CN112971695A - Imaging equipment, handheld and endoscope near-infrared imaging system and building method - Google Patents
Imaging equipment, handheld and endoscope near-infrared imaging system and building method Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
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- 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
- A61B1/06—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 with illuminating arrangements
- A61B1/07—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 with illuminating arrangements using light-conductive means, e.g. optical fibres
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention relates to a fluorescence operation navigation system, in particular to an imaging device: the imaging equipment comprises a display control end, an imaging group and a light source group, wherein the imaging group and the light source group are connected with the display control end; the light source group provides an excitation probe to enable the imaging group to collect picture information of a target object and transmit the picture information to the display control end for displaying, and the display control end also controls the imaging group to work; the beneficial effects are that: the handheld near-infrared imaging system can be used for real-time imaging of surface focus parts of laboratory animals and clinical patients on the basis of matching with corresponding imaging probes, and realizes functions of surgical navigation diagnosis and focus part excision; the provided light source group does not need to turn off the operating lamp in the navigation diagnosis process of a clinician, the whole navigation excision process can be carried out under the operating lamp light, and the accuracy of determining the focus boundary is improved.
Description
Technical Field
The invention relates to a fluorescence surgery navigation system, in particular to an imaging device, a handheld endoscope near-infrared imaging system and a construction method.
Background
The medical imaging technology is an intuitive diagnosis process for clinically detecting a plurality of major diseases at present. The preoperative diagnosis comprises nuclear magnetism, CT, ultrasound and the like, and can help clinicians to find focus parts and carry out accurate diagnosis. Current devices capable of intraoperative navigation include primarily optical imaging techniques, including primarily reflectance imaging and fluorescence imaging. The fluorescence imaging is widely applied to a fluorescence operation navigation system because the fluorescence imaging has high imaging speed and high sensitivity and can carry out real-time imaging.
Due to autofluorescence and scattering of tissue, people currently push fluoroscopic navigation systems into the near infrared region.
The fluorescence operation navigation system is concentrated in a 700-900 nanometer interval (near infrared one area), and in the interval, the background fluorescence and scattering of the living tissue are still strong, so that the imaging quality is greatly influenced, and the judgment of an operation method performed by a related clinician through a real-time imaging picture and the size of the boundary excision of a focus part are influenced.
Disclosure of Invention
The invention aims to provide imaging equipment, a handheld endoscope near-infrared imaging system and a construction method thereof, which mainly expand the imaging of a near-infrared two-zone (1000-; meanwhile, multicolor near-infrared imaging can be realized through combination of the multi-camera and the filter, and complex multi-channel imaging is realized.
In order to achieve the purpose, the invention provides the following technical scheme:
an imaging device comprises a display control end, an imaging group and a light source group, wherein the imaging group and the light source group are connected with the display control end; the light source group provides a laser probe to enable the imaging group to collect picture information of a target object and transmit the picture information to the display control end for displaying, and the display control end also controls the imaging group to work.
As a further scheme of the invention: the light source group comprises a laser light source or a surface light source, and the laser light source comprises a collimator and a laser connected with the collimator.
As a still further scheme of the invention: the imaging group comprises one or more cameras and a filter combination matched with the cameras, multicolor near-infrared imaging is achieved, part or all of the cameras are connected with a display control end, and the display control end controls the work of the cameras and displays imaging pictures of the cameras.
As a still further scheme of the invention: the imaging group further comprises a lens, a sleeve and a filter, the lens is mounted on the camera, and the sleeve and the filter are mounted on the lens through a switching ring.
As a still further scheme of the invention: the camera is an indium gallium arsenic camera and/or a silicon-based camera and a camera capable of detecting the range from visible light to near infrared.
The invention provides another technical scheme that: a handheld near-infrared imaging system, comprising: the robot arm comprises a handheld part, a first joint arm connected with the handheld part and a second joint arm connected with the first joint arm, wherein the tail ends of the handheld part and the first joint arm comprise operating parts, and the operating parts control the posture of the tail end of the second joint arm; the imaging device comprises an imaging group and a light source group, wherein the imaging group and the light source group are arranged at the tail end of a second joint arm, and an irradiation interval of emergent light of the light source group is overlapped with an imaging visual field of the imaging group; the pose of the imaging group and the pose of the light source group are adjusted through the mechanical arm, so that the imaging group performs near infrared and near infrared first-zone and second-zone imaging.
