CN113100942A - Laser point identification method and SS-OCT operation navigation system using same - Google Patents
Laser point identification method and SS-OCT operation navigation system using same Download PDFInfo
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The invention discloses a laser point identification method and a SS-OCT operation navigation system using the same, wherein the method comprises the following steps: 1) preprocessing the image; 2) carrying out median filtering processing; 3) selecting a scanning area of the SS-OCT as a region of interest; 4) converting the image from an RGB space to an HSV space; 5) carrying out histogram equalization; 6) carrying out binarization treatment; 7) opening operation is carried out to remove noise points, and then closing operation is carried out to connect the connected domain; 8) and acquiring the coordinates of the circle center position of the guide laser spot by using a Hough circle detection algorithm to finish the identification of the laser spot. According to the invention, the HSV color space is combined with the Hough circle algorithm, so that the laser point can be accurately positioned and the spatial position of the laser point can be given in practical application, the influence of the external environment is small, and the identification effect is good; the problem of low identification accuracy rate caused by the influence of noise and background change in the traditional laser point identification method can be solved.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a laser point identification method and an SS-OCT operation navigation system using the same.
Background
The optical coherence tomography is widely applied to medical imaging as a non-contact tomography method with high resolution and high sensitivity. With the rapid development of the high-speed sweep optical coherence tomography, the axial scanning speed can reach hundreds of kHz, the attenuation of signals and sensitivity in the depth direction is also inhibited to a certain extent, the internal tomography of human tissues and the three-dimensional real-time imaging of surgical instruments are realized in the operation process, and the SS-OCT operation navigation system integrated by a microscope becomes an indispensable part in clinical application of neurosurgery, ophthalmologic operation and the like. According to the microscopic image and the OCT image of the operation area, a doctor can plan an operation path, judge tissue lesion, navigate in real time during operation and evaluate the operation effect. However, the scanning light generated by the sweep light source is located in the near infrared band, and human eyes cannot directly observe the scanning light, so that the scanning area needs to be determined by other means.
The scanning area can be effectively identified by adding the guide light source on the same path with the sample arm, and the spatial position information of the laser point generated by the guide light source is extracted, so that great convenience can be brought to preoperative surgical planning, intraoperative real-time navigation and postoperative effect evaluation. Wang et al, in an article (A Laser Point Interaction System Integrating motion Functions, World Academy of Science, Engineering and Technology, International Journal of Computer, electric, Automation, Control and Information Engineering,4(7):1139-1144 (2010)), proposed performing threshold segmentation on an image according to the brightness and RGB value of a Laser spot, and searching for a pixel Point with the highest brightness and within the RGB range of the Laser spot in the image. However, the RGB color space cannot effectively distinguish color information from luminance information, and cannot effectively separate similar colors by setting a threshold range, which has a certain limitation in color division, and in addition, conversion of external illumination and viewing angle also has a certain influence on the laser spot recognition effect. An identification method of Laser points based on The combination of background subtraction and Kalman filtering is proposed in The article (Laser Spot Detection and Tracking, The scientific j ournal of Salaheadin University-Erbil ZJPAS (2016)28 (2); s615-623 (2016)), by Ahmed et al, and has more than ninety percent of identification accuracy of The Laser points of a static background. However, for the dynamic background, the noise and the background change also have great influence on the identification result, and the identification accuracy is low.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a laser spot identification method and a SS-OCT surgical navigation system using the same, aiming at the above-mentioned deficiencies in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: a laser spot identification method for identifying a laser spot in a two-dimensional microscopic image of a surgical area acquired by a SS-OCT surgical navigation system, the method comprising the steps of:
1) preprocessing the image;
2) carrying out median filtering processing on the image obtained in the step 1);
3) selecting a scanning area of SS-OCT from the image obtained in the step 2) as a region of interest;
4) for the image of the region of interest, converting the image from an RGB space to an HSV space;
5) carrying out histogram equalization on the image obtained in the step 4);
6) carrying out binarization processing on the image obtained in the step 5);
7) opening the image obtained in the step 6) to remove noise points, closing the image to connect a connected domain, and screening out a guide laser point region;
8) and 7) acquiring the coordinates of the circle center of the guide laser point of the image obtained in the step 7) by using a Hough circle detection algorithm, and finishing the identification of the laser point.
