CN113288015A - Blood flow and endogenous signal multimode endoscopic imaging system - Google Patents

Blood flow and endogenous signal multimode endoscopic imaging system Download PDF

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CN113288015A
CN113288015A CN202110354519.XA CN202110354519A CN113288015A CN 113288015 A CN113288015 A CN 113288015A CN 202110354519 A CN202110354519 A CN 202110354519A CN 113288015 A CN113288015 A CN 113288015A
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light source
light
endoscope
controller
blood flow
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李韪韬
宁雪
钱志余
姚柳叶
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • A61B1/00071—Insertion part of the endoscope body
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Abstract

The invention discloses a blood flow and endogenous signal multi-modal endoscopic imaging system, which comprises: switch, portable light source case, controller, computer, CCD camera, electronic filter wheel, collimating mirror, endoscope, eyepiece, focusing part, hose, cephalic region, washing passageway interface, apparatus passageway interface, light source interface, light path adjusting device, probe adjust knob, little lens, biography light optic fibre, biography image optic fibre, washing passageway, apparatus passageway and light filter. The invention integrates the laser and cold source light to form a portable light source box, realizes the portability of the light source, and simultaneously realizes the automatic switching of the light source by controlling the time sequence of the light source box and the electric filter wheel through the controller; the detection of the blood flow and the optical parameters in the cavity is realized by combining the multispectral imaging, the laser speckle imaging and the endoscope; the invention adds the rotatable functions of the instrument channel, the washing channel and the probe, and brings convenience to the clinical endoscopic surgery.

Description

Blood flow and endogenous signal multimode endoscopic imaging system
Technical Field
The invention relates to the technical field of cavity endoscopy, in particular to a blood flow and endogenous signal multi-modal endoscopic imaging system.
Background
Blood is the source of human life, the change of blood in human body can accurately reflect the health state, disease types and properties of human body, and blood flow monitoring is an index for researching blood characteristics; blood oxygen refers to oxygen in blood, reflects the metabolic condition of a human body, and optical parameters (cytochrome c, cytochrome oxidase, FAD and scattering) except blood oxygen are also relevant indexes for monitoring human diseases, so that multi-parameter monitoring is provided for the diseases. Therefore, the blood flow and endogenous signal multi-modal endoscopic imaging system is designed to have important significance for monitoring blood flow and optical parameters.
Disclosure of Invention
The invention aims to provide a blood flow and endogenous signal multi-modal endoscopic imaging system which is reasonable in structure, advanced in structure and simple and convenient to operate, realizes portability of a light source and rotatability of a probe, and simultaneously realizes adjustment of the intensity of the light source.
In order to solve the above technical problem, the present invention provides a blood flow and endogenous signal multi-modal endoscopic imaging system, comprising: the device comprises a switch 1, a portable light source box 2, a controller 3, a computer 4, a CCD camera 5, an electric filter wheel 6, a collimating mirror 7, an endoscope 8, an ocular 9, a focusing part 10, a hose 11, a head end part 12, a water washing channel interface 13, an instrument channel interface 14, a light source interface 15, a light path adjusting device 16, a probe adjusting knob 17, a small lens 18, a light transmitting optical fiber 19, an image transmitting optical fiber 20, a water washing channel 21, an instrument channel 22 and an optical filter 26; a light source interface 15 at the upper part of the endoscope 8 is connected with the portable light source box 2 to provide a light source for the system; the light source interface 15 is provided with a light path adjusting device 16, so that the intensity of a light source entering the endoscope is optimal; the opposite surface of the light source interface 15 is a water washing channel interface 13 and an instrument channel interface 14 which are respectively connected with a water washing channel 21 and an instrument channel 22; the middle part of the endoscope 8 is provided with a probe adjusting knob 17 which comprises five knobs for adjusting and fixing the direction; the middle lower hose 11 of the endoscope 8 comprises an image transmission optical fiber 20 and a light transmission optical fiber 19 for measurement and imaging; the lower focusing section 10 of the endoscope 8 adjusts the image observed in the eyepiece 9 at the proximal end to be clear; the head end 12 of the endoscope 8 is provided with small lenses 18 for focal length adjustment; the electric filter wheel 6 is connected with the upper part of the endoscope 8, and a collimating mirror 7 is arranged between the electric filter wheel and the endoscope for light path collimation; seven holes are formed in the electric filter wheel 6, wherein filters 26 with different wavelengths are placed in six holes, the seventh hole is a blank hole and is connected with the controller 3 through a USB, and the controller 3 controls the switching and the rotating speed of the pore channels of the electric filter wheel 6; the controller 3 is respectively connected with the switch 1 and the portable light source box 2; the electric filter wheel 6 is connected with the CCD camera 5 to complete the collection of pictures, and then transmitted to the computer 4, and the blood flow and the optical parameters are analyzed and processed by the blood flow analysis module and the optical parameter analysis module.
