CN115530995A

CN115530995A - Medical imaging apparatus

Info

Publication number: CN115530995A
Application number: CN202110725651.7A
Authority: CN
Inventors: 汪远; 赵可为; 周丰茂
Original assignee: Nanjing Weina Shijie Medical Technology Co ltd
Current assignee: Nanjing Weina Shijie Medical Technology Co ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2022-12-30

Abstract

The invention provides a medical imaging apparatus. The medical imaging device comprises a display assembly, a near-infrared camera assembly, a visible light camera and a processing terminal, wherein the display assembly comprises a first display terminal and a second display terminal, the near-infrared camera assembly comprises a first near-infrared camera and a second near-infrared camera, the visible light camera is used for acquiring a visible light image of a tissue body to be detected, and the first near-infrared camera and the second near-infrared camera are both used for acquiring a fluorescence image of a target object in the tissue body to be detected; the first display terminal is used for displaying a tissue image of the tissue body to be detected, wherein the tissue image is used for displaying the position of a target object on the tissue body to be detected; the second display terminal is used for displaying the three-dimensional image of the target object. The invention can carry out three-dimensional shape detection on the target object in the tissue body to be detected, can observe the target object in real time and has better operation auxiliary effect on doctors.

Description

Medical imaging apparatus

Technical Field

The invention relates to the technical field of medical equipment, in particular to a medical imaging device.

Background

With the development of science and technology, in the surgical operation of modern medicine, a medical imaging technology is often required to image the pathological tissue so as to assist the technology of the surgical excision process.

The existing medical imaging device generally comprises a near-infrared photosensitive element, and the near-infrared photosensitive element is used for acquiring an image of a target object in a focus organ. Specifically, a fluorescent marker is injected into a human body, the fluorescent marker is gathered in a target object in a focus organ, and a two-dimensional fluorescent image of the target object can be acquired by a near-infrared photosensitive element through a fluorescence developing technology, so that a doctor is assisted in the operation of excising the target object, such as a tumor.

However, the conventional medical imaging apparatus cannot detect the three-dimensional shape of the target object, is not favorable for the doctor to observe the target object, and has a poor operation assistance effect for the doctor.

Disclosure of Invention

In view of the above problems, embodiments of the present invention provide a medical imaging apparatus capable of performing three-dimensional shape detection on a target object in a tissue to be measured, and providing a better surgical assistance effect for a doctor.

In order to achieve the above object, the present application provides a medical imaging apparatus, including a display assembly, a near-infrared camera assembly, a visible light camera, and a processing terminal, where the display assembly includes a first display terminal and a second display terminal, the near-infrared camera assembly includes a first near-infrared camera and a second near-infrared camera, and the first display terminal and the second display terminal, the first near-infrared camera and the second near-infrared camera, and the visible light camera are all electrically connected to the processing terminal;

the visible light camera is used for acquiring a visible light image of the tissue body to be detected, and the first near-infrared camera and the second near-infrared camera are both used for acquiring a fluorescence image of a target object in the tissue body to be detected;

the first display terminal is used for displaying a tissue image of the tissue body to be detected, wherein the tissue image is used for displaying the position of a target object on the tissue body to be detected, and the tissue image is generated according to a visible light image of the tissue body to be detected and a fluorescence image acquired by the first near-infrared camera;

the second display terminal is used for displaying a three-dimensional image of the target object, and the three-dimensional image is generated according to the fluorescent image acquired by the first near-infrared camera and the fluorescent image acquired by the second near-infrared camera.

In an optional implementation manner, the first near-infrared camera and the second near-infrared camera are adjacently arranged, imaging areas of the first near-infrared camera and the second near-infrared camera have an overlapping area, and the tissue body to be measured is located in the overlapping area.

In an optional embodiment, the device further comprises a dichroic mirror, wherein the dichroic mirror is positioned between the first near-infrared camera and the tissue body to be detected and is used for transmitting the fluorescence from the target object to the first near-infrared camera;

the visible light camera is positioned on the side of the dichroic mirror, and the dichroic mirror is also used for reflecting the visible light from the tissue body to be detected to the visible light camera.

In an alternative embodiment, the first near-infrared camera includes a first near-infrared lens, and the visible camera includes a visible light lens, and an optical axis of the first near-infrared lens is perpendicular to an optical axis of the visible light lens.