The invention provides another technical scheme that: the endoscope near-infrared imaging system comprises an endoscope module and the imaging equipment, wherein the endoscope module is connected with a light source group and an imaging group respectively, and a display control end controls the work of the light source group and the imaging group.
As a further scheme of the invention: the endoscope module comprises an objective lens part connected with the light source group and an eyepiece part connected with the objective lens part, and the eyepiece part is connected with the imaging group.
As a still further scheme of the invention: the eyepiece part is additionally provided with a light splitting part and is connected with another imaging group through the light splitting part.
The invention provides another technical scheme that: a building method of the handheld near-infrared imaging system comprises the following steps: assembling into an image group and a light source group; respectively installing the imaging group and the light source group at the tail end of the mechanical arm, and adjusting the imaging field of view of the imaging group and the irradiation interval of the light source group so as to enable the emergent light focus of the light source group and the focus point of the imaging group to be on the same focal plane; and connecting the imaging group and the display control end, and calibrating the imaging group.
The invention provides another technical scheme that: a building method of the endoscope near infrared imaging system comprises the following steps: an objective lens part and an eyepiece part of the endoscope module are configured; assembling into an image group and a light source group; the light source group and the objective lens part, the objective lens part and the eyepiece part are connected through optical fibers, and the adapter ring is connected with the eyepiece part and the imaging group.
Compared with the prior art, the invention has the beneficial effects that:
the hand-held near-infrared imaging system can be used for real-time imaging of surface focus parts of laboratory animals and clinical patients on the basis of matching with corresponding imaging probes, and realizes functions of surgical navigation diagnosis and focus part excision; the multi-camera and the filter are combined to realize multi-color near infrared imaging and complex multi-channel imaging;
the endoscope near-infrared imaging system can be used for real-time imaging of the focus part of abdominal cavity or other deep tissue of laboratory animals and clinical patients on the basis of matching with the corresponding imaging probe, so as to realize the functions of operation navigation diagnosis and focus part excision; the multi-camera and the filter are combined to realize multi-color near infrared imaging and complex multi-channel imaging;
the provided light source group does not need to turn off the operating lamp in the navigation diagnosis process of a clinician, the whole navigation excision process can be carried out under the operating lamp light, and the accuracy of determining the focus boundary is greatly improved;
the mechanical arm drives the handheld near-infrared imaging system to image at any angle and any direction, is convenient and quick, and can image at any complex part of animals and clinical patients.
Drawings
Fig. 1 is a first schematic structural diagram of a handheld near-infrared imaging system in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a handheld near-infrared imaging system in an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a handheld near-infrared imaging system in an embodiment of the present invention.
Fig. 4 is a schematic connection diagram of an endoscope near-infrared imaging system in the embodiment of the invention.
Fig. 5 is a schematic connection diagram of an endoscopic near-infrared imaging system in another embodiment of the invention.
In the drawings: 1. a laser; 2. a collimator; 3. a computer; 4. a first camera; 5. a first lens; 6. a first transfer ring; 7. a first sleeve and a filter; 8. a mechanical arm; 9. an LED area light source; 10. a second camera; 11. a second lens; 12. a second adapter ring; 13. a second sleeve and a filter; 14. a metal sleeve; 15. an endoscope objective lens; 16. a third camera; 17. a third transfer ring; 18. an imaging eyepiece; 19. an imaging ocular and a light splitting system; CN, energy transmission optical fiber; CX, image transmission fiber.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 1 to 3, in an embodiment of the present invention, an imaging apparatus includes a display control end, an imaging group connected to the display control end, and a light source group, where an illumination area of light emitted from the light source group coincides with an imaging field of view of the imaging group; the light source group provides a laser probe to enable the imaging group to collect picture information of a target object and transmit the picture information to the display control end for displaying, and the display control end also controls the imaging group to work.
