CN114288020A - Visible light illumination and near-infrared fluorescence operation navigation system based on shadowless lamp - Google Patents
Visible light illumination and near-infrared fluorescence operation navigation system based on shadowless lamp Download PDFInfo
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Abstract
本发明公开了一种基于无影灯的可见光照明和近红外荧光手术导航系统。本发明基于LED无影灯，高亮度近红外荧光探针，近红外宏观成像系统。该系统通过使用LED无影灯，在提供术者可见光照明的同时，避免近红外波段背景光淹没荧光信号，使用高亮度的近红外荧光探针实现无影灯激发荧光，使用高灵敏度、低噪声近红外相机获取高信号背景比的荧光图像，使用显示装置实时显示近红外荧光图像，实现手术导航。本发明避免了像其他近红外荧光手术导航系统一样使用额外光源作为激发光，避免了对眼睛的可能的损害，简化了照明的结构并降低了成本。本发明性能可靠，使用简单，在导航手术中具有广阔的前景。
The invention discloses a visible light illumination and near-infrared fluorescence surgical navigation system based on a shadowless lamp. The invention is based on an LED shadowless lamp, a high-brightness near-infrared fluorescent probe, and a near-infrared macroscopic imaging system. By using an LED shadowless lamp, the system provides the operator with visible light illumination while avoiding the background light in the near-infrared band from drowning the fluorescent signal. It uses a high-brightness near-infrared fluorescent probe to realize the shadowless lamp to excite the fluorescence, and uses a high-sensitivity, low-noise near-infrared camera for acquisition. Fluorescence images with high signal-to-background ratios are used to display near-infrared fluorescence images in real time using a display device to achieve surgical navigation. The invention avoids using an extra light source as excitation light like other near-infrared fluorescent surgical navigation systems, avoids possible damage to the eyes, simplifies the structure of illumination and reduces costs. The invention has reliable performance and simple use, and has broad prospects in the navigation operation.
Description
技术领域technical field
本发明涉及荧光成像与手术导航技术领域，尤其涉及一种使用无影灯的可见光照明和近红外荧光手术导航系统。The invention relates to the technical field of fluorescence imaging and surgical navigation, in particular to a visible light illumination and near-infrared fluorescent surgical navigation system using a shadowless lamp.
背景技术Background technique
近红外荧光成像集合了高空间分辨率，高信号背景比，可特异性标记，大成像深度等优点，已应用于血管成像、肿瘤/炎症标记、空腔器官造影等场景，可为手术导航提供便捷的观测手段。在宏观成像中，一般需要使用激发光和扩束装置构成激发光路以提供较大的激发光功率密度，并使用镜头、滤光片、相机等设备构成成像光路。Near-infrared fluorescence imaging combines the advantages of high spatial resolution, high signal-to-background ratio, specific labeling, and large imaging depth. A convenient means of observation. In macroscopic imaging, it is generally necessary to use excitation light and beam expanders to form the excitation light path to provide a large excitation light power density, and use lenses, filters, cameras and other equipment to form the imaging light path.
近红外二区是指波长位于900-1880nm的波段，相对于可见光，近红外二区光在组织中具有更低的散射。并且，选择组织吸收较大的波段(比如1450nm附近)用于荧光探测有助于进一步提高弹道光占荧光信号的比例，有利于深层组织的清晰成像。此外，选择长探测波长可以减少生物体自发荧光信号，有助于获得良好的信号背景比。The second region of near-infrared refers to the wavelength band of 900-1880 nm. Compared with visible light, the light of the second region of near-infrared has lower scattering in tissues. Moreover, selecting a wavelength band with greater tissue absorption (for example, around 1450 nm) for fluorescence detection is helpful to further increase the proportion of ballistic light in the fluorescence signal, which is conducive to clear imaging of deep tissues. In addition, choosing a long detection wavelength can reduce the autofluorescence signal of the organism, which helps to obtain a good signal-to-background ratio.