Preferably, the step 1) specifically includes: first, an image with a sharp laser spot is manually selected, and then the ratio of the image is reset to be 16:9 in aspect ratio.
Preferably, after the image is converted from the RGB space to the HSV space in the step 4), the method further includes the following steps: in the HSV space, a hue threshold range T1, a saturation threshold range T2 and a lightness range T3 for preliminary screening of the guide laser points are set according to the color characteristics of the guide laser points, and the areas of the images converted into the HSV space, of which the hue is within the range T1, the saturation is within the range T2 and the lightness is within the range T3, are screened as the preliminary guide laser points.
Preferably, in the step 4), T1 is 0-180, T2 is 111-138, and T3 is 179-247.
Preferably, the step 6) specifically comprises the following steps: setting pixels within a preset HSV threshold range in the image obtained in the step 5) as a foreground, and setting pixels outside the HSV threshold range as a background.
Preferably, the method further comprises the step 9): clicking the image area of the guide laser point in the image obtained in the step 7) by a mouse to obtain the coordinate V of the area0Then V is added0And comparing the center position coordinates of the guide laser points obtained by the identification in the step 8) to verify the identification result in the step 8).
The invention also provides a SS-OCT operation navigation system, which is added with a guide laser light source and identifies the laser points in the two-dimensional microscopic image of the operation area acquired by the system by using the laser point identification method.
Preferably, the system comprises a surgical microscopy unit for acquiring and displaying a two-dimensional microscopic image of the surgical area, an optical coherence tomography unit for acquiring an OCT image of the surgical area, and a guiding laser light source for marking the scanning area.
Preferably, the surgical microscope unit comprises an illumination light source, a first objective lens, a dichroic mirror, an optical zoom module, a beam splitter, a second objective lens, a surgical microscope and a binocular camera;
the optical coherence tomography unit comprises an OCT swept light source, a first coupler, a first circulator, a first collimating mirror, a second collimating mirror, a reflecting mirror, a balanced detector, a computer, a second coupler, a second circulator, a wavelength division multiplexer, a third collimating mirror and a two-dimensional scanning galvanometer;
the illumination light emitted by the illumination light source irradiates an operation area and is reflected, the reflected illumination light sequentially passes through the first objective lens, the dichroic mirror for transmission and the optical zoom module and then reaches the beam splitter, one part of the illumination light enters the operation microscope, and the other part of the illumination light enters the binocular camera after passing through the second objective lens, so that two-dimensional microscopic imaging of the operation area is realized;
an OCT scanning beam emitted by the OCT swept light source is divided into two paths by the first coupler, wherein one path is sample light, and the other path is reference light; the reference light sequentially passes through the first coupler, the first circulator, the first collimating mirror and the second collimating mirror, is reflected by the reflector, returns in the original path, and reaches the second coupler after passing through the first circulator; the sample light passes through the second circulator and then enters the wavelength division multiplexer together with the guide laser emitted by the guide laser light source to be converged, then passes through the third collimating mirror and then enters the two-dimensional scanning galvanometer to be deflected, and is reflected by the dichroic mirror and then focused on an operation area by the first objective lens;
sample light and a part of guide laser reflected by the operation area are collected by the first objective lens, reflected by the dichroic mirror, returned along the original path, sequentially pass through the two-dimensional scanning galvanometer, the third collimating mirror, the wavelength division multiplexer and the second circulator, reach the second coupler, interfere with reference light reaching the second coupler, are received by the balance detector and are finally output to the computer to realize OCT imaging;
the other part of the reflected laser in the operation area guides the laser to pass through the dichroic mirror after being collected by the first objective lens, the transmitted light reaches the beam splitter after passing through the optical zoom module, then one part of the transmitted light enters the operation microscope, and the other part of the transmitted light enters the binocular camera to mark the scanning area.
Preferably, a two-dimensional microscopic image of the operation area is acquired through the operation microscopic unit, and the two-dimensional microscopic image contains a laser point used for marking the scanning area; and then the laser points in the two-dimensional microscopic image are identified by using the laser point identification method.
The invention has the beneficial effects that:
the invention provides a laser point identification method based on a SS-OCT operation navigation system, which combines HSV color space and Hough circle algorithm, can accurately position a laser point and give the space position of the laser point in practical application, is less influenced by external environment and has good identification effect; the problem of low identification accuracy rate caused by the influence of noise and background change in the traditional laser point identification method can be solved.
