CN115474895B - OCT fundus imaging device and method - Google Patents
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- 238000013519 translation Methods 0.000 claims description 3
- 238000012014 optical coherence tomography Methods 0.000 description 24
- 210000001525 retina Anatomy 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 3
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- 210000004369 blood Anatomy 0.000 description 2
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- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/12—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for looking at the eye fundus, e.g. ophthalmoscopes
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- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/102—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for optical coherence tomography [OCT]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
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Abstract
The invention discloses an OCT fundus imaging device and method, comprising the following steps: acquiring an eye image, determining an eye coordinate, and driving the image acquisition module to move to a designated position according to the coordinate difference between the image acquisition module and the eye; the incident light beam is incident to the eyes after passing through the sample arm and reflected, the reflected light beam is reflected to the pupil acquisition module, so that the pupil acquisition module acquires pupil images, pupil coordinates are determined, the action of the actuating mechanism is controlled according to the pupil coordinates, and the pupil is positioned at the center of the field of view of the pupil acquisition module and is focused; the incident beam is reflected back to the reference beam after passing through the reference arm, the reflected beam of the sample arm interferes with the reference beam of the reference arm, and the generated interference beam is incident into the spectrometer so as to acquire a fundus image after focusing is completed. The eye position may be adapted.
Description
Technical Field
The invention relates to the technical field of optical coherence tomography, in particular to an OCT fundus imaging device and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Currently, most fundus imaging instruments are required to detect patients in a sitting posture, and some patients are required to detect patients in a lying posture, but for patients with rickets such as muscular atrophy, the current fundus imaging instruments cannot adapt to the body posture of the patient.
Moreover, existing equipment adopts a device similar to VR glasses, and the device is blocked on patient's eyes, can't be fully automatic fix a position, and direct contact patient's eyes has health potential safety hazard problem.
Disclosure of Invention
In order to solve the problems, the invention provides an OCT fundus imaging device and an OCT fundus imaging method, which control an image acquisition module to move to an appointed position of an eye through eye images acquired by a binocular camera; meanwhile, the pupil image collected by the pupil collecting module focuses eyes, and the eye image is collected after focusing is successful, so that the position of the eyes can be self-adapted.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
In a first aspect, the present invention provides an OCT fundus imaging apparatus comprising: the system comprises a binocular camera, an image acquisition module, an image processing module and an executing mechanism;
the binocular camera is connected with the image processing module and is used for acquiring an eye image;
The image processing module is used for determining the coordinates of the eyes according to the eye images and controlling the action of the executing mechanism according to the coordinate difference between the image acquisition module and the eyes so as to enable the image acquisition module to move to a designated position;
The image acquisition module comprises a pupil acquisition module and an OCT imager; the pupil acquisition module is connected with the image processing module, and the OCT imager comprises a light emitting module, a sample arm, a reference arm and a spectrometer;
The light-emitting module is used for generating a light beam and incident into the sample arm and the reference arm;
The sample arm comprises a first collimator, a scanning galvanometer, a focusing lens and a dichroic mirror, an incident light beam is sequentially incident to an eye through the first collimator, the scanning galvanometer, the focusing lens and the dichroic mirror and reflected, and the reflected light beam is reflected to the pupil acquisition module through the dichroic mirror so that the pupil acquisition module acquires pupil images;
the image processing module is used for determining pupil coordinates according to the pupil images and controlling the action of the executing mechanism according to the pupil coordinates so that the pupil is positioned at the center of the field of view of the pupil acquisition module and focusing is completed;
the reflected light beam of the sample arm and the reflected light beam of the reference arm interfere, the generated interference light beam is incident into a spectrometer, and the spectrometer is connected with the image processing module so as to acquire fundus images after focusing is completed.
As an alternative implementation manner, after the binocular camera collects the eye image, the eye image is corrected according to the internal and external parameters calibrated by the binocular camera.
As an alternative embodiment, the internal and external parameters include: camera matrix, distortion coefficients, rotation matrix and translation vector.
Alternatively, the process of controlling the action of the actuator includes: establishing a camera coordinate system, calculating three-dimensional coordinates of eyes in the camera coordinate system, and calculating a vision control angle according to the three-dimensional coordinates of the eyes in the camera coordinate system; establishing a world coordinate system, calculating three-dimensional coordinates of eyes in the world coordinate system, and calculating a prediction compensation angle according to the three-dimensional coordinates of the eyes in the world coordinate system; and controlling the action of the executing mechanism according to the vision control angle and the predicted compensation angle.