发明内容SUMMARY OF THE INVENTION
本发明针对当前近红外荧光手术导航中同时需要可见光无影灯和近红外荧光探针的激发光源这一问题，提供了一种基于可见光无影灯同时提供可见光照明和激发荧光探针的手术导航系统。本发明是在LED无影灯，高亮度近红外荧光探针，近红外宏观成像系统基础上搭建的一套近红外荧光手术导航系统。通过使用LED无影灯，在为术者提供可见光照明的同时，避免近红外波段背景光淹没荧光信号，使用高亮度的近红外荧光探针实现无影灯激发出荧光，使用高灵敏度、低噪声近红外相机获取高信号背景比的荧光图像，使用显示装置实时显示近红外荧光图像，实现手术导航。Aiming at the problem that the current near-infrared fluorescent surgical navigation requires both a visible light shadowless lamp and an excitation light source for a near-infrared fluorescent probe, the present invention provides a surgical navigation system based on a visible light shadowless lamp that simultaneously provides visible light illumination and excitation of the fluorescent probe. The invention is a set of near-infrared fluorescent surgical navigation system built on the basis of LED shadowless lamp, high-brightness near-infrared fluorescent probe and near-infrared macroscopic imaging system. By using an LED shadowless lamp, while providing visible light illumination for the operator, the background light in the near-infrared band avoids drowning the fluorescent signal, using a high-brightness near-infrared fluorescent probe to excite the fluorescence with a shadowless lamp, and using a high-sensitivity, low-noise near-infrared camera to acquire Fluorescence images with high signal-to-background ratios are used to display near-infrared fluorescence images in real time using a display device to achieve surgical navigation.
本发明的目的是通过以下技术方案来实现的：一种基于无影灯的可见光照明和近红外荧光手术导航系统，包含无影灯、手术台、荧光探针、镜头、可见光截止滤光片、相机、显示器和计算机。The object of the present invention is achieved through the following technical solutions: a visible light illumination and near-infrared fluorescent surgical navigation system based on a shadowless lamp, comprising a shadowless lamp, an operating table, a fluorescent probe, a lens, a visible light cut-off filter, a camera, a display and computer.
无影灯发出的可见光供术者肉眼观察时照明，同时激发了荧光探针，后由镜头和相机采集荧光图像。通过突出荧光标记的组织供近红外手术导航。The visible light emitted by the shadowless lamp is illuminated for the operator to observe with the naked eye, and the fluorescent probe is excited at the same time, and the fluorescent image is collected by the lens and camera. By highlighting fluorescently labeled tissue for near-infrared surgical navigation.
所述无影灯和镜头均对着手术台，手术台上的手术对象体内注入荧光探针，荧光探针的荧光通过镜头被相机接收转变成电信号，通过计算机处理后传输到显示装置进行显示；The shadowless lamp and the lens are both facing the operating table, and the fluorescent probe is injected into the body of the surgical object on the operating table, and the fluorescence of the fluorescent probe is received by the camera and converted into an electrical signal, which is processed by the computer and transmitted to the display device for display;
所述的荧光探针为近红外荧光探针；The fluorescent probe is a near-infrared fluorescent probe;
所述镜头为近红外增透的镜头；The lens is a near-infrared antireflection lens;
所述相机为近红外响应的相机；The camera is a near-infrared responsive camera;
所述相机在接收荧光前使用可见光截止滤光片滤除可见光；The camera uses a visible light cut filter to filter out visible light before receiving the fluorescence;
所述无影灯使用LED灯珠作为发光器件。The shadowless lamp uses LED lamp beads as light-emitting devices.
优选地，使用吸收大、量子产率高、斯托克斯位移大的荧光探针，比如1300nm以上亮度强的量子点作为荧光探针，可以使得荧光信号背景比更高，更容易地从背景中突显出来。Preferably, fluorescent probes with large absorption, high quantum yield and large Stokes shift, such as quantum dots with strong brightness above 1300 nm, are used as fluorescent probes, which can make the fluorescence signal-to-background ratio higher, and it is easier to remove the background from the background. highlighted in.
优选地，在无影灯LED灯珠外添加700nm短通的红外截止滤光片，只透过可见光，以减少光源可能的近红外分量。Preferably, a 700nm short-pass infrared cut-off filter is added outside the LED lamp bead of the shadowless lamp to transmit only visible light, so as to reduce the possible near-infrared component of the light source.
优选地，所述相机使用多级半导体制冷片制冷或液氮制冷。Preferably, the camera is cooled by a multi-stage semiconductor refrigeration sheet or liquid nitrogen.