In an optional implementation manner, the system further comprises a first near-infrared filter element, wherein the first near-infrared filter element is arranged on one side of the first near-infrared lens, which faces the tissue body to be detected; and/or the medical imaging device further comprises a visible light filtering element, and the visible light filtering element is arranged on one side, facing the tissue body to be measured, of the visible light lens.

In an alternative embodiment, the second near-infrared camera includes a second near-infrared lens, and the second near-infrared lens faces the tissue to be detected to receive the fluorescence from the tissue to be detected.

In an optional embodiment, the near-infrared imaging device further includes a second near-infrared filter element, and the second near-infrared filter element is disposed on a side of the second near-infrared lens facing the tissue body to be measured.

In an optional implementation manner, the device further comprises a distance measurement assembly, and the distance measurement assembly is used for detecting the working distance between the tissue body to be detected and the distance measurement assembly.

In an optional embodiment, the distance measuring assembly is fixed relative to the near-infrared camera assembly and the visible light camera, and both the near-infrared camera assembly and the visible light camera perform focusing according to the working distance between the tissue body to be measured and the distance measuring assembly.

In an optional embodiment, the infrared camera further comprises a first mounting bracket and a second mounting bracket, the first near-infrared camera and the visible light camera are arranged on the first mounting bracket, and the second near-infrared camera is arranged on the second mounting bracket.

In an alternative embodiment, the distance measuring assembly comprises a first distance measuring sensor and a second distance measuring sensor, wherein the first distance measuring sensor and the second distance measuring sensor are respectively arranged in the first mounting bracket and the second mounting bracket; the first distance measuring sensor is used for detecting a first working distance between the tissue body to be measured and the first distance measuring sensor; the second distance measuring sensor is used for detecting a second working distance between the tissue body to be measured and the second distance measuring sensor;

the processing terminal is used for focusing the first near-infrared camera and the visible light camera according to the first working distance; and/or the processing terminal is used for focusing the second near-infrared camera according to the second working distance.

In an optional embodiment, the tissue detection device further comprises an excitation light source, and an exit end of the excitation light source faces the tissue to be detected, so that an excitation light beam generated by the excitation light source is transmitted to the tissue to be detected.

In an alternative embodiment, the device further comprises an indicating light source, wherein the indicating light source emits indicating light to the tissue body to be measured, and the indicating light is used for marking a target irradiation area of the excitation light beam.

In an alternative embodiment, the excitation light source includes a light uniformizing assembly for uniformizing the excitation light beam emitted from the excitation light source.

In an alternative embodiment, the excitation light source emits an excitation beam having a wavelength of 700nm to 800nm.

In an optional embodiment, the power of the excitation light source is adjustable, and the power adjustment range of the excitation light source is 1mW-1000mW

In an alternative embodiment, the excited near infrared fluorescence of the tissue to be tested has a wavelength of 820nm to 1700nm.

The medical imaging device comprises a display assembly, a near-infrared camera assembly, a visible light camera and a processing terminal, wherein the display assembly comprises a first display terminal and a second display terminal, and the near-infrared camera assembly comprises a first near-infrared camera and a second near-infrared camera; the visible light camera is used for acquiring a visible light image of the tissue body to be detected, and the first near-infrared camera and the second near-infrared camera are both used for acquiring a fluorescence image of a target object in the tissue body to be detected; the first display terminal is used for displaying a tissue image of the tissue body to be detected, wherein the tissue image is used for displaying the position of a target object on the tissue body to be detected, and the tissue image is generated according to a visible light image of the tissue body to be detected and a fluorescence image acquired by the first near-infrared camera; the second display terminal is used for displaying a three-dimensional image of the target object, and the three-dimensional image is generated according to the fluorescent image acquired by the first near-infrared camera and the fluorescent image acquired by the second near-infrared camera.

In the above scheme, on one hand, a first near-infrared camera and a visible light camera are arranged to respectively obtain a fluorescence image of a target object in a tissue body to be detected and a visible light image of the tissue body to be detected, and a tissue image of the tissue body to be detected is displayed on a first display terminal, so as to obtain the position of the target object on the tissue body to be detected; on the other hand, another fluorescence image of the target object in the tissue body to be detected is obtained by arranging the second near-infrared camera, and the three-dimensional image of the target object in the tissue body to be detected is displayed on the second display terminal, namely, the form of the target object is obtained in real time by utilizing a near-infrared binocular vision device formed by matching the second near-infrared camera and the first near-infrared camera. In other words, the medical imaging device in the above scheme can acquire the position of the target object in the tissue body to be measured and the three-dimensional information of the target object, and visually display the relative position and form of the target object and the tissue body to be measured in the display assembly in real time, so that the medical imaging device has a good surgical assistance effect on a doctor.