In an alternative embodiment, the light emitting module includes a light source and an optical coupler, the light source is connected to the optical coupler through an optical fiber, and a light beam emitted by the light source enters the optical coupler through the optical fiber, and enters the sample arm and the reference arm after passing through the optical coupler respectively.
As an alternative embodiment, the light source adopts a visible light source or a near infrared light source, and the visible light source and the near infrared light source are adaptively switched.
As an alternative embodiment, the sample arm comprises a first collimator, a scanning galvanometer, a first focusing lens, a second focusing lens, and a dichroic mirror; the output end of the first collimator is connected with the optical coupler through an optical fiber, and a scanning galvanometer, a first focusing lens, a second focusing lens and a dichroic mirror are sequentially arranged at the output end of the first collimator.
Alternatively, the reference arm includes a second collimator and a plane mirror, the output end of the second collimator is connected with the optical coupler through an optical fiber, and the incident light beam is collimated by the second collimator and reflected back to the reference light beam from the plane mirror.
As an alternative embodiment, the actuator employs a tri-axial gyro motor assembly.
In a second aspect, the present invention provides an OCT fundus imaging method comprising:
acquiring an eye image, determining the coordinates of the eye according to the eye image, and driving the image acquisition module to move to a specified position according to the coordinate difference between the image acquisition module and the eye;
The incident light beam is incident to eyes after passing through the sample arm and reflected, and the reflected light beam is reflected to the pupil acquisition module so that the pupil acquisition module acquires pupil images;
Determining pupil coordinates according to the pupil images, and controlling the action of the executing mechanism according to the pupil coordinates so that the pupil is positioned at the center of the field of view of the pupil acquisition module and focusing is completed;
The incident beam is reflected back to the reference beam after passing through the reference arm, the reflected beam of the sample arm interferes with the reference beam of the reference arm, and the generated interference beam is incident into the spectrometer so as to acquire a fundus image after focusing is completed.
Compared with the prior art, the invention has the beneficial effects that:
According to the OCT fundus imaging device and the OCT fundus imaging method, the image acquisition module is controlled to move to the appointed position of the eye through the eye images acquired by the binocular camera; meanwhile, the pupil image collected by the pupil collecting module focuses eyes, and the eye image is collected after focusing is successful, so that the position of the eyes can be self-adapted.
According to the OCT fundus imaging device and method provided by the invention, proper light source types can be adaptively adopted according to the conditions of different patients, the light source comprises a visible light source and a near infrared light source, the wavelength of the visible light source is short, the resolution is high, the resolution in the depth direction can be greatly improved, the clearer structure of the retina of an eye can be detected, the related information of blood oxygen can be observed, the morphological and tissue structure changes of single-layer cells can be clearly observed, and the OCT fundus imaging device and method can be suitable for Guan Cheng images such as glaucoma; the near infrared light has high penetrating power, can see choroid, and is suitable for diabetics.
The invention provides an OCT fundus imaging device which is a handheld device, does not need to be in direct contact with a patient, realizes non-contact imaging, and performs automatic focusing and automatic positioning in a handheld state so as to be capable of adapting to the posture of the patient.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a light path diagram of an OCT fundus imaging apparatus according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of an OCT fundus imaging apparatus according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of the OCT fundus imaging apparatus according to embodiment 1 of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms also are intended to include the plural forms, and furthermore, it is to be understood that the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions, such as, for example, processes, methods, systems, products or devices that comprise a series of steps or units, are not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or inherent to such processes, methods, products or devices.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
The present embodiment provides an OCT fundus imaging apparatus, as shown in fig. 1, including: the system comprises a binocular camera, an image acquisition module, an image processing module and an executing mechanism;
the binocular camera is connected with the image processing module and is used for acquiring an eye image;
The image processing module is used for determining the coordinates of the eyes according to the eye images and controlling the action of the executing mechanism according to the coordinate difference between the image acquisition module and the eyes so as to enable the image acquisition module to move to a designated position;
The image acquisition module comprises a pupil acquisition module and an OCT imager; the pupil acquisition module is connected with the image processing module, and the OCT imager comprises a light emitting module, a sample arm, a reference arm and a spectrometer;
The light-emitting module is used for generating a light beam and incident into the sample arm and the reference arm;
The sample arm comprises a first collimator, a scanning galvanometer, a focusing lens and a dichroic mirror, an incident light beam is sequentially incident to an eye through the first collimator, the scanning galvanometer, the focusing lens and the dichroic mirror and reflected, and the reflected light beam is reflected to the pupil acquisition module through the dichroic mirror so that the pupil acquisition module acquires pupil images;
the image processing module is used for determining pupil coordinates according to the pupil images and controlling the action of the executing mechanism according to the pupil coordinates so that the pupil is positioned at the center of the field of view of the pupil acquisition module and focusing is completed;
the reflected light beam of the sample arm and the reflected light beam of the reference arm interfere, the generated interference light beam is incident into a spectrometer, and the spectrometer is connected with the image processing module so as to acquire fundus images after focusing is completed.
