CN214908029U - Navigation device based on fluorescent molecular imaging - Google Patents
Navigation device based on fluorescent molecular imaging Download PDFInfo
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- CN214908029U CN214908029U CN202120423498.8U CN202120423498U CN214908029U CN 214908029 U CN214908029 U CN 214908029U CN 202120423498 U CN202120423498 U CN 202120423498U CN 214908029 U CN214908029 U CN 214908029U
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Abstract
The utility model provides an equipment based on fluorescence molecule formation of image, navigation equipment based on fluorescence molecule formation of image includes the imaging element, industrial computer and display element, the imaging element includes the excitation light source module that links to each other with the industrial computer respectively, first imaging module based on near-infrared fluorescence formation of image and the second imaging module based on visible light formation of image, the imaging element still includes the range finding module that links to each other with first imaging module, can realize that first imaging module focuses in real time, obtains clear near-infrared image, from this the utility model discloses can not focus in real time and the near-infrared image that leads to from this defect such as unclear when can overcome the collection near-infrared image.
Description
Technical Field
The utility model relates to a medical science imaging field, concretely relates to navigation equipment based on fluorescence molecule formation of image.
Background
The existing fluorescence molecular imaging surgical navigation device can inject fluorescence molecular markers such as indocyanine green into a human body and enable the fluorescence molecular markers to be focused on a tumor of a focus organ, realize tumor positioning and morphology acquisition and focus organ image acquisition by using a fluorescence developing technology (for example, indocyanine green can excite fluorescence of a near infrared band to the maximum extent under laser radiation with a wavelength of 785nm-808 nm), and help a surgeon to perform tumor excision by fusing a tumor image (a near infrared image (or called an infrared image) acquired based on near infrared light) and a focus organ image (a visible light image acquired based on visible light, generally a color image) and then displaying the fused image by a display.
However, in the existing surgical navigation system, the electric near-infrared lens of the near-infrared image acquisition system mainly adopts a passive mode to realize automatic focusing, and cannot realize near-distance automatic focusing, especially cannot realize automatic focusing within a distance of 1000mm, and the distance between the near-infrared lens and a focus organ in a surgical scene is basically within 1000mm, so that the existing surgical navigation system cannot carry out real-time focusing of the near-infrared image acquisition system, that is, cannot acquire clear infrared images in real time. For example, patent documents with publication numbers CN209847151 and CN109662695 disclose a fluorescent molecular imaging system and device, which cannot realize real-time focusing of an infrared image acquisition system, are not beneficial to the operation, and limit the popularization and application thereof to a certain extent.
SUMMERY OF THE UTILITY MODEL
The utility model provides a navigation equipment based on fluorescence molecule formation of image to overcome at least that above-mentioned prior art exists can not focus in real time and the near-infrared image that leads to from this defect such as not clear when gathering the near-infrared image.
The utility model provides a navigation equipment based on fluorescence molecule formation of image, including imaging element, industrial computer and the display element who links to each other with the industrial computer, imaging element includes: the excitation light source module is provided with an excitation light source and is used for projecting excitation light emitted by the excitation light source to a tested area containing the near-infrared fluorescent marker so as to enable the tested area to generate near-infrared fluorescence; the first imaging module is connected with the industrial personal computer and used for imaging based on near-infrared fluorescence and transmitting the obtained near-infrared fluorescence image to the industrial personal computer; the second imaging module is connected with the industrial personal computer, images based on the visible light reflected by the detected area and transmits the obtained visible light image to the industrial personal computer; the industrial personal computer fuses the near-infrared fluorescence image and the visible light image and transmits the fused near-infrared fluorescence image and the fused visible light image to the display unit for displaying; and the distance measurement module is connected with the first imaging module and is used for measuring first distance information between the first imaging module and the detected area in real time and transmitting the first distance information to the first imaging module, so that the first imaging module can focus in real time according to the first distance information when imaging is based on near-infrared fluorescence.
According to the utility model discloses an embodiment, the range finding module still links to each other with second imaging module for the second distance information of real-time measurement second imaging module and measured area and with second distance information transmission to second imaging module, make second imaging module focus in real time according to second distance information when imaging based on visible light.
According to the utility model discloses an embodiment, the visible light that receives the district reflection derives from ambient light, and the imaging element still includes compensation light source module, and compensation light source module is used for to receiving the district compensation visible light.