Specifically, the light source group comprises a laser light source or a surface light source, the laser light source comprises a collimator 2 and a laser 1 connected with the collimator 2, and the surface light source is an LED surface light source 9. The imaging group comprises one or more cameras, part or all of the cameras are connected with a display control end, and the display control end controls the work of the cameras and displays imaging pictures of the cameras. The display control end selects the computer 3; furthermore, the imaging group also comprises a lens, a sleeve and a filter, the lens is arranged on the camera, and the sleeve and the filter are arranged on the lens through a transfer ring; the camera is an indium gallium arsenic camera and/or a silicon-based camera and a camera capable of detecting the range from visible light to near infrared.
Referring to fig. 1-3, in another embodiment of the present invention, a handheld near-infrared imaging system includes: the robot arm comprises a handheld part, a first joint arm connected with the handheld part and a second joint arm connected with the first joint arm, wherein the tail ends of the handheld part and the first joint arm comprise operating parts, and the operating parts control the posture of the tail end of the second joint arm; the imaging device comprises a display control end, an imaging group and a light source group, wherein the imaging group and the light source group are connected with the display control end; and adjusting the poses of the imaging group and the light source group through the mechanical arm so as to enable the imaging group to perform near-infrared two-zone imaging.
Furthermore, the imaging group and the light source group are arranged at the tail end of the second joint arm, and the irradiation interval of the emergent light of the light source group is overlapped with the imaging visual field of the imaging group; the light source group provides set wavelength light to enable the imaging group to collect picture information of a target object and transmit the picture information to the display control end for displaying, and the display control end also controls the imaging group to work.
In conclusion, the hand-held near-infrared imaging system can be used for real-time imaging of surface layer focus parts of laboratory animals and clinical patients on the basis of matching with corresponding imaging probes, and realizes functions of surgical navigation diagnosis and focus part excision; the provided light source group does not need to turn off the operating lamp in the navigation diagnosis process of a clinician, the whole navigation excision process can be carried out under the operating lamp light, and the accuracy of determining the focus boundary is greatly improved; the mechanical arm drives the handheld near-infrared imaging system to image at any angle and any direction, is convenient and quick, and can image at any complex part of animals and clinical patients.
As shown in fig. 1, the camera selected by the imaging group is a first camera 4 (high efficiency near infrared camera), and its imaging interval is: the sensitive band is 900-; the front of the first lens 5 is connected with a first sleeve and a filter 7 through a first adapter ring 6; and the first sleeve is loaded with the required filter (700, 800, 900, 1000, 1100, 1200, 1300, 1400, 1500 nm long pass filter); the first camera 4 is fixed at the tail end of the mechanical arm 8, the mechanical arm 8 has freedom degree capable of being adjusted at any angle up, down, left and right, and the mechanical arm 8 is simultaneously provided with a collimator 2 connected with a laser 1 (capable of fixing 808nm wavelength or selecting a wavelength adjustable laser) and an optical fiber; the irradiation light spot of the collimator 2 is superposed with the imaging visual field of the first camera 4, and near-infrared two-region imaging and operation navigation can be performed on any small animal and clinical patient part.
The operation part of the mechanical arm is provided with a bearing motor, and the bearing motors respectively drive the corresponding first joint arm or second joint arm to rotate so as to drive the imaging equipment at the tail end of the mechanical arm to adjust the posture; and the bearing motor can be connected with a computer, and the corresponding bearing motor is automatically controlled to work through the computer, so that the automatic control is realized. Of course, the first articulated arm or the second articulated arm can be controlled to rotate manually; the automatic control mode can carry out accurate large-area imaging and scanning.
As shown in fig. 2, a laser of the imaging device in the above-mentioned handheld near-infrared imaging system is replaced by an LED surface light source 9, so as to obtain another handheld near-infrared imaging system, wherein the wavelength of the emergent light of the LED surface light source 9 is 808nm, or other wavelengths, which is determined according to specific requirements; the light spot of the LED surface light source 9 is superposed with the imaging view of the first camera 4; the near-infrared two-region imaging and surgical navigation can be carried out on any small animal and clinical patient part.
