CN114098967B - Fluorescent navigation system and method with auxiliary calibration laser - Google Patents
Fluorescent navigation system and method with auxiliary calibration laser Download PDFInfo
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- CN114098967B CN114098967B CN202111455810.2A CN202111455810A CN114098967B CN 114098967 B CN114098967 B CN 114098967B CN 202111455810 A CN202111455810 A CN 202111455810A CN 114098967 B CN114098967 B CN 114098967B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000005284 excitation Effects 0.000 claims abstract description 110
- 238000005286 illumination Methods 0.000 claims abstract description 18
- 239000002872 contrast media Substances 0.000 claims abstract description 17
- 230000002596 correlated effect Effects 0.000 claims abstract description 12
- 238000003384 imaging method Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 3
- 238000002073 fluorescence micrograph Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000000799 fluorescence microscopy Methods 0.000 abstract description 12
- 239000002699 waste material Substances 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- 238000012805 post-processing Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0071—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by measuring fluorescence emission
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- 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
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
The invention discloses a fluorescence navigation method and a system with auxiliary calibration laser, which are applied to the technical field of fluorescence imaging, wherein an excitation light source alternately emits excitation light for exciting contrast agent fluorescence and auxiliary laser for illumination density calibration; wherein the excitation light and the auxiliary laser are correlated; acquiring a fluorescent signal sent by a contrast agent and a diffuse reflection light signal of auxiliary laser on a target tissue; the fluorescent signal is converted into a fluorescent image, and meanwhile, the diffuse reflection light signal is converted into excitation illumination of target tissues; and adjusting the emission parameters of the excitation light through the excitation light illuminance. According to the invention, by assisting laser, fluorescence imaging is carried out while laser illuminance information is obtained, and the laser adjustment module is controlled to make adjustment, so that the laser illuminance is unchanged, the problems of time and labor waste in calibrating the position of the traditional intraoperative navigation equipment and inconsistent front and rear images caused by the change of the intraoperative operation position are solved.
Description
Technical Field
The invention relates to the technical field of fluorescence imaging, in particular to a fluorescence navigation system and a fluorescence navigation method with auxiliary calibration laser.
Background
The near infrared fluorescence imaging technology can finish marking the target tissue under the action of the contrast agent, and the application scene is increasingly wide due to the excellent space-time resolution. Currently, all existing fluorescence imaging systems in the market adopt a design that an excitation light source is separated from an infrared camera, or the excitation light source and the infrared camera are integrated, but no excitation light automatic calibration function is provided. The incidence angle of the excitation light and the distance between the excitation light and the imaging part have great influence on the imaging effect. At present, an operator can only calibrate through a mode of manually adjusting the position of the excitation light source and the position of the camera, but even if the illumination density is changed slightly, the fluorescent image is greatly influenced, so that judgment of an operator is influenced, and meanwhile, the manual adjustment of the position of the excitation light source is time-consuming and labor-consuming, so that the operation is not facilitated.
Therefore, how to provide a near infrared fluorescence imaging system and method for automatically calibrating the laser illumination of a multi-wavelength laser is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a near infrared fluorescence imaging system and a near infrared fluorescence imaging method for automatically calibrating laser illuminance by using multi-wavelength laser, which are used for acquiring laser illuminance information while performing fluorescence imaging by using auxiliary laser and controlling a laser adjustment module to adjust so as to ensure that the laser illuminance is unchanged, thereby solving the problems of time and labor waste in calibrating the position of the navigation device in the traditional operation and inconsistent front and rear images caused by the change of the position of the operation.
In order to achieve the above object, the present invention provides the following technical solutions:
A fluorescence navigation method with auxiliary calibration laser comprises the following specific steps:
the excitation light source alternately emits excitation light for exciting contrast agent fluorescence and auxiliary laser for illumination density calibration; wherein the excitation light and the auxiliary laser are correlated;
acquiring a fluorescent signal sent by a contrast agent and a diffuse reflection light signal of auxiliary laser on a target tissue;
The fluorescent signal is converted into a fluorescent image, and meanwhile, the diffuse reflection light signal is converted into excitation illumination of target tissues;
And adjusting the emission parameters of the excitation light through the excitation light illuminance.
Preferably, in the above-mentioned fluorescence navigation method with auxiliary calibration laser, the excitation light and the auxiliary laser are related, and the auxiliary laser follows the excitation light specifically through a control circuit and a program built in the excitation light source.