According to an embodiment of the present invention, the first imaging module includes a near-infrared filter element, a near-infrared lens, and a near-infrared fluorescence photosensitive element, which are sequentially disposed in a direction in which near-infrared fluorescence generated from the measured area propagates to the first imaging module, the near-infrared fluorescence photosensitive element is connected to the industrial personal computer, and the near-infrared lens is connected to the distance measuring module, wherein the near-infrared filter element is configured to filter non-near-infrared fluorescence in light reflected from the measured area to obtain near-infrared fluorescence; the near-infrared lens is used for focusing the near-infrared fluorescence in real time according to the first distance information fed back by the distance measuring module; and the near-infrared fluorescence photosensitive element is used for imaging the focused near-infrared fluorescence based on the near-infrared lens to obtain a near-infrared fluorescence image and transmitting the near-infrared fluorescence image to the industrial personal computer.
According to an embodiment of the present invention, the near infrared filter element allows the near infrared light with the wavelength of 800-.
According to an embodiment of the present invention, the power of the excitation light source module is 10mw to 3000mw, and the central wavelength of the excitation light source is 785nm ± 5 nm.
According to the utility model discloses an embodiment, excitation light source module still has dodging module, and dodging module is used for carrying out dodging to the exciting light that excitation light source sent and handles to the messenger throws in the exciting light intensity distribution in measured district evenly.
According to an embodiment of the present invention, the second imaging module includes a visible light filtering element, a visible light lens and a visible light sensing element, which are sequentially disposed in a direction of the transmission of the visible light reflected by the measured area to the second imaging module, the visible light sensing element is connected to the industrial personal computer, the visible light lens is connected to the distance measuring module, wherein the visible light filtering element is configured to filter out the invisible light in the light reflected by the measured area to obtain the visible light; the visible light lens is used for focusing the visible light in real time according to the second distance information fed back by the distance measuring module; and the visible light sensing element is used for imaging the focused visible light based on the visible light lens to obtain a visible light image and transmitting the visible light image to the industrial personal computer.
According to the utility model discloses an embodiment, the imaging element is still including instructing the light source module, instructs the light source module to have instruction light source and beam shaping unit, and instruction light source is used for throwing the pilot light that the pilot light source sent to being measured the district, and beam shaping unit is used for carrying out the plastic to the pilot light to the exciting light that instructs the excitation light source to send is in the projection position that is measured the district.
According to the utility model discloses an embodiment, the light beam shaping unit of instruction light source module is the diffraction element for the exciting light profile that will instruct the light shaping that the light source sent for and the excitation light source sent is unanimous.
According to an embodiment of the present invention, the device further comprises a mobile platform, wherein the imaging unit, the industrial personal computer and the display unit are installed on the mobile platform; the mobile platform is provided with a mechanical arm, and the imaging unit is movably mounted on the mobile platform through the mechanical arm.
The utility model provides a navigation equipment based on fluorescence molecule formation of image, can regard as fluorescence molecule image operation navigation equipment, a real-time development for tumor tissue, the location, and the working distance information (being first distance information) through the first imaging module of range finding module real-time measurement, make first imaging module focus in real time through the initiative mode according to first distance information when gathering near-infrared image, can obtain clear near-infrared fluorescence image in real time (being the distribution image of tumor in the focus tissue), effectively overcome near-infrared image defects such as unclear that current fluorescence molecule image navigation equipment exists, thereby can show improvement operation efficiency, important practical meaning has.
Drawings
Fig. 1 is a schematic structural diagram of a fluorescent molecular imaging-based navigation apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an imaging unit of a navigation device based on fluorescent molecule imaging according to an embodiment of the present invention.
Description of reference numerals:
1: a region under test; 101: an imaging unit; 102: a display unit; 103: a mobile platform; 104: an industrial personal computer; 105: a mechanical arm; 201: a near-infrared fluorescent light-sensitive element; 202: a visible light sensing element; 203: a near-infrared lens; 204: a near-infrared filter element; 205: an indication light source module; 206: a visible light lens; 207: a visible light filter element; 208: a distance measurement module; 209: a compensation light source module; 210: an excitation light source module.
Detailed Description
In order to make the technical solution of the present invention better understood, the present invention will be further described in detail with reference to the accompanying drawings.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection can be mechanical connection, electrical connection or communication connection (network connection); the two elements may be connected directly or indirectly through an intermediate medium, or the two elements may be connected to each other. The above-described meaning of what is specifically intended in the present invention can be understood in specific instances by those of ordinary skill in the art. Furthermore, the terms "first" and "second" are used for descriptive purposes only, such as to distinguish components for clarity and to explain/explain technical solutions, and are not to be interpreted as indicating or implying any number of technical features or order of essential significance, etc.
