a bent structure; the collimating lens is arranged in the handheld part; the MEMS galvanometer is arranged in the switching part; the focusing lens group, the dichroic mirror, the reflecting mirror and the camera module are arranged in the carrying part; the one end that the portion of carrying on is kept away from the switching portion sets up scanning formation of image mouth.
Wherein, a straight triangle fixing frame is arranged in the switching part; the first right-angle edge of the fixing frame is connected with one end of a collimation fixing device, the other end of the collimation fixing device extends to the handheld part, and the collimation lens is installed in the collimation fixing device; an MEMS driving plate is arranged on the oblique edge of the fixing frame and connected with the MEMS galvanometer; the second right-angle side of the fixing frame is connected with the first end of the straight pipe, the second end of the straight pipe extends into the carrying part, and the focusing lens group is installed in the straight pipe.
The protective wire sleeve is inserted into the handheld part, a protective sleeve head is sleeved on the outer wall of the protective wire sleeve, and the protective sleeve head is arranged on the handheld part at one end far away from the switching part; and the collimating lens, the MEMS drive board and a communication line from the camera module to the central control unit all penetrate through the protective wire sleeve.
The straight tube is provided with limiting pressing rings, and the limiting pressing rings are arranged on two sides of the focusing lens group and are connected with the inner wall of the straight tube through threads.
The second end of the straight pipe is connected with a carrying component; the mounting member is mounted in the mounting portion, and the dichroic mirror, the reflecting mirror, and the image pickup module are mounted on the mounting member in this order along the optical path.
The carrying component is provided with a first through hole, a second through hole and a connecting channel which are arranged in an H shape, and the first through hole and the second through hole are arranged in parallel in the axial direction; one end of the first through hole is positioned on one side surface of the carrying component and is connected with the second end of the straight pipe, and the other end of the first through hole corresponds to the scanning imaging port; a coaxially arranged lens barrel is arranged at one end of the second through hole, which is far away from the connecting channel, and the camera module is arranged in the lens barrel; the dichroic mirror is installed on the connecting portion of the first through hole and one end of the connecting channel, and the reflecting mirror is installed on the connecting portion of the second through hole and the other end of the connecting channel.
(III) technical effects
In the optical coherence tomography system provided by the embodiment of the invention, when an object is imaged, collimated light is emitted to the MEMS vibrating mirror through the collimating lens in the OCT imaging probe, the collimated light is reflected by the MEMS vibrating mirror and is incident to the dichroic mirror through the focusing lens group, and transmitted light is emitted from the coating surface of the dichroic mirror, so that when the pre-imaged object is placed at the focus of emergent light from the scanning imaging port, a part of light scattered by the object can be transmitted out of the incident surface of the dichroic mirror again and returns along the original path, and is output reversely from the collimating lens, and further OCT scanning imaging can be obtained at one side of reverse output of the collimating lens by controlling the deflection of the MEMS vibrating mirror; meanwhile, the other part of visible light scattered by the target object is reflected by the reflector and then received and imaged by the camera module, and the mechanical arm can adjust the position of the scanning imaging port according to the position information acquired by the image of the target object acquired by the camera module.
Therefore, the OCT imaging system can ensure that the OCT imaging probe and the imaging target keep stable relative positions according to the multi-degree-of-freedom motion characteristic of the mechanical arm and the real-time feedback information of the camera module while realizing OCT scanning imaging of the target object, so that the OCT imaging probe can still clearly image when the imaging target moves slightly, the target object can be rapidly identified and positioned, and the target imaging is ensured to be accurately and stably imaged.
Meanwhile, when the optical coherence tomography system disclosed by the invention is used for OCT scanning imaging of blood vessels, the cross section scanning and three-dimensional scanning can be carried out on the blood vessels, and the blood flow condition in the blood vessels can be obtained by acquiring Doppler information, so that the diagnosis level of the blood vessel suture operation is greatly improved, the success rate is improved, and the low intervention of doctors can be further realized and the labor intensity of the doctors is reduced based on the autonomous scanning of the mechanical arms on the blood vessels.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an optical coherence tomography system based on mechanical arm assisted positioning according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an optical processing module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the internal structure of an OCT imaging probe according to an embodiment of the invention;
FIG. 4 is a half sectional view of an OCT imaging probe shown in an embodiment of the invention;
FIG. 5 is an exploded view of the holder according to the embodiment of the present invention;
fig. 6 is a schematic structural view of a locking sleeve according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a straight pipe according to an embodiment of the present invention;
FIG. 8 is an exploded view of the mounting member according to the embodiment of the present invention;
fig. 9 is a schematic structural diagram of a lens barrel according to an embodiment of the present invention.