优选地，所述相机使用铟镓砷InGaAs探测器作为感光元件；探测器前选用1300nm长通的滤光片，选择对小于1300nm波段的光消光系数大的滤光片，尽量滤除到达探测面的可见光，并减少生物体的毛发等组织的自发荧光影响。Preferably, the camera uses an indium gallium arsenide InGaAs detector as a photosensitive element; a 1300nm long-pass filter is used in front of the detector, and a filter with a large extinction coefficient for light in the wavelength band less than 1300nm is selected to filter out the detection surface as much as possible. visible light, and reduce the effect of autofluorescence of tissues such as hair of living organisms.
优选地，所述显示装置为显示器，显示近红外光荧光图像。Preferably, the display device is a display that displays near-infrared fluorescent images.
优选地，所述显示装置为投影仪，将可见光标识光投影到有荧光的区域，术者使用肉眼观察到探针标记结果。Preferably, the display device is a projector, which projects the visible light marking light to the area with fluorescence, and the operator observes the probe marking result with the naked eye.
优选地，所述相机和镜头可以使用两套，一套对可见光成像，一套对近红外光成像，可见光与近红外荧光图像融合后供术者进行导航手术。，将可见光成像结果与近红外荧光图像融合，既突显出标记区域，又保留可见光能提供的细节，便于术者进行手术操作。Preferably, two sets of cameras and lenses can be used, one for imaging visible light and the other for imaging near-infrared light. After the visible light and near-infrared fluorescence images are fused, the operator can perform a navigation operation. , the visible light imaging results are fused with the near-infrared fluorescence image, which not only highlights the marked area, but also retains the details provided by the visible light energy, which is convenient for the operator to perform surgical operations.
本发明的有益效果：Beneficial effects of the present invention:
1.本系统实现了可见光、近红外荧光双通道手术导航，有益于术者分辨分辨出标记区域；1. This system realizes visible light and near-infrared fluorescence dual-channel surgical navigation, which is beneficial to the operator to distinguish the marked area;
2.使用了近红外波段荧光信号，由于近红外光具有良好的组织穿透能力，有助于隐藏在组织下的标记区域清晰显现出来；2. The fluorescent signal in the near-infrared band is used. Since the near-infrared light has good tissue penetration ability, it helps to clearly show the marked area hidden under the tissue;
3.无需大功率的激发光源，对人眼安全；3. No need for high-power excitation light source, safe for human eyes;
4.无需额外激发光装置，使得系统结构简单，使用方便，减少了对术者观察和操作的遮挡；4. No additional excitation light device is required, which makes the system simple in structure, easy to use, and reduces the occlusion of the operator's observation and operation;
5.使用了冷光源，相对于传统的卤素灯灯泡无影灯，对术者头部的热辐射影响较小，改善了术者体验；5. Using a cold light source, compared with the traditional halogen light bulb shadowless lamp, it has less influence on the thermal radiation of the operator's head, which improves the operator's experience;
6.使用了能效高的LED，比较于传统的卤素灯灯泡无影灯发射了人眼无法响应的近红外光浪费了能量，本发明节约了用电；6. LEDs with high energy efficiency are used, compared with the traditional halogen light bulb shadowless lamp, which emits near-infrared light that the human eye cannot respond to and wastes energy, and the present invention saves electricity;
7.省去了额外的激发光源的成本，并且可以直接利用商用的无影灯，节约了研发成本。7. The cost of additional excitation light source is saved, and commercial shadowless lamps can be directly used, which saves research and development costs.
附图说明Description of drawings
图1为本发明所述成像系统的结构示意图。FIG. 1 is a schematic structural diagram of the imaging system according to the present invention.
图2和3为实验所得的成像效果图。Figures 2 and 3 are the imaging results obtained in the experiment.
具体实施方式Detailed ways
以下结合附图对本发明具体实施方式作进一步详细说明。The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.