The utility model provides a navigation equipment based on fluorescence molecule formation of image, as shown in FIG. 1 and FIG. 2, this equipment includes imaging element 101, industrial computer 104 and the display element 102 who links to each other with industrial computer 104, and imaging element 101 includes: an excitation light source module 210 having an excitation light source for projecting excitation light to the test area 1 containing the near-infrared fluorescent marker to generate near-infrared fluorescence in the test area 1; the first imaging module is connected with the industrial personal computer 104 and is used for imaging based on near-infrared fluorescence and transmitting the obtained near-infrared fluorescence image to the industrial personal computer 104; the second imaging module is connected with the industrial personal computer 104, images based on visible light reflected by the detected area 1 and transmits the obtained visible light image to the industrial personal computer 104; the industrial personal computer 104 fuses the near-infrared fluorescence image and the visible light image and transmits the fused near-infrared fluorescence image and the fused visible light image to the display unit 102 for display; and the distance measuring module 208 is connected with the first imaging module and is used for measuring the distance information between the first imaging module and the detected area 1 in real time and transmitting the distance information to the first imaging module, so that the first imaging module can focus in real time according to the first distance information when imaging based on near-infrared fluorescence.
The utility model discloses a navigation equipment based on fluorescence molecule formation of image can be used to aspects such as doctor's operation and scientific research, has important practical meaning. Specifically, the excitation light source of the excitation light source module 210 emits excitation light (light spot) and projects/radiates the excitation light (light spot) to the detected region 1 (generally, a focal organ where the tumor is located), so as to obtain fluorescence development of the near-infrared fluorescence marker (or called fluorescence probe, such as indocyanine green, etc.), and generate a near-infrared fluorescence signal, where the near-infrared fluorescence signal is imaged on the first imaging module to obtain a near-infrared fluorescence image (i.e., an image showing the tumor); meanwhile, the visible light signal reflected by the detected area 1 is imaged on the second imaging module to obtain a visible light image (i.e., a color image of the lesion organ where the tumor is located), and the near-infrared fluorescence image and the visible light image are fused by the industrial personal computer 104 and then transmitted to the display unit 102 for display, so that a distribution image of the tumor in the lesion organ/tissue is displayed. The utility model discloses a but equipment real-time detection, demonstration tumour position and form do benefit to doctor's quick location tumour position, improve operation efficiency.
The industrial personal computer 104 may be a conventional controller in the art or a control terminal capable of implementing human-computer interaction, and may specifically include a system control module and an image processing module connected to the system control module, where the system control module may be used for overall control of a fluorescent molecular imaging surgical navigation device system, such as switching of an excitation light source module 210, switching of an imaging unit 101, device power distribution, communication among the modules, and the like, and a doctor may implement various operations on the fluorescent molecular imaging surgical navigation device through the industrial personal computer 104, such as turning on or off the control device. Specifically, the excitation light source module 210, the first imaging module, the second imaging module, the ranging module 208, and the display unit 102 are respectively connected to (i.e., communicatively connected to) the system control module, and the industrial personal computer 104 controls the excitation light source of the excitation light source module 210 to emit excitation light (light spot) and project the excitation light to the tested area 1; the first imaging module transmits the near-infrared fluorescence image to the image processing module through the system control module, the second imaging module transmits the visible light image to the image processing module through the system control module, the image processing module performs superposition fusion processing to obtain a distribution image (namely, a superposed and fused image) of the tumor in the lesion tissue, and the distribution image is transmitted to the display unit 102 through the system control module to be displayed.
The display unit 102 is used for displaying the image information, and may also be a conventional display in the art, such as an LED screen or a liquid crystal display, which is combined with the imaging unit 101, the industrial personal computer 104, and the like to perform the functions of developing and positioning the detected area 1, so as to realize real-time developing and positioning of the tissue such as tumor tissue, which is perfused with the near-infrared fluorescent marker.
The distance measurement module 208 can also be connected to the second imaging module at the same time, and is configured to measure the second distance information between the second imaging module and the detected region 1 in real time and transmit the second distance information to the second imaging module, and the second imaging module focuses in real time according to the second distance information when imaging based on visible light, so that real-time focusing of the first imaging module and the second imaging module is realized, a clear near-infrared fluorescence image and a clear visible light image are obtained, and distribution of tumors in focus organs is more favorably and clearly displayed.
The visible light reflected by the detected area 1 can be from ambient light, that is, the ambient light irradiates the detected area 1, so that the detected area 1 reflects the visible light, and the second imaging module performs imaging based on the visible light to obtain a visible light image; the above-mentioned imaging unit 101 may further include a compensation light source module 209, and the compensation light source module 209 is configured to compensate the visible light to the detected area 1, and especially, the light compensation may be performed when the ambient light intensity is insufficient (i.e., the compensation light source module 209 transmits the visible light to the detected area 1), so as to enhance the visible light reflected by the detected area 1, thereby facilitating obtaining a clearer visible light image. The utility model discloses a fluorescence molecule image operation navigation equipment can work under the light environment of normal operating room, and above-mentioned ambient light specifically can be the light of operating room.