As shown in fig. 3, the imaging device in the handheld near-infrared imaging system includes two cameras, namely a first camera 4 and a second camera 10, where the first camera 4 and the second camera 10 are a near-infrared two-zone camera and a silicon-based camera, respectively; the silicon-based camera is connected with a second lens 11 through a C-mount port (a lens of a C port), and the front of the second lens 11 is connected with a second sleeve and a filter 13 through a second adapter ring 12; and the second sleeve carries the required filter (700, 800, 900, 1000, 1100, 1200, 1300, 1400, 1500 nm long pass filter, or the combination of the above specific long pass filter and short pass filter); the robot arm can simultaneously carry the LED surface light source 9, the first camera 4, and the second camera 10. The LED area light source light spot is superposed with the imaging visual field of a detection camera (a high-efficiency near-infrared camera) and a silicon-based camera, and near-infrared two-zone imaging and operation navigation can be performed on the focus parts of any small animals and clinical patients; the multi-camera and the filter are combined to realize multi-color near infrared imaging and complex multi-channel imaging. Or the LED surface light source is changed into a laser and a collimator, the light spot of the collimator is overlapped with the imaging visual field of the detection camera and the silicon-based camera, and near-infrared two-region imaging and operation navigation can be carried out on the focus parts of any small animals and clinical patients.
Referring to fig. 4, in another embodiment provided by the present invention, an endoscope near-infrared imaging system includes an endoscope module and the imaging device as described above, the endoscope module is respectively connected to the light source group and the imaging group, and the display control end controls the light source group and the imaging group to operate.
The endoscope module comprises an objective lens part connected with the light source group and an eyepiece part connected with the objective lens part, and the eyepiece part is connected with the imaging group.
The endoscope module comprises an endoscope objective lens 15 and an imaging eyepiece 18, and the laser is connected with the endoscope objective lens 15 through an energy transmission optical fiber CN and is fixed through a metal sleeve 14; the endoscope objective 15 is connected with the imaging eyepiece 18 through the image transmission optical fiber CX, the front end of the imaging eyepiece 18 is connected with the third camera 16 through the third adapter ring 17, and the third camera 16 is connected with a computer to display an imaging picture of the third camera 16. Further, the third adaptor ring 17 and the third camera 16 may be added with required sleeves and filters.
Therefore, the endoscope near-infrared imaging system can be used for real-time imaging of the focus part of abdominal cavity or other deep tissues of laboratory animals and clinical patients on the basis of matching with the corresponding imaging probe, and realizes the functions of operation navigation diagnosis and focus part excision.
Furthermore, a beam splitting part is additionally arranged on the ocular part and is connected with another imaging group through the beam splitting part. Specifically, a light splitting system is additionally arranged on the imaging eyepiece 18 to form an imaging eyepiece and a light splitting system 19, and the light splitting system 19 is connected with a second camera through a third adapter ring 17; (a required sleeve and a required optical filter can be added between the third adapter ring 17 and the second camera), and the second camera, namely the silicon-based camera and the third camera 16 form a dual-camera combination; near-infrared two-region imaging and surgical navigation can be carried out on the focus parts of any small animals and clinical patients; the multi-camera and the filter are combined to realize multi-color near infrared imaging and complex multi-channel imaging.
Referring to fig. 1-3, in another embodiment provided by the present invention, a method for building a handheld near-infrared imaging system as described above includes the following steps: assembling into an image group and a light source group; respectively installing the imaging group and the light source group at the tail end of the mechanical arm, and adjusting the imaging field of view of the imaging group and the irradiation interval of the light source group so as to enable the emergent light focus of the light source group and the focus point of the imaging group to be on the same focal plane; and connecting the imaging group and the display control end, and calibrating the imaging group.