Preferably, the portable light source box 2 comprises a laser 23 and a cold source light 24, a baffle 25 is arranged in the portable light source box for switching light sources, the baffle 25 and the switch 1 are connected with the controller 3 through a USB, and the controller light source switch and the baffle 25 switch light source channels.
Preferably, the laser 23 is a 632.8nm He-Ne laser.
Preferably, the controller 3 includes a power supply 27, an upper computer 28, a driver 29 and a CPU 30; the CPU30 is the core of the controller, the interface of the upper computer 28 is connected with the computer 4, and the computer communication is completed; the driver 29 comprises three modules which respectively control the power supply 27, the electric filter road wheel 6 and the baffle 25, the power supply 27 is connected with the switch 1 to control the portable light source box 2, and the controller 3 controls the switching of the electric filter road wheel 6 and the baffle 25 according to a specified time sequence, so that the automatic switching of two channels is realized, and the automation of blood flow and optical parameter acquisition is completed.
Preferably, the optical path adjusting device 16 includes a semi-transparent mirror 31, a reflective mirror 32, a first attenuator 33, a second attenuator 34, a light coupler 35 and a beam expander 36, after the light source enters, the light source firstly passes through the first semi-transparent mirror 31, if the light source is cold source light, the light source can pass through the semi-lens 31, and then the light source enters the endoscope 8 through the first attenuator 33, the light coupler 35 and the second semi-transparent mirror; if the laser can not pass through the first semi-transparent mirror 31, the light source is reflected to the first reflective mirror 32, then reflected into parallel light, passes through the second attenuator 34 and the beam expander 36 in sequence, and then passes through the second reflective mirror and the second semi-transparent mirror to output the light source to the endoscope, so that the intensity of the light source is adjusted to be optimal.
Preferably, the inner aperture of the water washing channel 21 is 1.2mm, the inner aperture of the instrument channel 22 is 1.5mm, and the diameters of the light transmitting optical fiber 19 and the image transmitting optical fiber 20 are 1.3 mm.
Preferably, the filter 26 selects six wavelengths of filters of 450nm, 470nm, 500nm, 550nm, 570nm, and 600 nm.
The invention has the beneficial effects that: the invention integrates the laser and cold source light to form a portable light source box, realizes the portability of the light source, and simultaneously realizes the automatic switching of the light source by controlling the time sequence of the light source box and the electric filter wheel through the controller; the detection of the blood flow and the optical parameters in the cavity is realized by combining the multispectral imaging, the laser speckle imaging and the endoscope; the invention adds the rotatable functions of the instrument channel, the washing channel and the probe, and brings convenience to the clinical endoscopic surgery.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a sectional view of the front end of the endoscope of the present invention.
FIG. 3 is a schematic view of the internal structure of the electric filter wheel according to the present invention.
FIG. 4 is a schematic view of a portable light box according to the present invention.
FIG. 5 is a timing diagram of an electromotive filter wheel according to the present invention.
FIG. 6 is a schematic diagram of the internal structure of the controller according to the present invention.
Fig. 7 is a schematic view of the internal structure of the optical path adjusting device according to the present invention.
Fig. 8 is an endoscopic laser speckle imaging image.
Fig. 9 is an endoscopic multispectral imaging image.
FIG. 10 is a graph of the change in concentration of six chromophores 20min after drug injection versus prior to drug injection in accordance with the invention.