Description of reference numerals: 1. an OCT imaging probe; 2. a mechanical arm; 3. moving the trolley; 4. transferring the pod; 5. a housing; 51. a hand-held portion; 52. a switching part; 53. a mounting section; 6. a collimating lens; 7. MEMS galvanometers; 8. a focusing lens group; 9. a dichroic mirror; 10. a mirror; 11. a camera module; 12. a fixed mount; 13. a MEMS drive plate; 14. a straight pipe; 15. a threaded interface; 16. a guide strip; 17. a locking sleeve; 18. blocking edges; 19. protecting the wire sleeve; 20. a protective sleeve head; 21. an optical fiber jumper; 22. a cable; 23. a USB patch cord; 24. a limiting pressing ring; 25. a mounting member; 26. a first through hole; 27. a second through hole; 28. a lens barrel; 29. a slot; 30. a dichroic mirror tray; 31. a mirror card slot; 32. scanning an imaging port; 33. a collimation fixture.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 and fig. 2, an embodiment of the present invention provides an optical coherence tomography system based on mechanical arm assisted positioning, including a mechanical arm 2 and an OCT imaging probe 1; the OCT imaging probe 1 comprises a shell 5 and an optical processing module, wherein the shell 5 is connected with an execution end of the mechanical arm 2, and optical processing is arranged in the shell 5; the optical processing module comprises a collimating lens 6, an MEMS (micro-electromechanical system) galvanometer 7, a focusing lens group 8, a dichroic mirror 9, a reflecting mirror 10 and a camera module 11 which are sequentially arranged along a light path, and the direction of transmitted light on the dichroic mirror 9 corresponds to the scanning imaging port 32 on the shell 5; the mechanical arm 2 is used for adjusting the position of the scanning imaging port 32 according to the position information acquired from the image of the target object acquired by the camera module 11.
Specifically, in the optical coherence tomography system shown in this embodiment, when an object is imaged, collimated light is emitted to the MEMS galvanometer 7 through the collimating lens 6 in the OCT imaging probe 1, the collimated light is reflected by the MEMS galvanometer 7, and after being converged by the focusing lens group 8, 1310nm of incident light is emitted and emitted to the incident surface of the dichroic mirror 9, and transmitted light is emitted at the coated surface of the dichroic mirror 9, the dichroic mirror 9 can be set to have a cutoff wavelength of 950nm, and when a pre-imaged object is placed at the focal point of the outgoing light from the scanning imaging port 32, light having a wavelength greater than 950nm scattered by the object is again emitted from the incident surface of the dichroic mirror 9 and returned along the original path, and reversely output from the collimating lens 6, so that OCT scanning imaging can be obtained on the side where the collimating lens 6 reversely outputs by controlling the deflection of the MEMS galvanometer 7; meanwhile, part of visible light scattered by the target object and having a wavelength less than 950nm is reflected on the coated surface of the dichroic mirror 9 and reflected by the reflecting mirror 10, and then is received and imaged by the camera module 11, and the mechanical arm 2 can adjust the position of the scanning imaging port 32 according to the position information acquired by the image of the target object acquired by the camera module 11, wherein the mechanical arm 2 can adopt a UR3 mechanical arm, and the camera module 11 can adopt a CCD camera.
Therefore, when OCT scanning imaging is carried out on a target object, the stability of the relative position of the OCT imaging probe 1 and the imaging target can be ensured according to the characteristic of multi-degree-of-freedom motion of the mechanical arm 2 and the real-time feedback information of the camera module 11, so that under the condition that the imaging target slightly moves, the OCT imaging probe 1 moves along with the movement of the imaging target, clear imaging can still be carried out, the rapid identification and positioning of the target object are realized, and the accurate stability of target imaging is ensured.
