WO2016041155A1

WO2016041155A1 - Three-dimensional optical molecular image navigation system and method

Info

Publication number: WO2016041155A1
Application number: PCT/CN2014/086699
Authority: WO
Inventors: 田捷; 叶津佐; 迟崇巍; 杨鑫
Original assignee: 中国科学院自动化研究所
Priority date: 2014-09-16
Filing date: 2014-09-17
Publication date: 2016-03-24
Also published as: CN104188628A; CN104188628B

Abstract

The present invention relates to a three-dimensional optical molecular image navigation system and method. The system comprises a system supporting module, a light source module, an optical signal collecting module, a three-dimensional positioning module, and a computer module. The system supporting module supports devices in the system. The light source module provides light source irradiation to an imaging region. The optical signal collecting module collects an optical signal in the imaging region. The three-dimensional positioning module positions depth information of a probe apparatus in an imaging target. The computer module sets a parameter and processes and displays image data. According to the three-dimensional optical molecular image navigation system and method of the present invention, two-dimensional navigation is provided by means of real-time fusion imaging of optical fluorescence images and visible-light images, and three-dimensional navigation is provided by means of continuous and dynamic display of three-dimensional images of anatomical structures.

Description

Three-dimensional optical molecular image navigation system and method

Technical field

The present invention relates to the field of optical molecular imaging technology, and in particular, to a three-dimensional optical molecular imaging navigation system and method.

Background technique

Molecular imaging is one of the most dazzling sciences and technologies in the 21st century. It refers to medical imaging technology that detects molecules in living organisms at the molecular level without damage and gives information on molecular distribution in vivo. It has been proved to be an imaging tool that can visualize the physiological and pathological changes of molecules at the molecular, genetic, and cellular levels. As one of the important molecular imaging imaging modalities, optical molecular imaging has been applied to the early detection of tumors by virtue of its low cost, high throughput, non-invasive, non-contact, non-ionizing radiation, high sensitivity and specificity. In the field of drug research and development.

Compared with traditional imaging technology, optical molecular imaging technology has the following advantages: First, optical molecular imaging technology can turn complex processes such as gene expression and biological signal transmission into intuitive images, enabling people to better in molecules. To understand the occurrence and development mechanism and process of disease at the level; secondly, to discover the molecular variation and pathological changes in the early stage of the disease; and third, to continuously observe the mechanism and effect of drug or gene therapy in vivo. In general, methods for detecting biological tissue molecules are two methods of detecting and detecting in vivo. As an in-vivo detection method, optical molecular imaging technology has the advantage of obtaining images of biological tissue molecules quickly, remotely and without damage. . It can reveal the early molecular biological characteristics of the lesion, thus providing the possibility of early diagnosis and treatment of the disease, and introducing new concepts for clinical diagnosis.

Excitation fluorescence imaging technology is an optical molecular imaging technique. The principle of excitation fluorescence imaging can be described as: by stimulating the fluorophore in the living body through the excitation source outside the organism, In the high-energy state, the fluorophore absorbs light energy to cause the electrons to transition to the excited state, and the electrons release fluorescence when they return from the excited state to the ground state. The fluorescence is shifted to the red end, that is, the wavelength ratio of the emitted fluorescence. The wavelength of the excited fluorescence is long, the fluorescence propagates in the tissue and some of it reaches the body surface, and the fluorescence emitted from the body surface is received by the highly sensitive detector to form a fluorescent image. Generally, the fluorescence generated by the fluorophore is weakened when it reaches the surface after being absorbed and scattered by the living tissue. At this time, it is necessary to perform an imaging operation in a dark box environment with good light protection conditions, that is, using high sensitivity. The CCD camera captures the fluorescent photons that reach the surface and then processes the captured signal through a computer and images it.

Optical molecular imaging navigation technology is a technique that uses excitation fluorescence imaging technology to provide navigation for experimental operators. Real-time fusion imaging of fluorescent images and visible light images can guide imaging experiment operators to obtain two-dimensional position information of fluorescent regions. Continuous dynamic 3D anatomical data imaging provides depth information to the experimental operator. Therefore, the three-dimensional optical molecular image navigation system can provide two-dimensional image guidance and three-dimensional image guidance, which is very helpful for carrying out experimental operations.

At present, the existing formed optical molecular image navigation system mainly provides two-dimensional image information guidance, continuous dynamic imaging using fluorescent images or continuous dynamic imaging using fused images of fluorescent images and visible images for imaging experiment operators. Navigation is provided, while the 3D optical molecular imaging navigation system provides real-time fusion imaging while providing a three-dimensional image of the target anatomy information.