Detailed Description
As shown in fig. 1, a system for multimodality endoscopic imaging of blood flow and endogenous signals includes: the device comprises a switch 1, a portable light source box 2, a controller 3, a computer 4, a CCD camera 5, an electric filter wheel 6, a collimating mirror 7, an endoscope 8, an ocular 9, a focusing part 10, a hose 11, a head end part 12, a water washing channel interface 13, an instrument channel interface 14, a light source interface 15, a light path adjusting device 16, a probe adjusting knob 17, a small lens 18, a light transmitting optical fiber 19, an image transmitting optical fiber 20, a water washing channel 21, an instrument channel 22 and an optical filter 26; a light source interface 15 at the upper part of the endoscope 8 is connected with the portable light source box 2 to provide a light source for the system; the light source interface 15 is provided with a light path adjusting device 16, so that the intensity of a light source entering the endoscope is optimal; the opposite surface of the light source interface 15 is a water washing channel interface 13 and an instrument channel interface 14 which are respectively connected with a water washing channel 21 and an instrument channel 22; the middle part of the endoscope 8 is provided with a probe adjusting knob 17 which comprises five knobs for adjusting and fixing the direction; the middle lower hose 11 of the endoscope 8 comprises an image transmission optical fiber 20 and a light transmission optical fiber 19 for measurement and imaging; the lower focusing section 10 of the endoscope 8 adjusts the image observed in the eyepiece 9 at the proximal end to be clear; the head end 12 of the endoscope 8 is provided with small lenses 18 for focal length adjustment; the electric filter wheel 6 is connected with the upper part of the endoscope 8, and a collimating mirror 7 is arranged between the electric filter wheel and the endoscope for light path collimation; seven holes are formed in the electric filter wheel 6, wherein filters 26 with different wavelengths are placed in six holes, the seventh hole is a blank hole and is connected with the controller 3 through a USB, and the controller 3 controls the switching and the rotating speed of the pore channels of the electric filter wheel 6; the controller 3 is respectively connected with the switch 1 and the portable light source box 2; the electric filter wheel 6 is connected with the CCD camera 5 to complete the collection of pictures, and then transmitted to the computer 4, and the blood flow and the optical parameters are analyzed and processed by the blood flow analysis module and the optical parameter analysis module.
The tip portion 12 of the endoscope 8 is inserted into the intraluminal tissue to be measured. The controller 3 controls the shutter 25 to select the light source that provides light to the tissue to be measured through the light transmitting fiber 19 of the endoscope 8. The image observed through the eyepiece 9 at the proximal end is adjusted to be clear by the focusing unit 10 and the probe adjustment knob 17. The adjusted image is transmitted by the image transmission optical fiber 20, the controller 3 selects a group of optical filters 26 corresponding to the light source, the light source is transmitted to the computer 4 by the CCD camera 5, and the computer 4 analyzes and processes the optical parameters and blood flow data by the optical parameter image analysis module and the blood flow image analysis module, so that the collection and analysis processing of blood flow and optical parameters are realized, and the detection automation of the blood flow and optical parameters is completed.
The invention fully considers the absorption and scattering effects of absorption chromogens such as hemoglobin, cytochrome enzyme and the like in biological tissues on light, and finally selects the optical filter with six wavelengths of 450nm, 470nm, 500nm, 550nm, 570nm and 600 nm.
The invention adopts Olympus cold source light 24, the power is as high as 100W, the noise is low, the heating is low, and the double-tube hard optical fiber is adopted for irradiation, so that the real-time positioning can be realized, the irradiation area can be increased, and the light uniformity can be improved.
The invention adopts a high-performance detector CCD camera 5, which simultaneously meets the wavelength acquisition imaging range required by two systems, and realizes the same-view field acquisition.
The image processing and analyzing module can realize data processing and analysis while acquiring data, and timely optimize experiments according to experiment results and actual requirements.
The blood flow collection by laser speckle specifically comprises the following steps: the blood of the human body is always in a moving state, light and shade staggered light spots can be formed after laser irradiation, and the relative blood flow velocity can be calculated through the light spots. How to combine laser speckle with blood flow velocity is solved by contrast value, which is the ratio of light intensity fluctuation to the average value of light intensity.