Drawings
FIG. 1 is a schematic structural diagram of a SS-OCT surgical navigation system of the present invention;
FIG. 2 is a flow chart of a laser spot identification method of the present invention;
fig. 3 is a diagram illustrating the effect of final laser spot identification in an embodiment of the present invention.
Description of reference numerals:
1-surgical microscopy unit; 2-an optical coherence tomography unit; 11-a binocular camera; 12-operating microscope; 13-second objective lens; 14-a beam splitter; 15-optical zoom module; 16-a dichroic mirror; 17 — a surgical lighting module; 18 — a first objective lens; 19-surgical area; 21-a mirror; 25-OCT swept-frequency light source; 26-two-dimensional scanning galvanometer; 27-wavelength division multiplexer; 28-a balanced detector; 29-directing the laser light source; 30-a computer; 221-a second collimating mirror; 222 — a first collimating mirror; 223-a third collimating mirror; 231 — a first circulator; 232 — a second circulator; 241 — a first coupler; 242 — second coupler.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Referring to fig. 1, in the present embodiment, a SS-OCT navigation system is provided, in which a guiding laser light source is added to mark a scanning region, and the system includes a surgical microscope unit for acquiring and displaying a two-dimensional microscopic image of a surgical region, an optical coherence tomography unit for acquiring an OCT image of the surgical region, and a guiding laser light source for marking the scanning region.
The operation microscope unit comprises a lighting source, a first objective lens, a dichroic mirror, an optical zoom module, a beam splitter, a second objective lens, an operation microscope and a binocular camera;
the optical zoom module is a lens group in the surgical microscope and can adjust the magnification according to the condition of a visual field.
The optical coherence tomography unit comprises an OCT swept optical source 25, a first coupler 241, a first circulator 231, a first collimating mirror 222, a second collimating mirror 221, a reflecting mirror 21, a balanced detector 28, a computer 30, a second coupler 242, a second circulator 232, a wavelength division multiplexer 27, a third collimating mirror 223 and a two-dimensional scanning galvanometer 26;
the optical path of the system is as follows:
the illumination light emitted by the illumination light source irradiates an operation area and is reflected, the reflected illumination light sequentially passes through the first objective lens, the dichroic mirror for transmission and the optical zoom module and then reaches the beam splitter, one part of the illumination light enters the operation microscope, and the other part of the illumination light enters the binocular camera after passing through the second objective lens, so that two-dimensional microscopic imaging of the operation area is realized;
an OCT scanning beam emitted by the OCT swept light source is divided into two paths by the first coupler, wherein one path is sample light, and the other path is reference light; the reference light sequentially passes through the first coupler, the first circulator, the first collimating mirror and the second collimating mirror, is reflected by the reflector, returns in the original path, and reaches the second coupler after passing through the first circulator; the sample light passes through the second circulator and then enters the wavelength division multiplexer together with the guide laser emitted by the guide laser light source to be converged, then passes through the third collimating mirror and then enters the two-dimensional scanning galvanometer to be deflected, and is reflected by the dichroic mirror and then focused on an operation area by the first objective lens;
sample light and a part of guide laser reflected by the operation area are collected by the first objective lens, reflected by the dichroic mirror, returned along the original path, sequentially pass through the two-dimensional scanning galvanometer, the third collimating mirror, the wavelength division multiplexer and the second circulator, reach the second coupler, interfere with reference light reaching the second coupler, are received by the balance detector and are finally output to the computer to realize OCT imaging;
the other part of the reflected laser in the operation area guides the laser to pass through the dichroic mirror after being collected by the first objective lens, the transmitted light reaches the beam splitter after passing through the optical zoom module, then one part of the transmitted light enters the operation microscope, and the other part of the transmitted light enters the binocular camera to mark the scanning area.
The two-dimensional microscopic image of the operation area can be obtained through the operation microscopic unit in the SS-OCT operation navigation system, and the two-dimensional microscopic image contains a laser point for marking the scanning area; then, the laser points in the two-dimensional microscopic image are identified by the following laser point identification method.