Meanwhile, when the optical coherence tomography imaging system shown in the embodiment is used for observing a pre-imaged blood vessel, the blood vessel can be scanned linearly or in other modes only by placing the blood vessel at the focus of a light beam emitted from the scanning imaging port 32 and controlling and adjusting the deflection of the MEMS galvanometer 7, and as the light path for imaging through the camera module 11 is added, a video shot by an imaging target area can be displayed on a computer and other control terminals in real time, so that an operator can conveniently and quickly position the imaging target area, and the imaging target can be automatically tracked by matching with a UR3 mechanical arm and machine vision, so that medical personnel can obtain the information of the blood vessel tissue of a patient more persuasively.
Further, the present embodiment further includes an OCT image collecting unit, a central control unit, and a mechanical arm control unit; the OCT image acquisition unit is used for acquiring reflected light from the collimating lens 6, transmitting the acquired reflected light to the central control unit after performing photoelectric conversion on the acquired reflected light, and generating an OCT image by the central control unit; the central control unit is further configured to identify a position of the target object according to the image information of the target object transmitted by the camera module 11, and control a working dynamics of the robot arm 2 through the robot arm control unit.
Specifically, the central control unit can be a computer, the OCT image acquisition unit includes an optical fiber coupler, a balance detector and a photoelectric converter which are connected in sequence through an optical fiber along the direction of the reflected light beam emitted by the collimating lens 6, the photoelectric converter converts the acquired optical information into electrical information and transmits the electrical information to the computer, and the computer processes the electrical information to obtain an OCT image; meanwhile, the camera module 11 images the target object in real time, then transmits the imaged image to a computer, and the computer performs image processing to realize the identification of the target object and the positioning of the position of the target object, determine the target pose coordinate of the target object, and send an instruction to the mechanical arm control unit in real time according to the calculated difference value between the current pose coordinate and the target pose coordinate of the OCT imaging probe 1 to control the motors at the joints on the mechanical arm 2 to complete the rotation of the corresponding angle, so that the OCT imaging probe 1 reaches the specified proper scanning position, and therefore, the mechanical arm 2 can identify and track the target object in real time under the control of the computer, and the high-quality OCT imaging is realized under the condition that the target object moves.
Further, in this embodiment, the fixed end of the mechanical arm 2 is connected to the movable trolley or the fixed platform; the execution end of the mechanical arm 2 is connected with one end of the transfer pod 4, and the other end of the transfer pod 4 is connected with the housing 5.
Specifically, in fig. 1, the other end of the mechanical arm 2 relative to the execution end thereof is set to be a fixed end, and the fixed end of the mechanical arm 2 is connected with the movable trolley 3, so that the flexibility of driving the OCT imaging probe 1 to perform OCT imaging operation through the mechanical arm 2 is greatly enhanced, and the switching pod 4 connected with the OCT imaging probe 1 is arranged at the execution end of the mechanical arm 2, so that the convenience of installing the OCT imaging probe 1 is ensured, and the OCT imaging probe 1 can be driven by the switching pod 4 to rotate in 360-degree dead angle.
Further, in the present embodiment, an included angle of 45 ° is formed between the optical axis of the collimating lens 6 and the mirror surface of the MEMS galvanometer 7 in a zero-bias state; the optical axis of the focusing lens group 8 is perpendicular to the optical axis of the collimating lens 6, and the optical axis of the focusing lens group 8 and the dichroic mirror 9 form an included angle of 45 degrees; the reflecting mirror 10 is parallel to the dichroic mirror 9 and is located on one horizontal side of the dichroic mirror 9, and the reflecting surface of the reflecting mirror 10 faces the coating surface of the dichroic mirror 9.
Specifically, as can be seen from the structure shown in fig. 2, in the present embodiment, the optical axis of the collimating lens 6 is arranged horizontally, the collimating wavelength selected by the collimating lens 6 is 1310nm, f is 11.26mm, and NA is 0.25, where f denotes a focal length and NA denotes a numerical aperture.
The MEMS galvanometer 7 forms an included angle of 45 degrees with the horizontal plane in a zero bias state, and the deflection angle of the MEMS galvanometer 7 relative to the zero bias state is +/-3.5 degrees.