Optionally, the compensation light source module 209 may be connected to the industrial personal computer 104, specifically, may be connected to a system control module of the industrial personal computer 104, and the compensation light source module 209 is controlled by the system control module of the industrial personal computer 104 to emit visible light so as to compensate the visible light to the detected area 1.
Alternatively, the compensating light source module 209 may be installed on the ranging module 208, as shown in fig. 1 and 2, one side of the ranging module 208 is connected to the excitation light source module 210, and the other side of the ranging module 208 is connected to the compensating light source module 209.
As shown in fig. 1 and fig. 2, in an embodiment of the present invention, the first imaging module may specifically include a near-infrared filter element 204, a near-infrared lens 203, and a near-infrared fluorescence photosensitive element (or referred to as a near-infrared camera) 201, which are sequentially arranged according to the direction of propagation of the near-infrared fluorescence generated by the measured area 1 to the first imaging module, the near-infrared fluorescence photosensitive element 201 is connected to the industrial personal computer 104 (specifically, may be connected to a system control module of the industrial personal computer 104), the near-infrared lens 203 is connected to the distance measuring module 208, wherein the near-infrared filter element 204 is configured to filter non-near-infrared fluorescence in the light reflected by the measured area 1, so as to obtain near-infrared fluorescence; the near-infrared lens 203 is used for focusing the near-infrared fluorescence in real time according to the first distance information fed back by the distance measuring module 208; the near-infrared fluorescence photosensitive element 201 is configured to image the focused near-infrared fluorescence based on the near-infrared lens 203, obtain a near-infrared fluorescence image, and transmit the near-infrared fluorescence image to the industrial personal computer 104. Specifically, the light reflected by the measurement region 1 passes through the near-infrared filter element 204, and the near-infrared filter element 204 passes only the near-infrared fluorescence, and even if a desired fluorescence signal carrying tumor information of a lesion organ passes, the near-infrared fluorescence passing through the near-infrared filter element 204 is focused by the near-infrared lens 203 and then imaged on the near-infrared fluorescence sensing element 201, thereby obtaining a near-infrared fluorescence image.
Optionally, the distance measurement module 208 may be connected to the near-infrared lens 203 through the industrial personal computer 104 (specifically, may be connected to the near-infrared lens 203 through a system control module of the industrial personal computer 104), after the distance measurement module 208 acquires the first distance information, the first distance information is sent to the industrial personal computer 104, the industrial personal computer 104 is connected to the near-infrared lens 203, the first distance information is sent to the near-infrared lens 203, and a motor inside the near-infrared lens 203 focuses the near-infrared lens 203 to an image clear position according to the first distance information (a rotation angle and a distance of the lens motor have a calibrated functional relationship, and focusing of the near-infrared lens 203 is realized through the relationship, which is a known technology in the art and is not described again), so that the near-infrared fluorescent light sensing element 201 acquires a clearest near-infrared fluorescent image.
Optionally, the near-infrared filter element 204 allows near-infrared light with a wavelength of 800-. Alternatively, the near-infrared filter element 204 may be a band-pass filter, a long-wave pass filter, a light splitting element, or the like.
In some embodiments, the power of the excitation light source module 210 is 10mw to 3000mw, and the central wavelength of the excitation light source is 785nm ± 5nm, under this condition, the detected area 1 is irradiated by the excitation light source, and can excite the near infrared fluorescence whose wavelength range is not within the wavelength range of the shadowless lamp in the operating room, and further cooperate with the filtering process of the near infrared filtering element 204, the near infrared fluorescence whose wavelength is, for example, 800-, the space resolution is high, therefore, not only can the tumour tissue be developed, but also the perfusion condition of lymph, blood vessels and related tissues can be developed and monitored.
The excitation light source module 210 may be a conventional laser in the art, and in a preferred embodiment, the excitation light source module further has a light homogenizing module, and the light homogenizing module is configured to homogenize excitation light emitted from the excitation light source, so as to make intensity distribution of the excitation light (i.e., an excitation light spot irradiated onto the surface of the region under test 1) projected onto the region under test 1 uniform, which is more favorable for definition of the obtained near-infrared fluorescence image. Specifically, the excitation light source module may be an excitation light source module composed of a conventional power-adjustable semiconductor laser and a light uniformizing system.