Preferably, in the above-mentioned fluorescence navigation method with auxiliary calibration laser, the fluorescence signal is converted into a fluorescence image, and the gray value received by each pixel point and the position information of the pixel point are converted into a form of a picture or a video through a built-in reconstruction algorithm, and are displayed on a user interface.
Preferably, in the above-mentioned fluorescence navigation method with auxiliary calibration laser, the emission parameters of the excitation light are adjusted by obtaining the laser illumination of the excitation light source on different parts of the target tissue.
A fluorescent navigation system with auxiliary calibration laser, comprising:
An excitation light source alternately emitting excitation light for exciting fluorescence of the contrast agent and auxiliary laser light for illumination density calibration; wherein the excitation light and the auxiliary laser are correlated;
The imaging module is used for acquiring a fluorescent signal sent by the contrast agent and a diffuse reflection light signal of auxiliary laser on target tissues;
the image processing module is used for receiving the fluorescent signal and the diffuse reflection light signal sent by the imaging module, converting the fluorescent signal into a fluorescent image, and simultaneously converting the diffuse reflection light signal into excitation illuminance of a target tissue;
And the laser adjusting module is used for adjusting the emission parameters of the excitation light through the excitation light illuminance.
Preferably, in the above-mentioned fluorescent navigation system with auxiliary calibration laser, the excitation light source is built-in with a control circuit and a program for the auxiliary laser to follow the excitation light.
Preferably, in the above fluorescent navigation system with auxiliary calibration laser, the image processing module includes:
The fluorescent image unit converts the gray value received by each pixel point and the position information of the pixel point into a picture or video form;
The diffuse reflection signal unit is used for determining the mapping relation between the excitation illuminance and the auxiliary laser;
and the control unit is used for controlling the laser adjusting module to change the laser power parameter.
Preferably, in the above fluorescent navigation system with auxiliary calibration laser, the method further includes: the optical filtering component is arranged at the receiving end of the imaging module and filters the excitation light.
Compared with the prior art, the near infrared fluorescence imaging system and the near infrared fluorescence imaging method for automatically calibrating laser illuminance by using multi-wavelength laser are disclosed, laser illuminance information is acquired while fluorescence imaging is performed by using auxiliary laser, and a laser adjustment module is controlled to adjust so as to ensure that the laser illuminance is unchanged, so that the problems of time and labor waste in calibrating the position of the traditional navigation equipment in operation and inconsistent front and rear images caused by change of the position of the operation are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a system block diagram of the present invention;
In the figure: the system comprises an integrated imaging module 1, an infrared camera 2, a filter set 3, a multi-wavelength excitation light source 4, an exciter adjusting module 5 and an image processing module 6.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention discloses a fluorescence navigation method with auxiliary calibration laser, as shown in fig. 1, comprising the following specific steps:
the excitation light source alternately emits excitation light for exciting contrast agent fluorescence and auxiliary laser for illumination density calibration; wherein the excitation light and the auxiliary laser are correlated;
acquiring a fluorescent signal sent by a contrast agent and a diffuse reflection light signal of auxiliary laser on a target tissue;
The fluorescent signal is converted into a fluorescent image, and meanwhile, the diffuse reflection light signal is converted into excitation illumination of target tissues;
And adjusting the emission parameters of the excitation light through the excitation light illuminance.
In order to further optimize the technical scheme, the excitation light and the auxiliary laser are related, and the auxiliary laser follows the excitation light specifically through an excitation light source built-in control circuit and a program.
Specifically, the emission parameters of the auxiliary laser and the excitation light are controlled by the built-in control circuit to emit the auxiliary laser, so that the auxiliary laser is ensured to follow the excitation light, and the power of the excitation light can be obtained through the power of the auxiliary laser.
In order to further optimize the technical scheme, the fluorescent signals are converted into fluorescent images, the gray value received by each pixel point and the position information of the pixel point are converted into a picture or video form through a built-in reconstruction algorithm, and the picture or video form is displayed on a user interface.
Specifically, the fluorescence signal is obtained by an infrared camera;
Further, infrared camera signal→fluorescent image: the infrared camera has a special photosensitive CCD capable of sensing 900-1700 nm wave band, when fluorescent signals are irradiated on the CCD, each effective pixel point of the CCD can convert optical signals into an electric signal, a CCD control chip controls current generated by a photodiode by utilizing a control signal circuit in a photosensitive element, the current is output by a current transmission circuit, and the CCD can collect electric signals generated by primary imaging and uniformly output the electric signals to an amplifier. The amplified and filtered electrical signal is sent to an a/D, which converts the electrical signal (in this case an analog signal) to a digital signal, the magnitude of which is proportional to the strength of the electrical signal.