The focusing lens group 8 is an achromatic double-cemented lens group, the optical axis of the achromatic double-cemented lens group is vertically arranged, the optical axis of the focusing lens group 8 vertically penetrates through the center of the incident surface of the cylindrical dichroic mirror 9, the dichroic mirror 9 and the optical axis of the focusing lens group 8 form an included angle of 45 degrees, the diameter of the dichroic mirror 9 is 12.7mm, and the coating surface of the dichroic mirror 9 is coated with an aluminum plating film.
The reflecting mirror 10 is arranged on the right side of the dichroic mirror 9, the reflecting mirror 10 is parallel to the dichroic mirror 9 and is obliquely arranged at an angle of 45 degrees with the horizontal plane; the center of the coated surface of the dichroic mirror 9 and the center of the reflecting surface of the reflecting mirror 10 are at the same level.
Further, referring to fig. 3 and 4, in order to achieve compact installation of the optical processing module and facilitate convenient use of medical personnel, in the embodiment, the housing 5 includes a bending structure formed by a handheld portion 51, an adapting portion 52 and a carrying portion 53; the collimator lens 6 is built in the hand-held portion 51; the MEMS galvanometer 7 is arranged in the switching part 52; the focusing lens group 8, the dichroic mirror 9, the reflecting mirror 10, and the image pickup module 11 are built in the mounting unit 53; the end of the mounting portion 53 remote from the adaptor portion 52 is provided with the scanning imaging port 32. By such a configuration, an integrated and miniaturized design of the OCT imaging probe 1 is achieved.
Further, referring to fig. 5, in order to implement the installation of the alignment straight lens 6, the MEMS galvanometer 7 and the focusing lens group 8, the embodiment specifically designs a straight triangular fixing frame 12 installed in the adaptor 52; the first right-angle side of the fixed mount 12 is connected with one end of the collimation holder 33, the other end of the collimation holder 33 extends to the handheld part 51, and the collimation lens 6 is arranged in the collimation holder 33; an MEMS driving plate 13 is arranged on the oblique edge of the fixed frame 12, the MEMS driving plate 13 is connected with the MEMS galvanometer 7, and a step-shaped mounting hole corresponding to the MEMS galvanometer 7 is formed in the oblique edge of the fixed frame 12; the second right-angle side of the fixed mount 12 is connected with the first end of the straight tube 14, the second end of the straight tube 14 extends into the carrying part 53, and the focusing lens group 8 is installed in the straight tube 14.
In addition, when the connection structure between the second right-angle side of the fixed frame 12 and the first end of the straight pipe 14 is specifically designed, in this embodiment, the threaded interface 15 is arranged on the second right-angle side of the fixed frame 12, and the inner side wall of the threaded interface 15 is provided with guide grooves which are uniformly arranged along the axial direction and in the circumferential direction, see fig. 5, but the guide grooves are not illustrated in fig. 5; the outer side wall of the first end of the straight pipe 14 is provided with guide strips 16 matched with the guide grooves, the first end of the straight pipe 14 is inserted into the threaded connector 15, the threaded connector 15 is provided with a locking sleeve 17 in threaded connection with the locking sleeve, the locking sleeve 17 is further used for being sleeved at the first end of the straight pipe 14, a flange 18 is arranged on the inner side of one end of the locking sleeve 17, the flange 18 is used for stopping the guide strips 16 arranged at the first end of the straight pipe 14, so that the first end of the straight pipe 14 cannot axially move in the threaded connector 15, and the matching structure of the guide strips 16 and the guide grooves effectively prevents the first end of the straight pipe 14 from circumferentially rotating relative to the threaded connector 15, see fig. 6 and 7.
Further, referring to fig. 3 and 4, in the present embodiment, a protective wire sheath 19 is inserted into the handheld portion 51, a protective sheath head 20 is sleeved on an outer wall of the protective wire sheath 19, and the protective sheath head 20 is installed on the handheld portion 51 at an end far away from the adaptor portion 52; the collimating lens 6, the MEMS driving board 13 and the communication line from the camera module 11 to the central control unit all pass through the protective wire sleeve 19.