As shown in fig. 1 and 2, the second imaging module includes a visible light filtering element 207, a visible light lens 206, and a visible light sensing element (or referred to as a visible light camera) 202 sequentially arranged in a direction in which the visible light reflected by the detected region 1 propagates to the second imaging module, the visible light sensing element 202 is connected to the industrial personal computer 104 (specifically, may be connected to a system control module of the industrial personal computer 104), and the visible light lens 206 is connected to the ranging module 208, where the visible light filtering element 207 is configured to filter out non-visible light in the light reflected by the detected region 1 to obtain visible light; the visible light lens 206 is configured to focus the visible light in real time according to the second distance information fed back by the distance measuring module 208; the visible light photosensitive element 202 is configured to image the focused visible light based on the visible light lens 206, obtain a visible light image, and transmit the visible light image to the industrial personal computer 104. Specifically, light reflected by the detected region 1 passes through the visible light filter element 207, the visible light filter element 207 passes only visible light, and the visible light passing through the visible light filter element 207 is focused by the visible light lens 206 and then imaged on the visible light sensor 202, thereby obtaining a visible light image.
Optionally, the distance measuring module 208 may be connected to the visible light lens 206 through the industrial personal computer 104 (specifically, may be connected to the visible light lens 206 through a system control module of the industrial personal computer 104), after the distance measuring module 208 acquires the second distance information, the second distance information is sent to the industrial personal computer 104, the industrial personal computer 104 is connected to the visible light lens 206, the second distance information is sent to the visible light lens 206, an internal motor of the visible light lens 206 focuses the visible light lens 206 to a clear image position according to the second distance information, and then the visible light sensing element 202 collects the clearest visible light image.
It should be noted that, the distance measuring module 208 may be connected to the first imaging module and the second imaging module through the industrial personal computer 104, or may be connected to the first imaging module and the second imaging module through other intermediate media, or may be directly connected to the first imaging module and the second imaging module, as long as the real-time focusing of the first imaging module and the second imaging module can be achieved, the present invention is not limited thereto.
The imaging unit 101 may further include an indication light source module 205, where the indication light source module 205 has an indication light source for projecting indication light emitted by the indication light source to the measured area 1, and a beam shaping unit for shaping the indication light to indicate a projection position of excitation light emitted by the excitation light source on the measured area 1. The light emitted by the indicating light source may be green light, and the central wavelength thereof may be 492-577nm, for example, 520nm, which is favorable for indicating the projection position of the excitation light on the detected region 1. Through the indicating light source module 205, the projection position of the excitation light emitted by the excitation light source on the measured area 1 is indicated, so that the intuitiveness of the excitation light radiation area (namely, the tumor area) is improved, and the operation of doctors is facilitated. Optionally, the beam shaping unit is a diffraction element, and is configured to shape the indicating light emitted by the indicating light source to be consistent with the profile of the excitation light emitted by the excitation light source, so as to more clearly indicate the projection position of the excitation light emitted by the excitation light source on the measured area 1.
Optionally, the indication light source module 205 is connected to the industrial personal computer 104, specifically, connected to a system control module of the industrial personal computer 104, and the diffraction element of the indication light source module 205 is controlled by the system control module to shape a light beam emitted by the indication light source of the indication light source module 205, so that the shape/profile of the indication light emitted by the indication light source is consistent with the excitation light emitted by the excitation light source of the excitation light source module 210 and irradiated on the surface of the region to be tested 1 (for example, the shape is a circle, a square or the like), and the projection position of the excitation light emitted by the excitation light source in the region to be tested 1 is circled (i.e., the excitation light spot projected on the region to be tested 1 is circled), which is more beneficial for a doctor to visually see the irradiation region of the excitation light, and is convenient for the surgical operation. The diffraction element may be a diffraction element having a light beam shaping function conventionally in the art, and the arrangement manner of the diffraction element on the indication light source module 205 may also be a conventional arrangement manner in the art, which is not particularly limited by the present invention and is not described herein again.
The utility model discloses in, above-mentioned navigation equipment can also include mobile platform 103, and imaging unit 101, industrial computer 104, display element 102 install on mobile platform 103, and mobile platform 103 can bear whole operation navigation equipment/system and remove, can be according to demand adjusting device position, and the doctor's operation of being convenient for improves the utility model discloses the convenience in use of equipment. A plurality of universal wheels may be installed at the bottom of the mobile platform 103, for example, the mobile platform 103 may be a rectangular parallelepiped or a square, and one universal wheel may be installed at each of four corners of the bottom of the mobile platform, so that the mobile platform 103 is moved by the universal wheels at the bottom of the mobile platform.