Specifically, referring to fig. 2, the laser spot identification method of the present embodiment includes the following steps:
1) preprocessing the image:
after a two-dimensional microscopic image of an operation area is acquired by using a binocular camera, an image with a clear laser spot is manually selected, and then the ratio of the image is reset to be 16: 9. In order to effectively extract the laser point and not influence the subsequent operation, the laser point in the image must be clearly visible to human eyes, and the operation illumination and natural light can make the acquired image brighter or darker, and the laser point cannot be identified, so the image with clear laser point must be artificially selected, and in addition, the acquired image has the phenomenon of proportion distortion when being stored by the system matching software, and needs to be reset to 16: the subsequent laser spot recognition can be continued 9.
2) Carrying out median filtering processing on the image obtained in the step 1), smoothing the image and simultaneously inhibiting noise in the image.
3) Selecting a scanning area of SS-OCT from the image obtained in the step 2) as an interested area:
in order to reduce the influence caused by artificial factors such as surgical illumination, natural light, light path structure and the like, the scanning area of the SS-OCT is set as an area of interest (ROI), and subsequent identification operation is only executed in the ROI area, so that the influence of external image information of the scanning area on laser point extraction is eliminated, and the identification efficiency is improved.
4) For the region of interest image, converting the image from RGB space to HSV space:
based on the superiority of the HSV space in color segmentation, the image is converted from the RGB space to the HSV space. The RGB space is a relatively common color space, and describes a target color by using three basic color components of red, green, and blue, but it cannot effectively distinguish color information from luminance information, and has a certain limitation in the color segmentation process.
Then, in the HSV space, a hue threshold range T1, a saturation threshold range T2 and a lightness range T3 for preliminary screening of the guidance laser points are set according to the color characteristics of the guidance laser points, and a region in the image after conversion into the HSV space, in which hue is within the range of T1, saturation is within the range of T2 and lightness is within the range of T3, is screened as a preliminary guidance laser point. In a preferred embodiment, T1 is 0-180, T2 is 111-138, and T3 is 179-247.
5) Performing histogram equalization on the image obtained in the step 4) to obtain a more obvious guide laser point. The histogram equalization operation widens the gray value with a large number of pixels, and merges the gray values with a small number of pixels, so that all the pixels are uniformly distributed in the whole gray space, and the problems of low contrast, blurred image details and the like caused by small gray value difference between adjacent pixels can be avoided.
6) Carrying out binarization processing on the image obtained in the step 5) so as to facilitate subsequent laser point identification; specifically, pixels in the image within a preset HSV threshold range are set as foreground (white), and pixels outside the HSV threshold range are set as background (black).
7) Opening the image obtained in the step 6) to remove noise points, closing the image to connect a connected domain, and screening out a guide laser point region;
8) and 7) acquiring the coordinates of the circle center of the guide laser point of the image obtained in the step 7) by using a Hough circle detection algorithm, and finishing the identification of the laser point. Referring to fig. 3, which is an effect diagram of the final laser spot recognition in one embodiment, an imaging object is a false eye, a rectangular frame is a scanning area, a circle is a periphery of a laser spot (a position indicated by an arrow in the figure), and a center of the circle is a center of the laser spot.
The method further comprises step 9): clicking the image area of the guide laser point in the image obtained in the step 7) by a mouse to obtain the coordinate V of the area0Then V is added0And comparing the position coordinates of the circle center of the guide laser point obtained by the identification in the step 8) to roughly verify the identification result in the step 8).
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (10)
1. A laser point identification method is characterized in that the method is used for identifying laser points in a two-dimensional microscopic image of an operation area acquired by an SS-OCT operation navigation system, and the method comprises the following steps:
1) preprocessing the image;
2) carrying out median filtering processing on the image obtained in the step 1);
3) selecting a scanning area of SS-OCT from the image obtained in the step 2) as a region of interest;
4) for the image of the region of interest, converting the image from an RGB space to an HSV space;
5) carrying out histogram equalization on the image obtained in the step 4);
6) carrying out binarization processing on the image obtained in the step 5);
7) opening the image obtained in the step 6) to remove noise points, closing the image to connect a connected domain, and screening out a guide laser point region;
8) and 7) acquiring the coordinates of the circle center of the guide laser point of the image obtained in the step 7) by using a Hough circle detection algorithm, and finishing the identification of the laser point.
2. The laser spot identification method according to claim 1, wherein the step 1) specifically comprises: first, an image with a sharp laser spot is manually selected, and then the ratio of the image is reset to be 16:9 in aspect ratio.