Specifically, the collimating lens 6 is in communication connection with an optical fiber coupler in the OCT image acquisition unit through an optical fiber jumper 21, the MEMS drive board 13 is in communication connection with a computer through a cable 22, and the camera module 11 is in communication connection with the computer through a USB patch cord 23, so that the optical fiber jumper 21, the cable 22, and the USB patch cord 23 are all led out from the protection cord sleeve 19, which is not only beneficial to ensuring the overall aesthetic property of the OCT imaging probe 1, but also implements indirect protection on the collimating lens 6, the MEMS galvanometer 7, and the camera module 11 in the housing 5.
Further, in the present embodiment, a limiting pressing ring 24 is disposed in the straight tube 14, wherein two or more limiting pressing rings 24 may be disposed, and the limiting pressing rings 24 are disposed on two sides of the focusing lens group 8 and are connected to the inner wall of the straight tube 14 through threads.
Specifically, when the focusing lens group 8 is installed, an internal thread is formed on the inner wall of the straight pipe 14, an external thread is formed on the edge of the limiting pressing ring 24, and the limiting pressing ring 24 can be rotated forwards or backwards to control the position change of the limiting pressing ring 24 in the straight pipe 14, so that the installation position of the focusing lens group 8 in the straight pipe 14 can be adjusted in real time through limiting and fixing of the limiting pressing rings 24 on the two sides of the focusing lens group 8.
Further, in the present embodiment, the second end of the straight pipe 14 is connected to the mounting member 25; the mounting member 25 is mounted in the mounting portion 53, and the dichroic mirror 9, the reflecting mirror 10, and the imaging module 11 are mounted on the mounting member 25 in this order along the optical path.
Specifically, referring to fig. 8, the carrying member 25 is provided with a first through hole 26, a second through hole 27 and a connecting channel, which are arranged in an "H" shape, the connecting channel is not shown in fig. 8, and the first through hole 26 and the second through hole 27 are arranged in parallel in the axial direction; one end of the first through hole 26 is located on one side surface of the carrying component 25 and is connected with the second end of the straight pipe 14, and the other end of the first through hole 26 corresponds to the scanning imaging port 32; referring to fig. 9, a coaxially arranged lens barrel 28 is installed at one end of the second through hole 27 away from the connection channel, and the camera module 11 is installed in the lens barrel 28; the dichroic mirror 9 is attached to the connection portion of the first through hole 26 and one end of the connection channel, and the reflecting mirror 10 is attached to the connection portion of the second through hole 27 and the other end of the connection channel.
Further, the carrying member 25 can be optimally designed to be a right trapezoid, the first through hole 26 and the second through hole 27 are both opened perpendicular to the bottom surface of the carrying member 25, and the connecting channel is located in the carrying member 25. A slot 29 is opened at the connection portion of the first through hole 26 and one end of the connection channel, and a dichroic mirror tray 30 is provided at the slot 29, the dichroic mirror tray 30 being similar to an optical drive tray for placing and fixing the dichroic mirror 9.
Meanwhile, the connection portion between the second through hole 27 and the other end of the connection passage is located on the inclined surface of the mounting member 25, a mirror card slot 31 is fixed to the inclined surface of the mounting member 25, and the mirror 10 is mounted in the mirror card slot 31.
The second through hole 27 is a port on the bottom surface of the mounting member 25, and serves as a light exit for reflected light from the reflector 10, and a lens barrel 28 is attached to the light exit, and the camera module 11 is attached to the lens barrel 28, so that the camera module 11 receives the reflected light and forms an image of the object in real time.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An optical coherence tomography system based on mechanical arm auxiliary positioning is characterized by comprising a mechanical arm and an OCT imaging probe;
the OCT imaging probe comprises a shell and an optical processing module, wherein the shell is connected with an execution end of the mechanical arm, and the optical processing module is arranged in the shell;
the optical processing module comprises a collimating lens, an MEMS (micro-electromechanical system) vibrating mirror, a focusing lens group, a dichroic mirror, a reflecting mirror and a camera module which are sequentially arranged along a light path, and the direction of transmitted light on the dichroic mirror corresponds to a scanning imaging port on the shell;
the mechanical arm is used for adjusting the position of the scanning imaging port according to position information acquired by the image of the target object acquired by the camera module.