In an embodiment of the present invention, as shown in fig. 1, a mechanical arm 105 is disposed on the movable platform 103, and the imaging unit 101 is movably mounted on the movable platform 103 through the mechanical arm 105, so as to facilitate adjusting the working distance (the distance between the imaging unit 101 and the measured area 1) and the working angle of the imaging unit 101 according to the requirement, thereby facilitating the operation of the doctor.
Alternatively, the mechanical arm 105 may be composed of a first straight portion, a second straight portion, and a third straight portion, which are connected in sequence, where one end of the first straight portion is installed on the moving platform 103, the other end of the first straight portion is connected with one end of the second straight portion, the other end of the second straight portion is connected with one end of the third straight portion, the imaging unit 101 is installed at the other end of the third straight portion, the first straight portion is parallel to the third straight portion, the axial direction of the third straight portion is perpendicular to the plane of the detected region 1, and the second straight portion is movably connected with the first straight portion to adjust the height of the third straight portion, thereby adjusting the working distance between the imaging unit 101 and the detected region 1.
Alternatively, the first straight portion may be fixedly mounted on the movable platform 103, and the imaging unit 101 is movably mounted on the third straight portion, or the first straight portion is movably mounted on the movable platform 103 and the imaging unit 101 is fixedly mounted on the third straight portion, or the first straight portion is movably mounted on the movable platform 103 and the imaging unit 101 is also movably mounted on the third straight portion. The first straight part can be movably mounted on the mobile platform 103, which means that the first straight part can rotate and/or move relative to the mobile platform 103; the imaging unit 101 may be movably mounted on the third straight portion, which means that the imaging unit 101 may rotate relative to the third straight portion, and the rotation direction is perpendicular to the axial direction of the third straight portion.
Optionally, the first straight portion, the second straight portion, and the third straight portion may further have a telescopic structure, that is, the lengths of the first straight portion, the second straight portion, and the third straight portion may be adjusted as required, so as to further facilitate adjustment of conditions such as a working distance (i.e., a distance between the imaging unit 101 and the region 1 to be measured) and a working angle of the structures such as the imaging unit 101, and facilitate the operation of the doctor.
Specifically, the robot arm 105 may be a six-degree-of-freedom robot arm, which facilitates adjustment of a working distance and a working angle, and an imaging range is selected by the robot arm 105, thereby facilitating a doctor to perform an operation.
Generally, the working distance adjustment range of the imaging unit 101 can be 100mm-1000mm, the utility model discloses a navigation equipment also can realize focusing in real time of first imaging module in this short distance within range, obtains clear near-infrared fluorescence image, clearly shows the tumour condition, is convenient for doctor's operation. Of course, the utility model is not limited to this, and the working distance range can be reasonably adjusted according to the operation requirement.
Specifically, as shown in fig. 1 and fig. 2, the first imaging module, the second imaging module, the excitation light source module 210, and the distance measuring module 208 are all included in the imaging unit 101, and the distances from these modules to the measured area 1 are substantially the same (i.e. substantially equal to the distance from the imaging unit 101 to the measured area 1), that is, the first distance information and the second distance information are the same, and the distance measuring module 208 may be generally mounted on the excitation light source module 210 and connected to the first imaging module and the second imaging module, so that the first imaging module and the second imaging module realize real-time focusing through the measured distance information. Certainly, the distance information measured by the distance measuring module 208 is also the distance information from the imaging unit 101 to the measured area 1, and the distance measuring module 208 may be connected to other modules in the imaging unit 101 as needed, so as to realize parameter control of the other modules based on the distance information.
For example, in some embodiments, the excitation light source module 210 may be located on a first side of the first imaging module (specifically, may be located on a first side of the near-infrared fluorescent light sensing element 201 of the first imaging module), the second imaging module may be located on a second side of the first imaging module opposite to the first side (specifically, may be located on a second side of the near-infrared fluorescent light sensing element 201 of the first imaging module), the indication light source module 205 may be installed on the second imaging module, specifically, on the visible light sensing element 202, as shown in fig. 2, the indication light source module 205 is installed on a side of the visible light sensing element 202 far from the first imaging module, and the distance measurement module 208 is installed on a side of the excitation light source module 210 far from the first imaging module. Of course, the present invention is not limited thereto, as long as the distance between the excitation light source module 210, the first imaging module, and the second imaging module from the measured area 1 is substantially the same (even if the first distance information and the second distance information are equal). The optical axis of the first imaging module is perpendicular to the surface (or object plane) of the measured area 1, so as to facilitate the first imaging module to image based on the near-infrared fluorescence generated by the measured area 1.
Optionally, the industrial personal computer 104 may be installed in a cavity formed inside the mobile platform 103, and implement communication connection with modules such as the display unit 102, the first imaging module, and the second imaging module, and the display unit 102 may be located on the upper surface of the mobile platform 103, so as to facilitate operation by a doctor and improve convenience in use of the navigation device.