The construction of the present invention and other objects and advantages thereof will be more apparent from the following description of the preferred embodiments taken in conjunction with the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of a medical imaging apparatus provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of one configuration of a medical imaging device provided by an embodiment of the present application;

fig. 3 is a schematic diagram of another structure of a medical imaging apparatus provided in an embodiment of the present application.

Description of the reference numerals:

100-a medical imaging device; 10-a display assembly; 11-a first display terminal; 12-a second display terminal; 21-a first near-infrared camera; 211-a first near infrared lens; 212-a first near-infrared light-sensitive element; 213-a first near-infrared filter element; 22-a second near-infrared camera; 221-a second near-infrared lens; 222-a second near-infrared photosensitive element; 223-a second near infrared filter element; 30-a visible light camera; 301-visible light lens; 302-visible light sensitive elements; 303-visible light filtering elements; 40-processing the terminal; 50-an excitation light source; a 60-dichroic mirror; 70-a ranging assembly; 71-a first ranging sensor; 72-a second ranging sensor; 73-a third ranging sensor; 80-a housing; 81-a first mounting bracket; 82-a second mounting bracket; 90-tissue body to be tested; 91-target.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In modern medical surgery, it is necessary to locate the position of an object, such as a tumor, in a tissue volume to be examined by means of medical imaging techniques. Medical imaging techniques generally use near-infrared fluorescence to illuminate a tissue body to be measured, and use a near-infrared photosensitive element to acquire a fluorescence image of a target object in the tissue body to be measured, so as to determine the position of the target object and assist a surgeon in performing resection of the target object, such as tumor. However, the fluorescence image acquired by the near-infrared light-sensitive element cannot display the specific form of the target object, and is not intuitive enough, and the assistance effect for the doctor is not good.

The medical imaging device can detect the position of the target object in the tissue body to be detected and the three-dimensional specific form of the target object by setting the first near-infrared camera, the second near-infrared camera and the visible light camera to acquire images of the tissue body to be detected and the target object, so that a doctor is intuitively guided to perform a target object resection operation, and the operation difficulty is reduced.

The following describes a medical imaging apparatus according to an embodiment of the present application with reference to the drawings. It should be noted that the Near Infrared camera referred to in the present application refers to a Near Infrared camera, and Near Infrared light (NIR) refers to an electromagnetic wave between visible light (vi is) and mid Infrared light (MIR), and the wavelength is in a range of 780 to 2526nm as defined by ASTM (american society for testing and materials testing).

Fig. 1 is a schematic structural diagram of a medical imaging apparatus provided in an embodiment of the present application. Referring to fig. 1, a medical imaging apparatus 100 of the present application includes a display assembly 10, a near-infrared camera assembly, a visible light camera 30 and a processing terminal 40, the display assembly 10 includes a first display terminal 11 and a second display terminal 12, the near-infrared camera assembly includes a first near-infrared camera 21 and a second near-infrared camera 22, the first display terminal 11 and the second display terminal 12, the first near-infrared camera 21 and the second near-infrared camera 22 and the visible light camera 30 are all electrically connected to the processing terminal 40;

the visible light camera 30 is used for acquiring a visible light image of the tissue body 90 to be detected, and both the first near-infrared camera 21 and the second near-infrared camera 22 are used for acquiring a fluorescence image of a target 91 in the tissue body 90 to be detected;

the first display terminal 11 is configured to display a tissue image of the tissue body 90 to be detected, where the tissue image is used to display a position of the target object 91 on the tissue body 90 to be detected, and the tissue image is generated according to a visible light image of the tissue body 90 to be detected and a fluorescence image acquired by the first near-infrared camera 21;

the second display terminal 12 is configured to display a three-dimensional image of the target 91, the three-dimensional image being generated from the fluorescence image acquired by the first near-infrared camera 21 and the fluorescence image acquired by the second near-infrared camera 22.