如图1所示，本发明提供的一种使用无影灯的可见光照明和近红外荧光手术导航系统，由LED无影灯、LED用红外截止滤光片、手术台、荧光探针、近红外镜头、可见光截止滤光片、近红外相机、显示装置、计算机等组成。As shown in Figure 1, the present invention provides a visible light illumination and near-infrared fluorescent surgical navigation system using a shadowless lamp, which consists of an LED shadowless lamp, an infrared cut-off filter for LED, an operating table, a fluorescent probe, a near-infrared lens, and a visible light cut-off filter. Filters, near-infrared cameras, display devices, computers, etc.
该系统所用的LED无影灯基于商用的无影灯，使用LED作为灯珠，可以减淡本影，使本影不明显(影子中特别黑暗的部分叫本影)，并且LED灯珠发出的光经过红外截止滤光片进一步滤除了可能的近红外光。无影灯带有多维调节架，下方具有较大的空间放置成像对象，并能在多个维度平移和旋转，对物体进行照明，方便术者最佳地观察处于切口和体腔中不同深度的、对比度低的物体。手术对象能放置在手术台上接受无影灯照明、荧光成像和手术。手术对象使用荧光探针进行目标区域的标记。The LED shadowless lamp used in this system is based on commercial shadowless lamps. Using LEDs as lamp beads can reduce the umbra and make the umbra inconspicuous (the particularly dark part of the shadow is called the umbra), and the light emitted by the LED lamp beads passes through the infrared cutoff. The filter further filters out possible near-infrared light. The shadowless lamp is equipped with a multi-dimensional adjustment frame, and there is a large space below to place the imaging object, and can translate and rotate in multiple dimensions to illuminate the object, so that the operator can best observe the incision and body cavity with different depths and low contrast. object. The surgical object can be placed on the operating table to receive shadowless lamp illumination, fluorescence imaging and surgery. The surgical subject uses fluorescent probes to label the target area.
荧光探针受到无影灯发出的可见光的激发后，发射出近红外光，然后被近红外镜头收集，经过可见光截止滤光片，荧光在近红外相机探测面成像，近红外相机把画面传输到计算机做图像处理，结果显示在显示装置上。所述相机使用多级半导体制冷片制冷或液氮制冷；所述相机使用铟镓砷InGaAs探测器作为感光元件。所述显示装置为显示器或者投影仪，当显示装置为显示器时，显示近红外光荧光图像；当显示装置为投影仪时，将可见光标识光投影到有荧光的区域，术者可以使用肉眼观察到探针标记结果。After the fluorescent probe is excited by the visible light emitted by the shadowless lamp, it emits near-infrared light, which is then collected by the near-infrared lens. After passing through the visible light cut-off filter, the fluorescence is imaged on the detection surface of the near-infrared camera. The image is processed and the result displayed on the display device. The camera uses multi-stage semiconductor refrigeration sheet refrigeration or liquid nitrogen refrigeration; the camera uses an indium gallium arsenide InGaAs detector as a photosensitive element. The display device is a display or a projector, and when the display device is a display, it displays a near-infrared fluorescent image; when the display device is a projector, the visible light marking light is projected to the area with fluorescence, and the operator can observe it with the naked eye. Probe labeling results.
所述相机和镜头可以使用两套，一套对可见光成像，一套对近红外光成像，可见光与近红外荧光图像融合后供术者进行导航手术。Two sets of cameras and lenses can be used, one for imaging visible light and the other for imaging near-infrared light, and the operator can perform navigation surgery after the visible light and near-infrared fluorescence images are fused.