Figure BDA0003003199860000041
Wherein sigmaiThe value of the fluctuation of the light intensity is represented,<I>the average value of the light intensity is shown, K is the size of the contrast value, the contrast value is 1, the scattering particles are static, the speckle pattern fully evolves under an ideal state, the contrast value is 1, but the actual situation is that the laser is not completely coherent, and the contrast value isThe contrast value is smaller than 1, the contrast value of the blood flow of the living tissue is between 0 and 1, the smaller the contrast value is, the faster the scattering particles move, namely the blood flow velocity is, and if the contrast value is 0, the scattering particles move very fast, so that the speckle pattern tends to be averaged.
By the principle of the image sensor, assume that the intensity of light detected at any time t is ItThen the light intensity integration over the T period is:
Figure BDA0003003199860000042
the second order integral of the light intensity is:
Figure BDA0003003199860000043
Figure BDA0003003199860000051
autocorrelation function of light intensity:
Figure BDA0003003199860000052
autocorrelation function of electric field:
Figure BDA0003003199860000053
the relationship between the two is as follows:
g1(τ)＝1+β[g2(τ)]2 (7)
from equations (6) and (7), it follows:
Figure BDA0003003199860000056
wherein beta is a system factor which is related to parameters such as speckle size, light source coherence and the like, and is always more than or equal to 1. Thus, β is generally assumed to be constant 1 when analyzing the flow rate.
According to the theorem of the Lorentz flow velocity distribution, the following can be obtained:
g2(t)＝exp(-t/τ) (9)
combining equation (8) and equation (9), equation (10) can be obtained:
Figure BDA0003003199860000054
where x is related to the exposure time T and the electric field decorrelation time taucCorrelation, can be expressed as
Figure BDA0003003199860000055
Electric field decorrelation time taucIs inversely proportional to blood flow velocity, and thus obtaining the ratio of the liner value determines x, and thus τcThen, the relative value of the blood flow velocity v can be obtained.
The endogenous light signal algorithm is specifically as follows: the theoretical basis is lambert beer's law, which describes the relationship between the light intensity change after light with a certain wavelength passes through a certain substance and the concentration and optical path of the substance, and the formula is as follows:
A＝log(Ii/Io)＝εcL (11)
wherein IiAnd I0The intensity of incident light and reflected light,. epsilon.is the molar extinction coefficient,. epsilon.is the substance concentration,. L is the optical path difference, and the change in intensity of light after passing through the tissue is represented by absorbance A.
Then, a certain time is selected as a reference, namely, the time 0, and the absorbance at the time 0 is:
A0＝log(Ii0/Io0)＝εc0L (12)
the absorbance at time t is:
At＝log(Iit/Iot)＝εctL (13)
the difference in absorbance at two times is then:
Figure BDA0003003199860000061
during the experiment, the intensity of the incident light was constant, i.e. Iit＝Ii0Then equation (14) can be simplified to:
ΔA＝log(R0/Rt)＝εΔcL (15)
R0light intensity, R, measured at baseline timetThe penetration depth in the tissue is different for the light intensity measured at time t due to the diversity of light absorbing substances in the human body and the wavelength of light, thus obtaining formula (16):
ΔA＝∑εi(λ)ΔciDa(λ) (16)
wherein epsiloni(lambda) is the molar extinction coefficient, Δ c, of a substance at a certain wavelengthiIs the change in concentration of a substance, Da(λ) is expressed as a differential path factor, which is wavelength dependent.
Taking into account the scattering effect of the tissue. Equation (16) is therefore supplemented by:
ΔA＝∑εi(λ)ΔciDa(λ)+μ′(s)ΔsDs(λ) (17)
for ease of calculation, tissue scatter is visualized as a pseudo-color blob, then μ'(s) is called the reduced scatter coefficient, Δ s characterizes the change in scatter, Ds(λ) is the differential path factor. The above formula is a modified Lambertian law, and the concentration changes of the 6 chromophores can be calculated by the above formula.
As shown in fig. 2, the endoscope probe structure is composed of four light transmitting optical fibers, one image transmitting optical fiber, an instrument channel and a washing channel. The inside of the hose is illuminated by optical fiber light transmission, and the front end of the lens is provided with four light outlets, so that an even and sufficient light source is provided for experiments.