The method specifically comprises the following steps:
s1: fixing a lens on a camera, and adjusting the magnification and the focal length through the lens;
s2: fixing a lens adapter ring in front of a lens, installing a required filter in a sleeve, and connecting the sleeve to the adapter ring;
s3: securing one or two cameras to the robotic arm;
s4: fixing a laser or an LED surface light source on the mechanical arm, and adjusting the emitting position of exciting light and the receiving position of a lens to be on the same focal plane;
s5: and connecting the camera and the computer by a data line, and performing real-time imaging by the computer.
Referring to fig. 4-5, in another embodiment provided by the present invention, a method for building an endoscope near-infrared imaging system includes the following steps: manufacturing an optical fiber; an objective lens part and an eyepiece part of the endoscope module are configured; assembling into an image group and a light source group; the light source group and the objective lens part, the objective lens part and the eyepiece part are connected through optical fibers, and the adapter ring is connected with the eyepiece part and the imaging group.
The method specifically comprises the following steps:
s11: manufacturing an energy transmission and image transmission optical fiber composite optical fiber;
s21: the tail end of the composite optical fiber is connected with an endoscope objective lens 15 and is fixed by a metal sleeve 14; connecting a laser to the end of the energy transmission optical fiber through an optical fiber adapter, and connecting the image transmission optical fiber to the imaging ocular lens 18;
s31: the imaging ocular 18 is connected with the filter sleeve combination, the filter sleeve combination is connected with a third camera 16 through a third adapter ring 17, and the third camera 16 adopts a near-infrared two-zone imaging camera (imaging interval: 400-;
s41: the near-infrared two-zone imaging camera is connected with the computer 3 through a data line, and the near-infrared two-zone imaging camera is controlled through the computer 3.
In some embodiments, the endoscope near-infrared imaging system is built by using a double camera, as shown in fig. 5, and the method comprises the following steps:
preparing energy transmission and image transmission optical fiber composite optical fibers; the tail end of the composite optical fiber is connected with an endoscope objective lens 15 and is fixed by a metal sleeve 14; connecting a laser and a white light source to an energy transmission optical fiber end through an optical fiber adapter;
connecting the image transmission optical fiber to an imaging ocular and a light splitting system, wherein one path is connected with a filter sleeve combination, and the filter sleeve combination is connected to a third camera through a third adapter ring; the other path of light split is connected to a second camera through a filter sleeve combination, and a silicon-based camera and a near-infrared two-zone imaging camera are respectively selected for the second camera and a third camera at the position, so that the function of simultaneously carrying out visible light and near-infrared or near-infrared two-zone subinterval imaging is realized; the near-infrared two-zone imaging camera is controlled by a computer.
The design of the double cameras can simultaneously perform near-infrared two-zone fluorescence imaging and white light imaging, and the accuracy of the endoscope near-infrared imaging system is improved. The endoscope near-infrared imaging system can be used as a handheld near-infrared imaging system by regulating and controlling the focal length of an endoscope objective lens and the size of an imaging visual field, and energy transmission and image transmission optical fibers, and has very good adjustability of the imaging visual field.
The working principle of the invention is as follows: the handheld near-infrared imaging system comprises a mechanical arm and imaging equipment, wherein the imaging equipment comprises a display control end, an imaging group and a light source group, the imaging group and the light source group are connected with the display control end, the imaging group and the light source group are arranged at the tail end of a second joint arm of the mechanical arm, and an irradiation interval of emergent light of the light source group is overlapped with an imaging visual field of the imaging group; and adjusting the poses of the imaging group and the light source group through the mechanical arm so as to enable the imaging group to perform near-infrared two-zone imaging. The endoscope near-infrared imaging system comprises an endoscope module and imaging equipment, wherein the endoscope module comprises an endoscope objective lens connected with a laser and an imaging eyepiece connected with the endoscope objective lens, the imaging eyepiece is connected with an imaging group, and near-infrared two-zone imaging and operation navigation are realized.
It should be noted that the computer, the near-infrared two-zone camera and the silicon-based camera adopted in the present invention are all applications of the prior art, and those skilled in the art can implement the functions to be achieved according to the related description, or implement the technical features to be achieved through the similar techniques, and will not be described in detail herein.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. The imaging equipment is characterized by comprising a display control end, an imaging group and a light source group, wherein the imaging group and the light source group are connected with the display control end; the light source group provides an excitation probe to enable the imaging group to collect picture information of a target object and transmit the picture information to the display control end for displaying, and the display control end also controls the imaging group to work.