In the above scheme, on one hand, the first near-infrared camera 21 and the visible light camera 30 are arranged to respectively acquire the fluorescent image of the target object 91 in the tissue body 90 to be detected and the visible light image of the tissue body 90 to be detected, and the tissue image of the tissue body 90 to be detected is displayed on the first display terminal 11, so as to acquire the position of the target object 91 on the tissue body 90 to be detected; on the other hand, another fluorescence image of the target 91 in the tissue body 90 to be detected is acquired by arranging the second near-infrared camera 22, and a three-dimensional image of the target 91 in the tissue body 90 to be detected is displayed on the second display terminal 12, that is, the three-dimensional information of the surface of the target 91 is acquired in real time by using a near-infrared binocular vision device formed by matching the second near-infrared camera 22 and the first near-infrared camera 21. In other words, the medical imaging apparatus 100 in the above-mentioned solution can acquire the position of the target 91 in the tissue body 90 to be measured and the three-dimensional information of the target 91, and visually display the relative position and shape of the target 91 and the tissue body 90 to be measured in the display assembly 10 in real time, which has a good surgical assistance effect for the doctor. It should be noted that the process of obtaining three-dimensional images by using the first near-infrared camera 21 and the second near-infrared camera 22 is well known to those skilled in the art, and will not be described in detail herein.

In the embodiment of the present application, the visible light camera 30 is configured to obtain a visible light image of the tissue body to be measured 90, for example, the visible light camera 30 receives ambient light reflected by the tissue body to be measured 90 or light reflected by a specific light source, and obtains the visible light image of the tissue body to be measured 90.

The first near-infrared camera 21 and the second near-infrared camera 22 are both used for acquiring a fluorescence image of the target 91 in the tissue body 90 to be detected. Illustratively, if a medical fluorescent probe substance, such as Indocyanine green (ICG), is injected into the tissue volume 90 to be tested in advance, the fluorescent probe substance will be accumulated at the target 91 of the tissue volume 90 to be tested, for example, at the position of a tumor. Optionally, the medical imaging system may further include an excitation light source 50, and an exit end of the excitation light source 50 faces the tissue body 90 to be measured, so that an excitation light beam generated by the excitation light source 50 irradiates the tissue body 90 to be measured, and the target 91 is fluorographed. When the tissue sample 90 is irradiated with the excitation light beam generated by the excitation light source 50, the collected fluorescent probe substances are excited to generate fluorescence. After the fluorescence of the target 91 enters the first near-infrared camera 21 and the second near-infrared camera 22, both the first near-infrared camera 21 and the second near-infrared camera 22 obtain a fluorescence image of the target 91.

The first near-infrared camera 21 and the visible light camera 30 are electrically connected to the processing terminal 40, so that the processing terminal 40 receives the fluorescent image of the target 91 sent by the first near-infrared camera 21, receives the visible light image sent by the visible light camera 30, and superimposes and fuses the fluorescent image of the target 91 and the visible light image of the tissue body to be detected 90, thereby obtaining a tissue image of the tissue body to be detected 90, that is, an image simultaneously containing the tissue body to be detected 90 and the target 91 therein. The tissue image is used to display the position of the target object 91 on the tissue body 90 to be measured. The first display terminal 11 is used for displaying a tissue image of the tissue body 90 to be detected, and a user can visually acquire the position of the target 91 on the tissue body 90 to be detected by seeing the tissue image.

For example, the specific manner of overlaying and fusing the fluorescence image of the target 91 and the visible light image of the tissue body 90 to be measured may be to directly overlay the fluorescence image of the target 91 onto the visible light image of the tissue body 90 to be measured in a specific color after processing the fluorescence image, so as to obtain the tissue image of the tissue body 90 to be measured, where the tissue image shows the position of the target 91 on the tissue body 90 to be measured, for example, shows the distribution image of a tumor in a lesion organ.

On the basis of the above scheme, the second near-infrared camera 22 is also electrically connected to the processing terminal 40, so that the processing terminal 40 receives the fluorescence image of the object 91 transmitted by the second near-infrared camera 22 and generates a three-dimensional stereoscopic infrared image of the object 91 by combining the fluorescence image of the object 91 transmitted by the first near-infrared camera 21.

As described above, according to the binocular vision near-infrared imaging technology, which is a process of generating the three-dimensional image of the object 91 by the first near-infrared camera 21 and the second near-infrared camera 22, the specific form of the object 91 and the surface height information of the object 91 can be obtained, that is, the three-dimensional detection of the object 91 is completed. The second display terminal 12 is used for displaying a three-dimensional image of the object 91. When seeing the three-dimensional image, a user can visually acquire the specific form of the target object 91, and then the user can accurately acquire the information of the target object 91 in real time by combining the tissue image of the tissue body 90 to be detected, so that the intuitiveness of the operation is improved, the operation time of a doctor can be reduced, and the operation efficiency is improved.