The digital signal at this time will also be output to a Digital Signal Processor (DSP). In the DSP, these image data are subjected to a series of corrections and post-processing, and finally converted into a data file containing time axis information, pixel gray values, and pixel position information, and reconstructed into gray images by a reconstruction program, which are presented on a user interface.
In order to further optimize the technical scheme, the emission parameters of the excitation light are adjusted by acquiring the laser illumination of the excitation light source on different parts of the target tissue.
Specifically, since the diffuse reflection signal is derived from the auxiliary excitation light and is correlated with the laser intensity, the stronger the diffuse reflection signal, the stronger the excitation light illuminance.
Further, at first, when the distance between the excitation light source and the target tissue is fixed, the larger the laser power is, the larger the excitation illuminance is, and conversely, the smaller the excitation illuminance is;
when the excitation light power remains unchanged and the distance between the excitation light source and the target tissue becomes larger, the excitation light illumination becomes smaller, whereas when the distance becomes smaller, the excitation light illumination becomes larger.
In addition, since the target tissue may be an irregular cross section, the angular deviation of the excitation light source also affects the excitation light illuminance, so that the excitation light illuminance at different positions is kept consistent, and a proper fluorescence image is obtained.
A fluorescent navigation system with auxiliary calibration laser, as shown in fig. 2, comprising:
An excitation light source alternately emitting excitation light for exciting fluorescence of the contrast agent and auxiliary laser light for illumination density calibration; wherein the excitation light and the auxiliary laser are correlated;
The imaging module is used for acquiring a fluorescent signal sent by the contrast agent and a diffuse reflection light signal of auxiliary laser on target tissues;
the image processing module is used for receiving the fluorescent signal and the diffuse reflection light signal sent by the imaging module, converting the fluorescent signal into a fluorescent image, and simultaneously converting the diffuse reflection light signal into excitation illuminance of a target tissue;
And the laser adjusting module is used for adjusting the emission parameters of the excitation light through the excitation light illuminance.
Specifically, the multi-wavelength excitation light source 4 is used for emitting excitation light for exciting contrast agent fluorescence and auxiliary laser for illumination density calibration;
An infrared camera 2 for capturing fluorescent signals emitted by the contrast agent and diffuse reflection light signals of the auxiliary laser on the target tissue, and transmitting the signals to an image processing module;
the optical filter set 3 is used for filtering excitation light and selecting a band interval of interest for imaging;
The image processing module 5 is used for converting the fluorescent signal transmitted by the infrared camera into a fluorescent image, converting the auxiliary diffuse reflection light signal transmitted by the infrared camera into the excitation illuminance of the target tissue, automatically optimizing and calculating when the parameters are changed, and controlling the laser adjusting module to keep the excitation light power density unchanged;
and the laser adjusting module 6 controls the emission and intensity of the excitation light.
In the multi-wavelength excitation light source, excitation light is 808nm laser, and auxiliary light is 1500nm laser; the excitation processes of different excitation lights in the multi-wavelength excitation light source are coupled through a program, and the power is positively correlated;
in order to further optimize the technical scheme, a control circuit and a program are arranged in the excitation light source and used for the auxiliary laser to follow the excitation light.
In order to further optimize the above technical solution, the image processing module includes:
The fluorescent image unit converts the gray value received by each pixel point and the position information of the pixel point into a picture or video form;
The diffuse reflection signal unit is used for determining the mapping relation between the excitation illuminance and the auxiliary laser;
and the control unit is used for controlling the laser adjusting module to change the laser power parameter.
The excitation illuminance is monitored by a control unit to adaptively adjust the laser power parameters.
In order to further optimize the technical scheme, the method further comprises the following steps: the optical filter assembly is arranged at the receiving end of the imaging module and filters the excitation light, and the optical filter set comprises a 900nm long-pass optical filter.
The specific using steps are that the integrated imaging module 1 is aligned to the target tissue and is adjusted to a proper position for starting up, the automatic adjusting function is started,
The multi-wavelength excitation light source alternately emits excitation light and auxiliary laser in a certain time window, wherein the auxiliary laser and the excitation light power are related;
the infrared camera captures fluorescent signals of target tissues and diffuse reflection light signals of auxiliary lasers, and transmits the signals to the image processing module;
The image processing module reconstructs a fluorescent image according to the collected fluorescent signals, calculates laser illuminance according to the diffuse reflection light signals of the auxiliary laser and controls the laser power adjusting module to make real-time adjustment so as to ensure that the laser illuminance is unchanged.