The near infrared fluorescent marker may be a fluorescent marker that is conventional in the art, such as indocyanine green (ICG), etc., and is accumulated in a lesion organ of a patient after being injected into the patient, so as to be used for developing a tumor in the patient.
Adopt the utility model discloses a navigation method based on fluorescence molecule formation of image that navigation equipment implemented, include: projecting exciting light to a tested area containing a near-infrared fluorescent marker to enable the tested area to generate near-infrared fluorescence, and obtaining a near-infrared fluorescence image based on near-infrared fluorescence imaging by adopting a first imaging module; imaging based on the visible light reflected by the detected area by adopting a second imaging module to obtain a visible light image; fusing the near-infrared fluorescence image and the visible light image and then displaying; the first distance information between the first imaging module and the detected area is measured in real time, so that the first imaging module can be focused in real time according to the first distance information when the first imaging module is based on near-infrared fluorescence imaging.
In some embodiments, second distance information between the second imaging module and the measured area is measured in real time, so that the second imaging module is focused in real time according to the second distance information when imaging based on visible light.
In some embodiments, the visible light reflected by the test area is derived from ambient light, and the method further comprises: compensating for visible light to the measured area.
In some embodiments, acquiring a near-infrared fluorescence image based on near-infrared fluorescence with a first imaging module comprises: filtering non-near infrared fluorescence in light reflected by the detected region to obtain near infrared fluorescence; focusing the near-infrared fluorescence in real time according to the first distance information; and obtaining a near-infrared fluorescence image based on the focused near-infrared fluorescence imaging.
In some embodiments, the wavelength of the near infrared fluorescence is 800-1700 nm.
In some embodiments, the collecting a visible light image based on visible light reflected by the region under test using a second imaging module comprises: filtering out invisible light in light reflected by the detected area to obtain visible light; focusing the visible light in real time according to the second distance information; and obtaining a visible light image based on the focused visible light image.
In some embodiments, the excitation light has a wavelength of 785nm ± 5 nm.
In some embodiments, the excitation light projected onto the region under test is homogenized to make the intensity distribution of the excitation light projected onto the region under test uniform.
In some embodiments, a pointer light is projected toward the region under test and shaped to indicate the location of the excitation light at the region under test.
In some embodiments, the shaping of the indicator light is: the indicator light is shaped to conform to the excitation light profile.
The navigation method based on the fluorescent molecule imaging is implemented by the navigation device based on the fluorescent molecule imaging, and the implementation principle is similar, so that redundant description is omitted.
In some embodiments, there is also provided an electronic device based on fluorescent molecular imaging, comprising: a processor, a memory, and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the above-mentioned fluorescent molecule imaging-based navigation method, which is not described in detail.
In some embodiments, there is also provided a computer readable storage medium having stored thereon a computer program for execution by a processor to implement the above-described fluorescent molecular imaging-based navigation method. The computer readable storage medium is for example a memory comprising instructions (computer program) executable by a processor of the above-mentioned fluorescent molecule imaging based electronic device to perform a method of navigation based on fluorescent molecule imaging. The computer readable storage medium is, for example, a non-transitory computer readable storage medium, which may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In some embodiments, there is also provided a computer program product comprising a computer program for execution by a processor to implement the above-described fluorescent molecular imaging-based navigation method. According to an embodiment of the application, the at least one processor of the electronic device may read a computer program from a readable storage medium, and the at least one processor executes the computer program to cause the electronic device to perform the navigation method for fluorescent molecule imaging.
The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. The utility model provides a navigation equipment based on fluorescence molecule formation of image which characterized in that, including imaging element, industrial computer and with the display element that the industrial computer links to each other, imaging element includes:
the excitation light source module is provided with an excitation light source and is used for projecting excitation light emitted by the excitation light source to a tested area containing a near-infrared fluorescent marker so as to enable the tested area to generate near-infrared fluorescence;
the first imaging module is connected with the industrial personal computer and used for imaging based on the near-infrared fluorescence and transmitting the obtained near-infrared fluorescence image to the industrial personal computer;
the second imaging module is connected with the industrial personal computer, images based on the visible light reflected by the detected area and transmits the obtained visible light image to the industrial personal computer;
the industrial personal computer fuses the near-infrared fluorescence image and the visible light image and transmits the fused near-infrared fluorescence image and the fused visible light image to the display unit for displaying;
and the distance measurement module is connected with the first imaging module and is used for measuring first distance information between the first imaging module and the detected area in real time and transmitting the first distance information to the first imaging module, so that the first imaging module can focus in real time according to the first distance information when imaging based on the near-infrared fluorescence.