In the embodiment of the present application, the first near-infrared camera 21 and the second near-infrared camera 22 are disposed adjacently, that is, the first near-infrared camera 21 and the second near-infrared camera 22 may be disposed in the same mounting structure, or may be disposed in two mounting structures respectively. The imaging areas of the first near-infrared camera 21 and the second near-infrared camera 22 have an overlapping area, and the tissue body 90 to be measured can be located in the overlapping area, so that the completion of binocular vision imaging can be ensured. Alternatively, the setting parameters of the first near-infrared camera 21 and the second near-infrared camera 22 may be the same.

In the embodiment of the present application, the medical imaging apparatus further includes a dichroic mirror 60, and the dichroic mirror 60 is a passive device, and does not require external energy, as long as there is input light. The dichroic mirror 60 can separate the light source into a specific spectrum and change the direction of the optical path of part of the spectrum, and can almost completely transmit light of a certain wavelength and almost completely reflect light of other wavelengths. Illustratively, as shown in fig. 1, the dichroic mirror 60 is located between the first near-infrared camera 21 and the tissue volume 90 to be measured, and is used to transmit fluorescence from the target 91 to the first near-infrared camera 21 along the optical path a; the visible light camera 30 is located at the side of the dichroic mirror 60, and the dichroic mirror 60 is further configured to reflect the visible light from the tissue volume to be measured 90 to the visible light camera 30 along the optical path B. This makes it possible to actually share part of the optical path with the first near-infrared camera 21 and the visible-light camera 30.

In the embodiment of the present application, the first near-infrared camera 21 includes the first near-infrared lens 211, the visible light camera 30 includes the visible light lens 301, and an optical axis of the first near-infrared lens 211 is perpendicular to an optical axis of the visible light lens 301. Also, the reflection angle of the dichroic mirror 60 may be set to 45 ° for convenience of use.

The first near-infrared camera 21 further includes a first near-infrared photosensitive element 212, and the medical imaging device 100 may correspondingly include a first near-infrared filter element 213, the first near-infrared lens 211 is located between the first near-infrared photosensitive element 212 and the first near-infrared filter element 213, and the first near-infrared filter element 213 is disposed on a side of the first near-infrared lens 211 facing the tissue body 90 to be measured.

The visible light camera 30 includes a visible light sensing element 302 and a visible light lens 301, and correspondingly, the medical imaging device 100 may include a visible light filtering element 303, the visible light lens 301 is located between the visible light sensing element 302 and the visible light filtering element 303, and the visible light filtering element 303 is disposed on a side of the visible light lens 301 facing the tissue body 90 to be measured.

The second near-infrared camera 22 may include a second near-infrared photosensitive element 222 and a second near-infrared lens 221, and correspondingly, the medical imaging apparatus 100 may include a second near-infrared filter element 223, the second near-infrared lens 221 is located between the second near-infrared photosensitive element 222 and the second near-infrared filter element 223, and the second near-infrared filter element 223 is disposed on a side of the second near-infrared lens 221 facing the tissue body 90 to be measured. And the second near-infrared lens 221 faces the tissue to be measured to receive the fluorescence from the tissue to be measured. It should be noted that here, the second near-infrared camera 22 directly acquires the fluorescence image of the tumor without passing through the dichroic mirror 60.

The first near-infrared filter element 213, the second near-infrared filter element 223, and the visible light filter element 303 may be, for example, filters.

The first near-infrared filter element 213 and the second near-infrared filter element 223 can block light other than infrared light, such as visible light, and only allow infrared light to pass through smoothly. Illustratively, the first near-infrared filter element 213 and the second near-infrared filter element 223 only allow infrared rays with a wavelength range of 820nm to 1700nm to pass through, so as to filter the excitation light beam and the visible light reflected by the tissue body 90 to be measured. And since the wavelength range of light allowed by the first near-infrared filter element 213 and the second near-infrared filter element 223 is 820nm to 1700nm, the penetration depth is large, and therefore, a fluorescence image of the object 91 with a high signal-to-noise ratio can be obtained. In practical application, the system can be used for developing human lymph, blood vessels and the like and monitoring the perfusion condition of related tissues.

Optionally, the first near-infrared photosensitive element 212, the second near-infrared photosensitive element 222 and the visible light photosensitive element 302 may each include a Charge Coupled Device (CCD) and a Metal-Oxide Semiconductor (CMOS) element.