In this embodiment, the binocular camera is used to collect an eye image, and correct the eye image according to internal and external parameters calibrated by the binocular camera; the corrected eye image and the original eye image are subjected to stereo matching to obtain a parallax image, and the internal and external parameters calibrated by the binocular camera are utilized again to obtain eye coordinates from the parallax image;
Controlling an executing mechanism to move the image acquisition model to a specified position (such as above the human eye) according to the coordinate difference between the image acquisition model and the eye; as shown in fig. 2, specifically:
Establishing a camera coordinate system, calculating three-dimensional coordinates of eyes in the camera coordinate system, and calculating a vision control angle according to the three-dimensional coordinates of the eyes in the camera coordinate system;
Establishing a world coordinate system, calculating three-dimensional coordinates of eyes in the world coordinate system, and calculating a prediction compensation angle according to the three-dimensional coordinates of the eyes in the world coordinate system;
And controlling the action of the executing mechanism according to the vision control angle and the predicted compensation angle.
In this embodiment, after the eye coordinates are obtained by rigid transformation, perspective projection, secondary transformation, and the like, the operation of the actuator is controlled according to the obtained vision control angle and the prediction compensation angle.
As an alternative implementation mode, before the binocular camera performs image correction, the binocular camera is calibrated, the calibration board pattern is obtained, the calibration board image is calibrated by using a binocular camera calibration program, and the internal and external parameters of the binocular camera are obtained.
As an alternative embodiment, the internal and external parameters include: camera matrix, distortion coefficients, rotation matrix and translation vector.
In this embodiment, after the pupil acquisition module acquires the pupil image, the pupil coordinate may be calculated, so as to calculate the vision control angle, thereby controlling the actuator to drive the movement of the image acquisition model, so that the pupil is located at the center of the field of view of the pupil acquisition module, and the pupil image of the current frame is acquired; and then calculating the definition of the image according to the pupil image of the current frame and the next moving position, driving an executing mechanism to control the distance between the image acquisition model and the eyes, re-acquiring the pupil image, and completing focusing after sequentially and circularly operating until the position with the highest definition is reached.
In this embodiment, the OCT imager includes a light module, a sample arm, a reference arm, and a spectrometer;
the light emitting module comprises a light source and an optical coupler, and the light source is connected with the optical coupler through an optical fiber;
the light source adopts a visible light source or a near infrared light source, and the visible light source and the near infrared light source are adaptively switched; the emitted light beam enters the optical coupler through the single mode fiber, and enters the sample arm and the reference arm respectively after passing through the optical coupler;
The sample arm comprises a first collimator, a scanning galvanometer, a first focusing lens, a second focusing lens and a dichroic mirror; the output end of the first collimator is connected with the optical coupler through an optical fiber, and the scanning galvanometer, the first focusing lens, the second focusing lens and the dichroic mirror are sequentially arranged at the output end of the first collimator, and the incident light beam is sequentially incident to eyes through the first collimator, the scanning galvanometer, the focusing lens and the dichroic mirror and reflected;
The reflected light beam is reflected to the pupil acquisition module through the dichroic mirror so that the pupil acquisition module acquires a pupil image; the reflected light beam is reflected back to the sample beam in the sample arm through the dichroic mirror, the second focusing lens, the first focusing lens, the scanning galvanometer and the first collimator in sequence;
The reference arm comprises a second collimator and a plane mirror, the output end of the second collimator is connected with the optical coupler through an optical fiber, and an incident light beam is collimated by the second collimator and reflected back to the reference light beam from the plane mirror;
when the optical path difference between the sampling beam and the reference beam is within the coherence length of the light source, interference occurs, and the interference beam is incident into the spectrometer to acquire a fundus image after focusing is completed.