In the embodiment of the invention, the laser emission mode in the multi-wavelength excitation light source is that the excitation light emits for 100ms every 20ms, the auxiliary laser emits for 20ms every 100ms, and the two wavelengths emit alternately;
In the embodiment of the invention, the infrared camera acquires 100ms signals at intervals of 20ms to be used as fluorescent signals, and acquires 20ms signals at intervals of 100ms to be used as auxiliary laser diffuse reflection signals;
In the embodiment of the invention, after the image processing module receives the diffuse reflection signal and calculates the diffuse reflection signal through an algorithm, the calculated excitation power density is displayed on a user interface.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The fluorescence navigation method with the auxiliary calibration laser is characterized by comprising the following specific steps of:
the excitation light source alternately emits excitation light for exciting contrast agent fluorescence and auxiliary laser for illumination density calibration; wherein, the excitation light and the auxiliary laser are correlated, and the power is positively correlated;
acquiring a fluorescent signal sent by a contrast agent and a diffuse reflection light signal of auxiliary laser on a target tissue;
The fluorescent signal is converted into a fluorescent image, and meanwhile, the diffuse reflection light signal is converted into excitation illumination of target tissues;
and adjusting the emission parameters of the excitation light by the excitation light illuminance, and adjusting the emission parameters of the excitation light by acquiring the laser illuminance of the excitation light source to different parts of the target tissue.
2. The method of claim 1, wherein the excitation light and the auxiliary laser are correlated, and wherein the auxiliary laser follows the excitation light by an excitation light source built-in control circuit and program.
3. The fluorescence navigation method with auxiliary calibration laser according to claim 1, wherein the fluorescence signal is converted into a fluorescence image, and the gray value received by each pixel and the position information of the pixel are converted into a form of a picture or a video through a built-in reconstruction algorithm, and are displayed on a user interface.
4. A fluorescent navigation system with auxiliary calibration laser light, comprising:
An excitation light source alternately emitting excitation light for exciting fluorescence of the contrast agent and auxiliary laser light for illumination density calibration; wherein, the excitation light and the auxiliary laser are correlated, and the power is positively correlated;
The imaging module is used for acquiring a fluorescent signal sent by the contrast agent and a diffuse reflection light signal of auxiliary laser on target tissues;
The image processing module is used for receiving the fluorescent signal and the diffuse reflection light signal sent by the imaging module, converting the fluorescent signal into a fluorescent image, converting the diffuse reflection light signal into excitation illuminance of target tissues, and controlling laser power parameters; the image processing module includes:
The fluorescent image unit converts the gray value received by each pixel point and the position information of the pixel point into a picture or video form;
The diffuse reflection signal unit is used for determining the mapping relation between the excitation illuminance and the auxiliary laser;
the control unit is used for controlling the laser adjusting module to change the laser power parameters;
And the laser adjusting module is used for adjusting the emission parameters of the excitation light through the excitation light illuminance.
5. The fluorescent navigation system of claim 4, wherein the excitation light source houses control circuitry and programming for the auxiliary laser to follow the excitation light.
6. A fluorescent navigation system with auxiliary calibration laser as defined in claim 4, further comprising: the optical filtering component is arranged at the receiving end of the imaging module and filters the excitation light.
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| CN109758094A (en) * | 2019-01-31 | 2019-05-17 | 广东欧谱曼迪科技有限公司 | A kind of focusing feedback-type fluorescence navigation endoscopic system and image are from processing method |
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| JP2004024496A (en) * | 2002-06-25 | 2004-01-29 | Fuji Photo Film Co Ltd | Method and apparatus for forming fluorescent diagnostic image |
| JP4954699B2 (en) * | 2006-12-28 | 2012-06-20 | オリンパス株式会社 | Fluorescence endoscope system |
| FR3036187B1 (en) * | 2015-05-12 | 2019-09-13 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | METHOD OF CORRECTING A FLUORESCENCE IMAGE |
| CN108577791B (en) * | 2018-05-16 | 2020-05-12 | 广东欧谱曼迪科技有限公司 | Fluorescence navigation endoscope system and method for enhancing fluorescence imaging sensitivity thereof |
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| CN109758094A (en) * | 2019-01-31 | 2019-05-17 | 广东欧谱曼迪科技有限公司 | A kind of focusing feedback-type fluorescence navigation endoscopic system and image are from processing method |
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