Optionally, the number of the first near-infrared photosensitive element 212 and the second near-infrared photosensitive element 222 may be one or more, and when the number of the near-infrared photosensitive elements is multiple, the near-infrared light of different wavelength bands may be detected respectively, so as to obtain different image information.

In the embodiment of the present application, as mentioned above, the medical imaging apparatus 100 includes the excitation light source 50, and the excitation light source 50 is used for emitting an excitation light beam to the tissue body 90 to be measured. Optionally, the excitation light source 50 emits an excitation light beam with a wavelength of 700nm to 800nm. After the tissue body to be detected is irradiated by the conventional medical excitation light beam, the wavelength of fluorescence emitted by the tissue body to be detected is located in the near-infrared first region, but in the invention, the wavelength of the near-infrared fluorescence emitted by the tissue body to be detected is 820nm-1700nm, namely, the light in the near-infrared second region, the depth of the target object 91 which can be detected under the infrared light of the frequency band is deeper, and the detection of the deeper target object 91 is more facilitated. In addition, the power of the excitation light source 50 is adjustable, and the adjustable range is 1mW to 1000mW, and it can be understood that the excitation light source 50 is a semiconductor laser with adjustable power, and can help the device to detect the micro tumor under high luminous power; the present application is not limited to this adjustment range.

In the embodiment of the present application, optionally, the medical imaging apparatus 100 further includes an indication light source, which emits an indication light to the tissue volume 90 to be measured, and the indication light is used for marking the target irradiation area of the excitation light beam. In other words, the indication light source is used to indicate the projection position of the excitation light beam for profile representation during operation.

In the embodiment of the present application, the excitation light source 50 may include a light homogenizing assembly for homogenizing the excitation light beam emitted from the excitation light source 50. Namely, the dodging module is used to make the intensity distribution of the light spot irradiated by the excitation light source 50 on the surface of the tissue body 90 to be detected more uniform.

Optionally, the medical imaging apparatus 100 may further include a distance measuring assembly 70, and the distance measuring assembly 70 is configured to detect a working distance between the tissue body 90 to be measured and the distance measuring assembly 70.

Illustratively, the position of the distance measuring component 70, the near-infrared camera component and the position of the visible light camera 30 are relatively fixed, and both the near-infrared camera component and the visible light camera 30 perform focusing according to the working distance between the tissue body 90 to be measured and the distance measuring component 70.

Specifically, the infrared camera assembly and the visible light camera 30 are both fixed relative to the distance measurement assembly 70, and the distance measurement assembly 70 can measure the working distance between the tissue body to be measured 90 and the distance measurement assembly 70, so that the distance between the first near-infrared camera 21 and the tissue body to be measured 90, the distance between the second near-infrared camera 22 and the tissue body to be measured 90, and the distance between the visible light camera 30 and the tissue body to be measured 90 can be obtained respectively.

It is understood that the first near-infrared lens 211 can focus according to the distance between the first near-infrared camera 21 and the tissue body 90 to be measured until the imaging is most clear. Similarly, the second near-infrared lens 221 can focus according to the distance between the second near-infrared camera 22 and the tissue body 90 to be measured until the imaging is clearest; the visible light lens 301 can be focused according to the distance between the visible light camera 30 and the tissue body 90 to be measured until the image is the clearest.

Illustratively, the first ranging sensor 71 and the second ranging sensor 72 are both connected to the processor 40, and the processing terminal 40 is configured to focus the first near-infrared camera 21 and the visible-light camera 30 according to the first working distance; and/or the processing terminal 40 is used for focusing the second near-infrared camera 22 according to the second working distance.

Fig. 2 is a schematic diagram of one structure of a medical imaging apparatus provided in an embodiment of the present application, and fig. 3 is a schematic diagram of another structure of the medical imaging apparatus provided in the embodiment of the present application.

In the embodiment of the present application, as described above, the first near-infrared camera 21 and the second near-infrared camera 22 may be disposed in the same mounting structure, or may be disposed in two mounting structures, respectively. Referring to fig. 2, as an alternative, the first near-infrared camera 21, the second near-infrared camera 22 and the visible light camera 30 may be disposed in the same mounting structure, for example, the medical imaging apparatus 100 includes a housing 80, and the first near-infrared camera 21, the second near-infrared camera 22 and the visible light camera 30 are all disposed in the housing 80. The ranging assembly 70 may now include a third ranging sensor 73, and the third ranging sensor 73 may be disposed on the excitation light source 50. Alternatively, the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor may use a laser distance measuring instrument, for example.