As shown in fig. 3, which is a schematic view of the interior of the electric filter wheel 6 from above, seven holes are formed in the filter wheel, wherein six filters 26 with different wavelengths are placed, and one of the holes is a blank hole. The blank hole without the optical filter and the laser 23 in the portable light source box 2 are a first channel light path, and the optical filters with six different wavelengths form a group and form a second channel light path with the cold source light 24 in the portable light source box 2.
The invention adopts the electric filter wheel 6, has convenient operation and flexible control, can freely set rotating speed and angle according to requirements, effectively avoids experimental error caused by manual rotation, simultaneously ensures parallel collimation of a light path by placing the CCD camera and the endoscope 8, and avoids frequent focusing process brought to an optical lens cone by the refraction action of the optical filter.
As shown in fig. 4, the internal structure of the portable light source box 2 is composed of two light sources, i.e., a laser 23 and a cold source light 24, and two light sources, i.e., a large-sized and independent light source, are integrated into a portable integrated light source box. A baffle 25 is arranged in the portable light source box 2, and the light source is switched by the controller 3.
As shown in fig. 5, for a schematic control timing diagram, a control timing consists of an acquisition period 1 and an acquisition period 2 to form a complete period, the light source in the acquisition period 1 selects cold source light, and the electric filter wheel switches six wavelengths to complete the acquisition of the internal source light signal. The first collection cycle 1 is completed, the collection cycle 2 selects a laser light source, and the electric filter wheel is switched to a blank hole to collect the laser speckle blood flow information. And continuously circulating the complete period.
As shown in fig. 6, it is a schematic diagram of the controller 3, in which the power supply 27 is connected to a switch to control the light source, the CPU30 is the core of the controller, the interface of the upper computer 28 is connected to the computer 4 to realize computer communication, the driver 29 is divided into three small modules to control the power supply 27, the electric filter wheel 6 and the baffle 25, the switching time of the electric filter wheel 6 is synchronized with the switching time of the baffle, and alternate and non-overlapping irradiation between two acquisition channels is realized.
As shown in fig. 7, which is a schematic diagram of the optical path adjusting device 16, after entering, the light source first passes through the first semi-transparent mirror 31, if the light source is cold source light, the light source may pass through the first semi-transparent mirror 31, and then pass through the first attenuator 33, the light coupler 35, and the semi-transparent mirror, and the light source enters the endoscope 8, if the laser light cannot pass through the first semi-transparent mirror 31, the light source reflects to the first reflective mirror 32, and then reflects into parallel light, and then passes through the second attenuator 34, the beam expander 36, and then the second reflective mirror, and the second semi-transparent mirror in sequence to output the light source to the endoscope. The adjustment of the light source intensity is realized, and the over-strong light intensity is avoided.
As shown in fig. 8, (a) is a mouse ear structure image, (b) is a mouse ear white light image, (c) is a mouse ear laser speckle image, a speckle pattern is seen in a blood vessel region, and (d) is a mouse ear blood flow image, a region with higher brightness represents faster blood flow speed, that is, a higher colorbar value represents faster blood flow speed. Fig. 9 is a six wavelength raw image taken by the multi-spectral rendering system. FIG. 10 is a graph of the concentration change of six chromophores 20min after drug injection relative to the concentration change of the six chromophores before drug injection, and the concentration change of the various chromophores is obtained according to an algorithm formula of multispectral imaging. The effectiveness and the accuracy of the blood flow and endogenous signal multi-modal endoscopic imaging system are verified by endoscopic laser speckle imaging and multi-spectral imaging results.