实施例：如图1所示，首先使用LED无影灯1，无影灯灯珠发的光经过近红外截止滤光片2，对放置在手术台3上的手术对象4进行可见光照明，方便术者观察手术对象。在手术对象使用荧光探针标记后，荧光探针受到无影灯发出的可见光的激发，发射出近红外荧光，然后被近红外镜头5收集，经过可见光截止滤光片6，荧光在近红外相机7的探测面成像，近红外相机把画面传输到计算机8做图像处理，结果实时显示在显示器9上。术者可以通过显示器画面，在荧光标记组织未手术暴露情况下观察到荧光。Example: As shown in Figure 1, first use LED
其中无影灯使用曲阜康泰的10孔壁式无影灯。量子点使用星紫(上海)新材料技术开发有限公司制造的荧光峰在1450nm的油性量子点(定制产品)。量子点使用SH-PEG2000修饰成水溶性，由于水在1450nm附近吸收大，因此选用在这个波长吸收小的重水作为溶剂。相机使用Princeton Instruments公司的NIRvana-LN。近红外镜头选用天盈光电的100mm定焦镜头。使用索雷博光电科技有限公司的700nm短通滤光片(FESH700)滤除LED发射光可能的近红外成分，使用1300nm长通滤光片(FELH1300)用来纯化荧光信号。实验对象为小鼠，术者使用留置针通过尿道逆行灌注量子点重水溶液(1mg/mL)进小鼠膀胱。在不开腹情况下对膀胱成像。Among them, the shadowless lamp uses a 10-hole wall-type shadowless lamp from Qufu Kangtai. The quantum dots use oily quantum dots (customized products) with a fluorescence peak at 1450 nm manufactured by Xingzi (Shanghai) New Material Technology Development Co., Ltd. The quantum dots are modified with SH-PEG2000 to make them water-soluble. Since water has a large absorption near 1450 nm, heavy water is selected as a solvent with a small absorption at this wavelength. The camera used NIRvana-LN from Princeton Instruments. The near-infrared lens uses Tianying Optoelectronics' 100mm fixed focus lens. A 700nm short-pass filter (FESH700) from Soleibo Optoelectronics Technology Co., Ltd. was used to filter out possible near-infrared components of the LED emission light, and a 1300nm long-pass filter (FELH1300) was used to purify the fluorescent signal. The experimental subjects were mice, and the surgeon used an indwelling needle to retrogradely perfuse the quantum dots in a heavy aqueous solution (1 mg/mL) into the mouse bladder through the urethra. The bladder is imaged without laparotomy.
图2为使用所述无影灯的单个可见光LED灯珠进行激发所得到的近红外荧光图像，所用积分时间为30ms。图中中间上方的圆形亮斑为膀胱里所述荧光染料的造影。可见通过该系统，可获得组织内部的标记区域的信号强、背景低的优质近红外荧光图像。FIG. 2 is a near-infrared fluorescent image obtained by using a single visible light LED lamp bead of the shadowless lamp for excitation, and the integration time used is 30ms. The circular bright spot in the upper middle of the picture is the contrast of the fluorescent dye in the bladder. It can be seen that through this system, high-quality near-infrared fluorescence images with strong signal and low background in the marked area inside the tissue can be obtained.
图3为使用含有近红外分量的日光灯照明所得到的明场图像，可见图2里中间上方的圆形亮斑处于膀胱位置。Figure 3 is a bright-field image obtained by using a fluorescent lamp with near-infrared components to illuminate, and it can be seen that the circular bright spot above the middle in Figure 2 is at the position of the bladder.
综上，本发明提供了基于商用LED无影灯同时实现可见光照明和近红外荧光成像的系统。该系统使用白光LED为术者提供可见光照明，同时，激发荧光材料产生近红外荧光，用于导航手术。由于使用了高亮度的荧光材料和高灵敏度的相机，该系统避免了像其他近红外荧光手术导航系统一样使用额外光源作为激发光，避免了对眼睛的可能的损害，简化了照明的结构并降低了成本。该系统性能可靠，使用简单，在近红外荧光导航手术中具有广阔的前景。To sum up, the present invention provides a system for simultaneously realizing visible light illumination and near-infrared fluorescent imaging based on commercial LED shadowless lamps. The system uses white LEDs to provide visible light illumination for the surgeon, and at the same time, excites fluorescent materials to generate near-infrared fluorescence for navigating surgery. Due to the use of high-brightness fluorescent materials and high-sensitivity cameras, the system avoids the use of an additional light source as excitation light like other near-infrared fluorescent surgical navigation systems, avoids possible damage to the eye, simplifies the structure of illumination and reduces cost. The system is reliable and easy to use, and has broad prospects in near-infrared fluorescence navigation surgery.
上述实施例用来解释说明本发明，而不是对本发明进行限制，在本发明的精神和权利要求的保护范围内，对本发明作出的任何修改和改变，都落入本发明的保护范围。The above-mentioned embodiments are used to explain the present invention, rather than limit the present invention. Within the spirit of the present invention and the protection scope of the claims, any modifications and changes made to the present invention all fall into the protection scope of the present invention.
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