Referring to fig. 3, as another alternative embodiment, the medical imaging apparatus 100 includes a first mounting bracket 81 and a second mounting bracket 82, the first near-infrared camera 21 and the visible-light camera 30 are disposed on the first mounting bracket 81, and the second near-infrared camera 22 is disposed on the second mounting bracket.

Correspondingly, the distance measuring assembly 70 comprises a first distance measuring sensor 71 and a second distance measuring sensor 72, wherein the first distance measuring sensor 71 is used for detecting a first working distance between the tissue body 90 to be measured and the first distance measuring sensor 71; the second distance measuring sensor 72 is used for detecting a second working distance between the tissue body 90 to be measured and the second distance measuring sensor 72; the first near-infrared camera 21 and the visible-light camera 30 are used for focusing according to the first working distance, and the second near-infrared camera 22 is used for focusing according to the second working distance.

The position of the ranging assembly 70 is described in detail below with reference to fig. 2 and 3.

Referring to fig. 2, as an alternative embodiment, the first near-infrared camera 21, the second near-infrared camera 22, and the visible-light camera 30 are fixed relative to the housing 80, and the ranging assembly includes only one ranging sensor, i.e., the third ranging sensor 73, which may be disposed on the excitation light source 50.

In the medical imaging apparatus illustrated in fig. 3, the ranging assembly 70 includes a first ranging sensor 71 and a second ranging sensor 72, the first near-infrared camera 21 and the visible-light camera 30 are fixed relative to a first mounting bracket 81, where one ranging assembly, i.e., the first ranging sensor 71, is provided for the first near-infrared camera 21 and the visible-light camera 30, and the second near-infrared camera 22 and the second mounting bracket 82 are fixed relative to each other, and one ranging assembly, i.e., the second ranging sensor 72, is provided for the second near-infrared camera. And the first and second ranging

sensors

71 and 72 are respectively disposed in the first and second mounting

brackets

81 and 82; that is, the first ranging sensor 71 may be mounted on the first mounting bracket 81, and the second ranging sensor 72 may be mounted on the second mounting bracket 82.

The medical imaging device comprises a display assembly, a near-infrared camera assembly, a visible light camera and a processing terminal, wherein the visible light camera is used for acquiring a visible light image of a tissue body to be detected, and both the first near-infrared camera and the second near-infrared camera are used for acquiring a fluorescence image of a target object in the tissue body to be detected; the first display terminal is used for displaying a tissue image of the tissue body to be detected, wherein the tissue image is used for displaying the position of a target object on the tissue body to be detected, and the tissue image is generated according to a visible light image of the tissue body to be detected and a fluorescence image acquired by the first near-infrared camera; the second display terminal is used for displaying a three-dimensional image of the target object, and the three-dimensional image is generated according to the fluorescent image acquired by the first near-infrared camera and the fluorescent image acquired by the second near-infrared camera. In the above scheme, on one hand, a first near-infrared camera and a visible light camera are arranged to respectively obtain a fluorescence image of a target object in a tissue body to be detected and a visible light image of the tissue body to be detected, and a tissue image of the tissue body to be detected is displayed on a first display terminal, so as to obtain the position of the target object on the tissue body to be detected; on the other hand, another fluorescence image of the target object in the tissue body to be detected is obtained by arranging the second near-infrared camera, and the three-dimensional image of the target object in the tissue body to be detected is displayed on the second display terminal, namely, the form of the target object is obtained in real time by utilizing a near-infrared binocular vision device formed by matching the second near-infrared camera and the first near-infrared camera. In other words, the medical imaging device in the above scheme can acquire the position of the target object in the tissue body to be measured and the three-dimensional information of the target object, and visually display the relative position and form of the target object and the tissue body to be measured in the display assembly in real time, so that the medical imaging device has a good surgical assistance effect on a doctor.