3. The laser spot recognition method according to claim 1, wherein after converting the image from the RGB space to the HSV space in step 4), further comprising the steps of: in the HSV space, a hue threshold range T1, a saturation threshold range T2 and a lightness range T3 for preliminary screening of the guide laser points are set according to the color characteristics of the guide laser points, and the areas of the images converted into the HSV space, of which the hue is within the range T1, the saturation is within the range T2 and the lightness is within the range T3, are screened as the preliminary guide laser points.
4. The method as claimed in claim 3, wherein in step 4), T1 is 0-180, T2 is 111-138, and T3 is 179-247.
5. The laser spot identification method according to claim 3, wherein the step 6) specifically comprises: setting pixels within a preset HSV threshold range in the image obtained in the step 5) as a foreground, and setting pixels outside the HSV threshold range as a background.
6. The laser spot identification method according to claim 5, further comprising step 9): clicking the image area of the guide laser point in the image obtained in the step 7) by a mouse to obtain the coordinate V of the area0Then V is added0And comparing the center position coordinates of the guide laser points obtained by the identification in the step 8) to verify the identification result in the step 8).
7. An SS-OCT surgical navigation system with the addition of a guiding laser light source, characterized in that it uses the laser point identification method according to any one of claims 1 to 6 to identify the laser point in the two-dimensional microscopic image of the surgical field acquired by the system.
8. The SS-OCT surgical navigation system of claim 7, comprising a surgical microscopy unit for acquiring and displaying two-dimensional microscopic images of a surgical area, an optical coherence tomography unit for acquiring OCT images of the surgical area, and a guiding laser light source for marking the scanned area.
9. The SS-OCT surgical navigation system of claim 8, wherein the surgical microscopy unit comprises an illumination source, a first objective lens, a dichroic mirror, an optical zoom module, a beam splitter, a second objective lens, a surgical microscope, and a binocular camera;
the optical coherence tomography unit comprises an OCT swept light source, a first coupler, a first circulator, a first collimating mirror, a second collimating mirror, a reflecting mirror, a balanced detector, a computer, a second coupler, a second circulator, a wavelength division multiplexer, a third collimating mirror and a two-dimensional scanning galvanometer;
the illumination light emitted by the illumination light source irradiates an operation area and is reflected, the reflected illumination light sequentially passes through the first objective lens, the dichroic mirror for transmission and the optical zoom module and then reaches the beam splitter, one part of the illumination light enters the operation microscope, and the other part of the illumination light enters the binocular camera after passing through the second objective lens, so that two-dimensional microscopic imaging of the operation area is realized;
an OCT scanning beam emitted by the OCT swept light source is divided into two paths by the first coupler, wherein one path is sample light, and the other path is reference light; the reference light sequentially passes through the first coupler, the first circulator, the first collimating mirror and the second collimating mirror, is reflected by the reflector, returns in the original path, and reaches the second coupler after passing through the first circulator; the sample light passes through the second circulator and then enters the wavelength division multiplexer together with the guide laser emitted by the guide laser light source to be converged, then passes through the third collimating mirror and then enters the two-dimensional scanning galvanometer to be deflected, and is reflected by the dichroic mirror and then focused on an operation area by the first objective lens;
sample light and a part of guide laser reflected by the operation area are collected by the first objective lens, reflected by the dichroic mirror, returned along the original path, sequentially pass through the two-dimensional scanning galvanometer, the third collimating mirror, the wavelength division multiplexer and the second circulator, reach the second coupler, interfere with reference light reaching the second coupler, are received by the balance detector and are finally output to the computer to realize OCT imaging;
the other part of the reflected laser in the operation area guides the laser to pass through the dichroic mirror after being collected by the first objective lens, the transmitted light reaches the beam splitter after passing through the optical zoom module, then one part of the transmitted light enters the operation microscope, and the other part of the transmitted light enters the binocular camera to mark the scanning area.
10. The SS-OCT surgical navigation system of claim 1, wherein a two-dimensional microscopic image of the surgical field is acquired by the surgical microscopy unit, the two-dimensional microscopic image containing laser points for marking the scanned field; and identifying the laser points in the two-dimensional microscopic image by using the laser point identification method as claimed in any one of claims 1 to 6.
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| CN113974964A (en) * | 2021-12-28 | 2022-01-28 | 广东麦特维逊医学研究发展有限公司 | Laser capsulorhexis device and working method thereof |
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