Summary of the invention

The object of the present invention is to provide a three-dimensional optical molecular image navigation system and method for real-time fusion imaging of optical fluorescence images and visible light images to provide two-dimensional navigation and realize continuous dynamics of three-dimensional anatomical images in view of the defects of the prior art. Display to provide 3D navigation.

To achieve the above object, the present invention provides a three-dimensional optical molecular image navigation system, the system comprising: a system support module (101), a light source module (107), and an optical signal acquisition module. Block (114), three-dimensional positioning module (122) and computer module (125);

The system support module (101) supports the devices in the system;

The light source module (107) provides illumination to the imaging area;

An optical signal acquisition module (114) acquires an optical signal in the imaging region;

The three-dimensional positioning module (122) locates the depth information of the probe device in the imaging target;

The computer module (125) processes and displays the parameter settings and the image data;

The system support module (101) is connected to the light source module (107) through the light source bracket (102); the system support module (101) is connected to the optical signal acquisition module (114) through the optical platform support (106); the system support module (101) is connected to the three-position positioning module (122) through a three-position positioning device bracket (100); the system support module (101) is connected to the computer module (125) through the computer mainframe support (103) and the computer display support (104) connection.

To achieve the above object, the present invention also provides a three-dimensional optical molecular image navigation method, the method comprising:

Step S1: adjusting the system bracket and the optical platform bracket to a suitable height through the system support module; opening the computer host, the computer display, the positioning device, the synchronous trigger device, the CCD fluorescent camera, the CCD visible light camera, the excitation fluorescent light source, and the visible light source to image Irradiation of the area;

Step S2: Open the software control module, the data storage module, the data processing module, the data display module in the computer module, set the synchronous trigger frequency of the synchronous starting device in the software control module, the CCD fluorescent camera and the CCD visible light camera exposure time, the camera shutter Method, whether to automatically store image data, locate positioning parameters of the device, and then control the optical signal acquisition module and the three-dimensional positioning module, so that the optical signal acquisition module collects data for the imaging area, so that the positioning device of the three-dimensional positioning module positions the probe device Positioning

Step S3: According to the synchronous trigger frequency set in the software control module, the synchronous trigger device synchronously triggers the CCD fluorescent camera and the CCD visible light camera to synchronously acquire image data in the imaging region; and the positioning device in the three-dimensional positioning module positions the probe device. Positioning, positioning probe device The position in the imaging target;

Step S4: The CCD fluorescent camera and the CCD visible light camera transmit the captured image data to the computer module through the data line, and the data processing module in the computer module processes the transmitted image data, and the fluorescence captured by the CCD fluorescent camera and the CCD visible light camera. The image data and the visible light image data are subjected to brightness adjustment, feature extraction, feature enhancement, adding pseudo color, matching, and fusion processing, and displaying the merged image data in the data display module, and storing the data to be stored in the data storage module. At the same time, according to the position information of the position probe device transmitted from the three-dimensional positioning module, the cross-section information corresponding to the anatomical structure information of the imaging target acquired before the experiment in the data storage module is extracted and displayed in the data display module, and simultaneously The three-dimensional anatomical information of the imaging target is also displayed in the data display module.

The three-dimensional optical molecular image navigation system and method of the invention provides a three-dimensional optical molecular image navigation system based on the characteristics of the real-time imaging technology of the excitation fluorescence and the data characteristics of the three-dimensional anatomical structure image, and based on the long-term research experience in the field of excitation fluorescence imaging technology. Two CCD cameras, an excitation light source, a white light source, a synchronous trigger, and a positioning device are used to realize real-time fusion imaging of optical fluorescence images and visible light images to provide two-dimensional navigation and realize three-dimensional anatomical structure. The image is continuously displayed dynamically to provide 3D navigation.

DRAWINGS

1 is a schematic view of a three-dimensional optical molecular image navigation system of the present invention;

2 is a flow chart of a three-dimensional optical molecular image navigation method according to the present invention.

detailed description

The technical solution of the present invention will be further described in detail below through the accompanying drawings and embodiments.

The three-dimensional optical molecular image navigation system of the invention includes a computer digital image processing method, a real-time imaging method for exciting fluorescence images, a real-time imaging method for visible light images, a real-time fusion imaging method for exciting fluorescence and visible light images, and a real-time imaging method for three-dimensional anatomical structure cross-section information.