In the description of the present invention, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed and operated in specific orientations, and thus, are not to be construed as limiting the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A medical imaging device is characterized by comprising a display assembly, a near-infrared camera assembly, a visible light camera and a processing terminal, wherein the display assembly comprises a first display terminal and a second display terminal, the near-infrared camera assembly comprises a first near-infrared camera and a second near-infrared camera, and the first display terminal, the second display terminal, the first near-infrared camera, the second near-infrared camera and the visible light camera are all electrically connected with the processing terminal;

the visible light camera is used for acquiring a visible light image of a tissue body to be detected, and the first near-infrared camera and the second near-infrared camera are both used for acquiring a fluorescence image of a target object in the tissue body to be detected;

the first display terminal is used for displaying a tissue image of the tissue body to be detected, wherein the tissue image is used for displaying the position of the target object on the tissue body to be detected, and the tissue image is generated according to a visible light image of the tissue body to be detected and a fluorescence image acquired by the first near-infrared camera;

the second display terminal is used for displaying a three-dimensional image of the target object, wherein the three-dimensional image is generated according to the fluorescent image acquired by the first near-infrared camera and the fluorescent image acquired by the second near-infrared camera.

2. The medical imaging device according to claim 1, wherein the first near-infrared camera and the second near-infrared camera are disposed adjacently, and imaging areas of the first near-infrared camera and the second near-infrared camera have an overlapping area, and the tissue body to be measured is located in the overlapping area.

3. The medical imaging device according to claim 1, further comprising a dichroic mirror located between the first near-infrared camera and the tissue volume under test and configured to transmit fluorescence from the target to the first near-infrared camera;

the visible light camera is positioned on the side of the dichroic mirror, and the dichroic mirror is further used for reflecting the visible light from the tissue body to be detected to the visible light camera.

4. The medical imaging device according to claim 3, wherein the first near-infrared camera comprises a first near-infrared lens, the visible light camera comprises a visible light lens, and an optical axis of the first near-infrared lens and an optical axis of the visible light lens are perpendicular to each other.

5. The medical imaging device according to claim 4, further comprising a first near-infrared filter element disposed on a side of the first near-infrared lens facing the tissue volume to be measured; and/or the medical imaging device further comprises a visible light filter element, and the visible light filter element is arranged on one side of the visible light lens, which faces the tissue body to be detected.

6. The medical imaging device of claim 3, wherein the second near-infrared camera comprises a second near-infrared lens, the second near-infrared lens facing the tissue volume under test and configured to receive fluorescence from the tissue volume under test.

7. The medical imaging device of claim 6, further comprising a second near-infrared filter element disposed on a side of the second near-infrared lens facing the tissue volume under test.

8. A medical imaging device as claimed in any one of claims 1 to 7, further comprising a distance measurement assembly for detecting a working distance of the tissue volume to be measured from the distance measurement assembly.

9. The medical imaging device of claim 8, wherein the distance measuring assembly is fixed relative to the near-infrared camera assembly and the visible light camera, and the near-infrared camera assembly and the visible light camera are both focused according to a working distance between the tissue body to be measured and the distance measuring assembly.

10. The medical imaging device of claim 9, further comprising a first mounting bracket and a second mounting bracket, the first near-infrared camera and the visible light camera disposed on the first mounting bracket, the second near-infrared camera disposed on the second mounting bracket.

11. The medical imaging device of claim 10, wherein the ranging assembly comprises a first ranging sensor and a second ranging sensor, the first ranging sensor and the second ranging sensor being disposed within the first mounting bracket and the second mounting bracket, respectively; the first distance measuring sensor is used for detecting a first working distance between the tissue body to be measured and the first distance measuring sensor; the second distance measuring sensor is used for detecting a second working distance between the tissue body to be measured and the second distance measuring sensor;

12. The medical imaging device according to any one of claims 1 to 7, further comprising an excitation light source, an exit end of the excitation light source facing the tissue volume to be measured, so that an excitation light beam generated by the excitation light source is irradiated to the tissue volume to be measured.

13. The medical imaging device of claim 12, further comprising an indicator light source that emits indicator light toward the tissue volume under test, the indicator light being used to mark a target irradiation area of the excitation light beam.

14. The medical imaging device of claim 12, wherein the excitation light source comprises a dodging assembly configured to homogenize an excitation light beam emitted from the excitation light source.

15. The medical imaging device as claimed in claim 12, wherein the excitation light source emits the excitation light beam with a wavelength of 700nm to 800nm.

16. The medical imaging device of claim 12, wherein the power of the excitation light source is adjustable, and the power of the excitation light source is adjusted in a range of 1mW to 1000mW.

17. The medical imaging device according to claim 12, wherein the excited near infrared fluorescence of the tissue to be tested has a wavelength of 820nm to 1700nm.