In this embodiment, according to the condition of different patients, the light source type is adaptively adopted, and the light source includes a visible light source and a near infrared light source;
The wavelength of the visible light source is short, the resolution ratio is high, the resolution ratio in the depth direction (z direction) can be greatly improved, the resolution capability can reach 1 mu m, a clearer structure of the retina of an eye can be detected, clear images of the pigment epithelium layer of the retina can be provided, the absorption characteristics of oxygen, hemoglobin and reduced hemoglobin in a visible light wave band are different, the measurement of blood oxygen content of fundus blood vessels and tissues can be realized, and meanwhile, the three-dimensional structural information of the retina of the eye can be obtained by combining the scanning of sampling light beams in an x-y plane, and the three-dimensional structure information can be suitable for related imaging such as glaucoma; the near infrared light has high penetrating power, can see choroid, and is suitable for diabetics.
In this embodiment, the OCT fundus imaging apparatus is a handheld device, and does not need to directly contact the patient, so as to realize non-contact imaging, and in a handheld state, auto-focusing and auto-positioning are performed so as to be capable of adapting to the posture of the patient.
The actuating mechanism adopts a three-axis gyroscope motor assembly, and the three-axis gyroscope motor assembly comprises an x-axis motor, a y-axis motor and a z-axis motor; as shown in fig. 3, the OCT fundus imaging apparatus includes a handle, a tri-axial gyro motor assembly, a binocular camera, and an image acquisition module;
Wherein, a control module, such as an image processing module, is arranged in the handle, and the image processing module is connected with the binocular camera and the image acquisition module through optical fibers and circuits; the top of the handle is provided with a z-axis motor, the z-axis motor is connected with a y-axis motor through a connecting rod, the y-axis motor is connected with an x-axis motor through a connecting piece, the x-axis motor is connected with a shell, and a binocular camera and an image acquisition module are arranged in the shell.
In this embodiment, the binocular camera is used to control the image acquisition module to move to a designated position, at this time, the pupil camera recognizes whether the eye is within the focusing range, and if the eye is within the focusing range, the three-axis gyroscope motor assembly is controlled according to the coordinates of the eye in the pupil camera to acquire the eye image after focusing is successful.
Example 2
The present embodiment provides an OCT fundus imaging method including:
acquiring an eye image, determining the coordinates of the eye according to the eye image, and driving the image acquisition module to move to a specified position according to the coordinate difference between the image acquisition module and the eye;
The incident light beam is incident to eyes after passing through the sample arm and reflected, and the reflected light beam is reflected to the pupil acquisition module so that the pupil acquisition module acquires pupil images;
Determining pupil coordinates according to the pupil images, and controlling the action of the executing mechanism according to the pupil coordinates so that the pupil is positioned at the center of the field of view of the pupil acquisition module and focusing is completed;
The incident beam is reflected back to the reference beam after passing through the reference arm, the reflected beam of the sample arm interferes with the reference beam of the reference arm, and the generated interference beam is incident into the spectrometer so as to acquire a fundus image after focusing is completed.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (8)
1. An OCT fundus imaging apparatus, comprising: the system comprises a binocular camera, an image acquisition module, an image processing module and an executing mechanism;
the binocular camera is connected with the image processing module and is used for acquiring an eye image;
The image processing module is used for determining the coordinates of eyes according to the eye images, in particular: correcting the eye image according to the internal and external parameters calibrated by the binocular camera, obtaining a parallax image through stereo matching of the corrected eye image and the original eye image, and obtaining eye coordinates from the parallax image by utilizing the internal and external parameters calibrated by the binocular camera again;
Controlling the action of the executing mechanism according to the coordinate difference between the image acquisition module and the eyes so as to enable the image acquisition module to move to a designated position; specifically: establishing a camera coordinate system, calculating three-dimensional coordinates of eyes in the camera coordinate system, and calculating a vision control angle according to the three-dimensional coordinates of the eyes in the camera coordinate system; establishing a world coordinate system, calculating three-dimensional coordinates of eyes in the world coordinate system, and calculating a prediction compensation angle according to the three-dimensional coordinates of the eyes in the world coordinate system; controlling the action of the executing mechanism according to the vision control angle and the predicted compensation angle;
The image acquisition module comprises a pupil acquisition module and an OCT imager; the pupil acquisition module is connected with the image processing module, and the OCT imager comprises a light emitting module, a sample arm, a reference arm and a spectrometer;
The light-emitting module is used for generating a light beam and incident into the sample arm and the reference arm;