Claims (7)

1. A blood flow and endogenous signal multi-modal endoscopic imaging system, comprising: the device comprises a switch (1), a portable light source box (2), a controller (3), a computer (4), a CCD camera (5), an electric filter wheel (6), a collimating mirror (7), an endoscope (8), an eyepiece (9), a focusing part (10), a hose (11), a head end part (12), a washing channel interface (13), an instrument channel interface (14), a light source interface (15), a light path adjusting device (16), a probe adjusting knob (17), small lenses (18), light transmitting optical fibers (19), image transmitting optical fibers (20), a washing channel (21), an instrument channel (22) and an optical filter (26); a light source interface (15) at the upper part of the endoscope (8) is connected with the portable light source box (2) to provide a light source for the system; the light source interface (15) is provided with a light path adjusting device (16) to ensure that the intensity of a light source entering the endoscope is optimal; a washing channel interface (13) and an instrument channel interface (14) are arranged opposite to the light source interface (15) and are respectively connected with the washing channel (21) and the instrument channel (22); the middle part of the endoscope (8) is provided with a probe adjusting knob (17) which comprises five knobs for adjusting and fixing the direction; the middle lower part hose (11) of the endoscope (8) comprises an image transmission optical fiber (20) and a light transmission optical fiber (19) for measurement and imaging; a lower focusing part (10) of the endoscope (8) adjusts an image observed in an eyepiece (9) at the near end to be clear; the head end (12) of the endoscope (8) is provided with small lenses (18) for focal length adjustment; the electric filter wheel (6) is connected with the upper part of the endoscope (8), and a collimating mirror (7) is arranged between the electric filter wheel and the endoscope for light path collimation; seven holes are formed in the electric filter wheel (6), filters (26) with different wavelengths are placed in the six holes, the seventh hole is a blank hole and is connected with the controller (3) through a USB, and the controller (3) controls the switching and the rotating speed of the pore channels of the electric filter wheel (6); the controller (3) is respectively connected with the switch (1) and the portable light source box (2); the electric filter wheel (6) is connected with the CCD camera (5) to complete the collection of pictures, and then the pictures are transmitted to the computer (4), and the blood flow and the optical parameters are analyzed and processed through the blood flow analysis module and the optical parameter analysis module.
2. The system for multi-modal endoscopic imaging of blood flow and endogenous signals according to claim 1, wherein the portable light source box (2) comprises a laser (23) and a cold source light (24), a baffle (25) is arranged in the portable light source box for switching the light source, the baffle (25) and the switch (1) are connected with the controller (3) through a USB, and the controller light source switch and the baffle (25) switch the light source channel.
3. The system according to claim 2, wherein the laser (23) is a 632.8nm He-Ne laser.
4. The system according to claim 1, wherein the controller (3) comprises a power supply (27), an upper computer (28), a driver (29) and a CPU (30); the CPU (30) is the core of the controller, and the interface of the upper computer (28) is connected with the computer (4) to complete the computer communication; the driver (29) comprises three modules which respectively control the power supply (27), the electric filter road wheel (6) and the baffle (25), the power supply (27) is connected with the switch (1) to control the portable light source box (2), and the controller (3) controls the switching of the electric filter road wheel (6) and the baffle (25) according to a specified time sequence, so that the automatic switching of two channels is realized, and the automation of blood flow and optical parameter acquisition is completed.
5. The system according to claim 1, wherein the optical path adjusting device (16) comprises a semi-transparent mirror (31), a reflective mirror (32), a first attenuator (33), a second attenuator (34), a light coupler (35) and a beam expander (36); after entering, the light source firstly passes through the first half-lens (31), and if the light source is cold source light, the light source can pass through the half-lens (31) and then enters the endoscope (8) through the first attenuator (33), the light coupler (35) and the second half-lens; if the laser can not pass through the first semi-transparent mirror (31), the light source reflects to the first reflective mirror (32) and then reflects into parallel light, the parallel light sequentially passes through the second attenuator (34) and the beam expander (36), and then passes through the second reflective mirror and the second semi-transparent mirror to output the light source to the endoscope, and the intensity of the light source is adjusted to be optimal.
6. The system according to claim 1, wherein the inner bore diameter of the washing channel (21) is 1.2mm, the inner bore diameter of the instrument channel (22) is 1.5mm, and the diameters of the light transmitting fiber (19) and the image transmitting fiber (20) are 1.3 mm.
7. The system according to claim 1, wherein the filter (26) selects six filters with wavelengths of 450nm, 470nm, 500nm, 550nm, 570nm and 600 nm.
CN202110354519.XA 2021-04-01 2021-04-01 Blood flow and endogenous signal multimode endoscopic imaging system Pending CN113288015A (en)

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CN118068557A (en) * 2024-04-19 2024-05-24 上海宇度医学科技股份有限公司 Light source device capable of eliminating uneven brightness for endoscope

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Application publication date: 20210824