2. The navigation device of claim 1, wherein the ranging module is further connected to the second imaging module, and configured to measure a second distance between the second imaging module and the area under test in real time and transmit the second distance to the second imaging module, so that the second imaging module focuses in real time according to the second distance when imaging based on the visible light.
3. The navigation apparatus of claim 1, wherein the visible light reflected by the area-under-test is derived from ambient light, the imaging unit further comprising a compensation light source module for compensating the area-under-test for visible light.
4. The navigation device of claim 1, wherein the first imaging module comprises a near-infrared filter element, a near-infrared lens, and a near-infrared fluorescence sensor element sequentially arranged in a direction in which near-infrared fluorescence generated by the detected area propagates toward the first imaging module, the near-infrared fluorescence sensor element is connected to the industrial personal computer, the near-infrared lens is connected to the ranging module, wherein,
the near-infrared filtering element is used for filtering non-near-infrared fluorescence in the light reflected by the detected area to obtain near-infrared fluorescence;
the near-infrared lens is used for focusing the near-infrared fluorescence in real time according to the first distance information fed back by the distance measuring module;
the near-infrared fluorescence photosensitive element is used for imaging the focused near-infrared fluorescence based on the near-infrared lens to obtain a near-infrared fluorescence image and transmitting the near-infrared fluorescence image to the industrial personal computer.
5. The navigation device as set forth in claim 4, wherein the near-infrared filter element allows near-infrared light with a wavelength of 800-1700nm to pass therethrough.
6. The navigation device according to claim 1, wherein the power of the excitation light source module is 10mw-3000mw, and the center wavelength of the excitation light source is 785nm ± 5 nm.
7. The navigation device according to claim 1, wherein the excitation light source module further comprises a dodging module, and the dodging module is configured to dodge the excitation light emitted by the excitation light source so as to make the intensity distribution of the excitation light projected onto the region under test uniform.
8. The navigation device of claim 2, wherein the second imaging module comprises a visible light filter element, a visible light lens and a visible light sensing element, which are sequentially arranged in a direction of the visible light reflected by the detected area to propagate to the second imaging module, the visible light sensing element is connected to the industrial personal computer, the visible light lens is connected to the ranging module, wherein,
the visible light filtering element is used for filtering out non-visible light in the light reflected by the detected area to obtain visible light;
the visible light lens is used for focusing the visible light in real time according to second distance information fed back by the ranging module;
the visible light sensing element is used for imaging the focused visible light based on the visible light lens to obtain a visible light image and transmitting the visible light image to the industrial personal computer.
9. The navigation device according to claim 1, wherein the imaging unit further includes an indication light source module having an indication light source for projecting the indication light emitted by the indication light source toward the region under test, and a beam shaping unit for shaping the indication light to indicate a projection position of the excitation light emitted by the excitation light source on the region under test.
10. The navigation device according to claim 9, wherein the beam shaping unit of the indication light source module is a diffraction element for shaping the indication light emitted from the indication light source to conform to the excitation light profile emitted from the excitation light source.
11. The navigation device according to any one of claims 1 to 10, further comprising a mobile platform, wherein the imaging unit, the industrial personal computer and the display unit are mounted on the mobile platform; the mobile platform is provided with a mechanical arm, and the imaging unit is movably mounted on the mobile platform through the mechanical arm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120423498.8U CN214908029U (en) | 2021-02-25 | 2021-02-25 | Navigation device based on fluorescent molecular imaging |
| PCT/CN2021/123832 WO2022179117A1 (en) | 2021-02-25 | 2021-10-14 | Navigation method and apparatus based on fluorescence molecular imaging, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120423498.8U CN214908029U (en) | 2021-02-25 | 2021-02-25 | Navigation device based on fluorescent molecular imaging |
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| Publication Number | Publication Date |
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| CN214908029U true CN214908029U (en) | 2021-11-30 |
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| CN202120423498.8U Active CN214908029U (en) | 2021-02-25 | 2021-02-25 | Navigation device based on fluorescent molecular imaging |
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| CN (1) | CN214908029U (en) |
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- 2021-02-25 CN CN202120423498.8U patent/CN214908029U/en active Active
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Effective date of registration: 20211229 Address after: 211800 3rd floor, tower C, Tengfei building, yanchuangyuan, Jiangbei new district, Nanjing City, Jiangsu Province Patentee after: Nanjing Weina Shijie Medical Technology Co.,Ltd. Address before: 211800 3rd floor, tower C, Tengfei building, yanchuangyuan, Jiangbei new district, Nanjing City, Jiangsu Province Patentee before: Nanjing Weina Technology Research Institute Co.,Ltd. |