The sample arm comprises a first collimator, a scanning galvanometer, a focusing lens and a dichroic mirror, an incident light beam is sequentially incident to an eye through the first collimator, the scanning galvanometer, the focusing lens and the dichroic mirror and reflected, and the reflected light beam is reflected to the pupil acquisition module through the dichroic mirror so that the pupil acquisition module acquires pupil images;
the image processing module is used for determining pupil coordinates according to the pupil images and controlling the action of the executing mechanism according to the pupil coordinates so that the pupil is positioned at the center of the field of view of the pupil acquisition module and focusing is completed;
Specifically: after the pupil acquisition module acquires the pupil image, calculating to obtain pupil coordinates, and calculating a vision control angle according to the pupil coordinates, so that an executing mechanism is controlled to drive the image acquisition module to move, and the pupil is positioned at the center of the field of view of the pupil acquisition module, so that a pupil image of the current frame is obtained; then calculating the definition of the image and the next moving position according to the pupil image of the current frame, driving an executing mechanism to control the distance between the image acquisition module and eyes, re-acquiring the pupil image, and after sequentially and circularly operating until reaching the position with the highest definition, and completing focusing;
the reflected light beam of the sample arm and the reflected light beam of the reference arm interfere, the generated interference light beam is incident into a spectrometer, and the spectrometer is connected with the image processing module so as to acquire a fundus image after focusing is completed;
The OCT fundus imaging device is handheld equipment, and performs automatic focusing and automatic positioning under a handheld state so as to adapt to the posture of a patient; the device comprises a handle, an executing mechanism, a binocular camera and an image acquisition module; the actuating mechanism adopts a three-axis gyroscope motor assembly, and the three-axis gyroscope motor assembly comprises an x-axis motor, a y-axis motor and a z-axis motor; an image processing module is arranged in the handle and is connected with the binocular camera and the image acquisition module through optical fibers and circuits; the top of the handle is provided with a z-axis motor, the z-axis motor is connected with a y-axis motor through a connecting rod, the y-axis motor is connected with an x-axis motor through a connecting piece, the x-axis motor is connected with a shell, and a binocular camera and an image acquisition module are arranged in the shell.
2. An OCT fundus imaging apparatus according to claim 1, wherein the binocular camera corrects the eye image based on internal and external parameters calibrated by the binocular camera after the eye image is acquired.
3. An OCT fundus imaging apparatus according to claim 2, wherein said internal and external parameters comprise: camera matrix, distortion coefficients, rotation matrix and translation vector.
4. The OCT fundus imaging apparatus of claim 1, wherein the light emitting module comprises a light source and an optical coupler, the light source is connected to the optical coupler by an optical fiber, and a light beam emitted from the light source enters the optical coupler by an optical fiber, and enters the sample arm and the reference arm after passing through the optical coupler, respectively.
5. An OCT fundus imaging apparatus according to claim 4, wherein the light source is a visible light source or a near infrared light source, and the visible light source and the near infrared light source are adaptively switched.
6. The OCT fundus imaging apparatus of claim 4, wherein said sample arm comprises a first collimator, a scanning galvanometer, a first focusing lens, a second focusing lens, and a dichroic mirror; the output end of the first collimator is connected with the optical coupler through an optical fiber, and a scanning galvanometer, a first focusing lens, a second focusing lens and a dichroic mirror are sequentially arranged at the output end of the first collimator.
7. An OCT fundus imaging apparatus according to claim 4, wherein the reference arm comprises a second collimator and a plane mirror, the output end of the second collimator being connected to the optical coupler via an optical fiber, the incident beam being collimated by the second collimator and reflected back from the plane mirror to the reference beam.
8. An OCT fundus imaging method employing the OCT fundus imaging apparatus according to any one of claims 1 to 7, comprising:
acquiring an eye image, determining the coordinates of the eye according to the eye image, and driving the image acquisition module to move to a specified position according to the coordinate difference between the image acquisition module and the eye;
The incident light beam is incident to eyes after passing through the sample arm and reflected, and the reflected light beam is reflected to the pupil acquisition module so that the pupil acquisition module acquires pupil images;
Determining pupil coordinates according to the pupil images, and controlling the action of the executing mechanism according to the pupil coordinates so that the pupil is positioned at the center of the field of view of the pupil acquisition module and focusing is completed;
The incident beam is reflected back to the reference beam after passing through the reference arm, the reflected beam of the sample arm interferes with the reference beam of the reference arm, and the generated interference beam is incident into the spectrometer so as to acquire a fundus image after focusing is completed.
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