2. The mechanical arm assisted positioning-based optical coherence tomography system of claim 1,
the OCT imaging system also comprises an OCT image acquisition unit, a central control unit and a mechanical arm control unit;
the OCT image acquisition unit is used for acquiring reflected light from the collimating lens, transmitting the acquired reflected light to the central control unit after performing photoelectric conversion on the acquired reflected light, and generating an OCT image by the central control unit;
the central control unit is also used for identifying the position of the target object according to the image information of the target object transmitted by the camera module and controlling the working dynamics of the mechanical arm through the mechanical arm control unit.
3. The mechanical arm assisted positioning-based optical coherence tomography system of claim 1,
the fixed end of the mechanical arm is connected with the movable trolley or the fixed platform;
the execution end of the mechanical arm is connected with one end of the switching pod, and the other end of the switching pod is connected with the shell.
4. The mechanical arm assisted positioning-based optical coherence tomography system of claim 2,
an included angle of 45 degrees is formed between the optical axis of the collimating lens and the mirror surface of the MEMS galvanometer in a zero bias state;
the optical axis of the focusing lens group is perpendicular to the optical axis of the collimating lens, and the optical axis of the focusing lens group and the dichroic mirror form an included angle of 45 degrees;
the reflecting mirror is parallel to the dichroic mirror and is positioned on one horizontal side of the dichroic mirror, and the reflecting surface of the reflecting mirror faces the coating surface of the dichroic mirror.
5. The mechanical arm assisted positioning-based optical coherence tomography system of claim 4,
the shell comprises a bending structure consisting of a handheld part, an adapter part and a carrying part;
the collimating lens is arranged in the handheld part; the MEMS galvanometer is arranged in the switching part; the focusing lens group, the dichroic mirror, the reflecting mirror and the camera module are arranged in the carrying part;
the one end that the portion of carrying on is kept away from the switching portion sets up scanning formation of image mouth.
6. The mechanical arm assisted positioning-based optical coherence tomography system of claim 5,
a straight triangular fixing frame is arranged in the switching part;
the first right-angle edge of the fixing frame is connected with one end of a collimation fixing device, the other end of the collimation fixing device extends to the handheld part, and the collimation lens is installed in the collimation fixing device;
an MEMS driving plate is arranged on the oblique edge of the fixing frame and connected with the MEMS galvanometer;
the second right-angle side of the fixing frame is connected with the first end of the straight pipe, the second end of the straight pipe extends into the carrying part, and the focusing lens group is installed in the straight pipe.
7. The mechanical arm assisted positioning-based optical coherence tomography system of claim 6,
a protective wire sleeve is inserted in the handheld part, a protective sleeve head is sleeved on the outer wall of the protective wire sleeve, and the protective sleeve head is arranged on the handheld part at one end far away from the switching part;
and the collimating lens, the MEMS drive board and a communication line from the camera module to the central control unit all penetrate through the protective wire sleeve.
8. The mechanical arm assisted positioning-based optical coherence tomography system of claim 6,
the straight tube is provided with limiting pressing rings, and the limiting pressing rings are arranged on two sides of the focusing lens group and are connected with the inner wall of the straight tube through threads.
9. The mechanical arm assisted positioning-based optical coherence tomography system of claim 6,
the second end of the straight pipe is connected with a carrying component;
the mounting member is mounted in the mounting portion, and the dichroic mirror, the reflecting mirror, and the image pickup module are mounted on the mounting member in this order along the optical path.
10. The mechanical arm assisted positioning-based optical coherence tomography system of claim 9,
the carrying component is provided with a first through hole, a second through hole and a connecting channel which are arranged in an H shape, and the first through hole and the second through hole are arranged in parallel in the axial direction;
one end of the first through hole is positioned on one side surface of the carrying component and is connected with the second end of the straight pipe, and the other end of the first through hole corresponds to the scanning imaging port;
a coaxially arranged lens barrel is arranged at one end of the second through hole, which is far away from the connecting channel, and the camera module is arranged in the lens barrel;
the dichroic mirror is installed on the connecting portion of the first through hole and one end of the connecting channel, and the reflecting mirror is installed on the connecting portion of the second through hole and the other end of the connecting channel.
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