2. The imaging apparatus of claim 1, wherein the light source group comprises a laser light source or a surface light source, and the laser light source comprises a collimator and a laser connected with the collimator.
3. The imaging device according to claim 1, wherein the imaging group comprises one or more cameras and a filter combination matched with the cameras, so as to realize multicolor near infrared imaging, wherein part or all of the cameras are connected with a display control terminal, and the display control terminal controls the operation of the cameras and displays the imaging pictures of the cameras.
4. The imaging apparatus of claim 3, wherein the imaging group further comprises a lens, a sleeve, and a filter, the lens being mounted on the camera, the sleeve and the filter being mounted on the lens by an adapter ring.
5. The imaging apparatus according to claim 3 or 4, wherein the camera is selected from an indium gallium arsenide camera and/or a silicon based camera.
6. A handheld near-infrared imaging system, comprising:
the robot arm comprises a handheld part, a first joint arm connected with the handheld part and a second joint arm connected with the first joint arm, wherein the tail ends of the handheld part and the first joint arm comprise operating parts, and the operating parts control the posture of the tail end of the second joint arm;
and the imaging device as claimed in any one of claims 1 to 5, wherein the imaging group and the light source group are mounted at the end of the second joint arm, and the poses of the imaging group and the light source group are adjusted by the mechanical arm so as to enable the imaging group to perform near-infrared and near-infrared first-zone and second-zone (700 and 1700 nm) imaging.
7. An endoscope near-infrared imaging system, which is characterized by comprising an endoscope module and the imaging device as claimed in any one of claims 1 to 5, wherein the endoscope module is respectively connected with the light source group and the imaging group, and the display control end controls the work of the light source group and the imaging group.
8. The endoscopic near infrared imaging system of claim 7, wherein the endoscopic module comprises an objective lens portion connected to the light source group and an eyepiece portion connected to the objective lens portion, the eyepiece portion being connected to the imaging group; or the ocular part is additionally provided with a light splitting part and is connected with another imaging group through the light splitting part.
9. A construction method of the handheld near-infrared imaging system as claimed in claim 6, characterized by comprising the following steps:
assembling into an image group and a light source group;
respectively installing the imaging group and the light source group at the tail end of the mechanical arm, and adjusting the imaging field of view of the imaging group and the irradiation interval of the light source group so as to enable the emergent light focus of the light source group and the focus point of the imaging group to be on the same focal plane;
and connecting the imaging group and the display control end, and calibrating the imaging group.
10. A method of constructing an endoscopic near-infrared imaging system as defined in any one of claims 7 to 8, comprising the steps of: an objective lens part and an eyepiece part of the endoscope module are configured; assembling into an image group and a light source group; the light source group and the objective lens part, the objective lens part and the eyepiece part are connected through optical fibers, and the adapter ring is connected with the eyepiece part and the imaging group.
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| CN107822585A (en) * | 2017-11-27 | 2018-03-23 | 东北大学 | A kind of multi-functional endoscopic system |
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2021
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| US20120123205A1 (en) * | 2010-11-12 | 2012-05-17 | Emory University | Additional systems and methods for providing real-time anatomical guidance in a disgnostic or therapeutic procedure |
| CN102370521A (en) * | 2011-10-03 | 2012-03-14 | 杨晓峰 | Living body spectrograph device |
| CN107822585A (en) * | 2017-11-27 | 2018-03-23 | 东北大学 | A kind of multi-functional endoscopic system |
| CN112005546A (en) * | 2018-03-23 | 2020-11-27 | 索尼公司 | Signal processing apparatus, signal processing method, image capturing apparatus, and medical image capturing apparatus |
| CN210170185U (en) * | 2019-02-28 | 2020-03-24 | 四川福方医疗器械有限公司 | Real-time operation fluorescence imaging guide instrument |
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