The three-dimensional optical molecular image navigation system of the invention provides a three-dimensional optical molecular image navigation system based on the characteristics of the real-time imaging technology of the excitation fluorescence and the data characteristics of the three-dimensional anatomical structure image, and based on the long-term research experience in the field of excitation fluorescence imaging technology, two sets are adopted. CCD camera, an excitation light source, a white light source, a synchronous trigger, a positioning device, etc. to achieve real-time fusion imaging of optical fluorescence images and visible light images to provide two-dimensional navigation and continuous dynamics of three-dimensional anatomical images Display to provide 3D navigation.

1 is a schematic diagram of a three-dimensional optical molecular image navigation system of the present invention. As shown, the system specifically includes a system support module 101, a light source module 107, an optical signal acquisition module 114, a three-dimensional positioning module 122, and a computer module 125.

The system support module 101 is connected to the light source module 107 through the light source bracket 102; the system support module 101 is connected to the optical signal acquisition module 114 through the optical platform bracket 106; the system support module 101 passes through the three-position positioning device bracket 100 and the three-position positioning module 122. The system support module 101 is coupled to the computer module 125 via a computer mainframe mount 103 and a computer monitor mount 104.

The system support module 101 is used to provide support for the devices used in the system; the light source module 107 is used to provide illumination to the imaging area; the optical signal acquisition module 114 is used to collect optical signals in the imaging area; the three-dimensional positioning module 122 is used for Positioning the depth information of the probe device in the imaging target. The computer module 125 is used to perform necessary parameter settings and process and display image data for the system.

The system support module 101 includes a three-position positioning device bracket 100, a light source bracket 102, a computer host bracket 103, a computer display bracket 104, a system bracket 105, and an optical platform bracket 106. Wherein: the three positioning device bracket 100 supports the three positioning module 122. The light source bracket 102 is used to support the light source module 107. The computer mainframe support 103 is used to support a computer host. A computer monitor stand 104 is used to support a computer display. The system bracket 105 is used to support the three-dimensional positioning device holder 100, the light source holder 102, the computer main body holder 104, the computer display holder 105, and the optical table holder 106. The optical platform support 106 is used to support the optical signal acquisition module 114; The three-position positioning device bracket 102 is connected to the system bracket 105; the light source bracket 102 is connected to the system bracket 105; the computer mainframe bracket 103 is connected to the system bracket 105; the computer display bracket 104 is connected to the system bracket 105; the optical platform bracket 106 is connected The system brackets 105 are connected.

The light source module 107 includes an excitation fluorescent light source 108, a white light source 109, a first filter 110, and a second filter 111. The fluorescent light source 108 is configured to provide excitation fluorescence; the first filter 111 is built in the excitation fluorescent light source 108, and the excitation fluorescence provided by the excitation fluorescent light source 108 passes through the first filter 110 and is irradiated to the imaging region 112. The visible light source 109 is configured to provide visible light; the second filter 111 is built in the visible light source 109, and the visible light 109 provided by the visible light source passes through the second filter 111 and is irradiated to the imaging region 112.

The optical signal acquisition module 114 includes an optical lens 115, a beam splitting prism 116, a third color filter 117, a fourth color filter 118, a CCD visible light camera 119, a CCD fluorescent camera 121, and a synchronous triggering device 121. Wherein: the optical lens 116 is connected to the dichroic prism 116; the third filter 117 is located at the interface of the dichroic prism 116 and the CCD fluorescent camera 120; the fourth filter 118 is located at the interface of the dichroic prism 116 and the CCD visible light camera 119; The CCD visible light camera is connected to the dichroic prism for collecting visible light in the imaging area 112; the CCD fluorescent camera 120 is connected to the dichroic prism for collecting excitation fluorescence in the imaging area 112, the synchronous triggering device and the CCD fluorescent camera 120, CCD The visible light camera 119 and the host computer are connected for synchronously triggering the CCD fluorescent camera 120 and the CCD visible light camera 121 to acquire fluorescent images and visible light images.

The three-dimensional positioning module 122 includes a probe device 123 and a positioning device 124. Wherein: the positioning device 124 is connected to the system support module 101 through the three-dimensional positioning device bracket 100; the probe device 123 can be moved in various directions in the imaging region 122. The probe device 113 is for detecting anatomical section information within the imaging target 113. The positioning device 124 is used to position the probe device 123 within the imaging target 113. When the probe device 113 is inserted into the imaging target 113, the positioning device can position the specific position of the tip of the probe device 123 and calculate the depth at which the probe tip is located at the imaging target 113.

The computer module 125 includes a software control module 126, a data storage module 127, a data processing module 128, and a data display module 129. The software control module 126 is configured to set some basic parameters in the three-dimensional positioning module 122, the optical signal acquisition module 114, and the light source module 107. The data storage module 127 is configured to store the three-dimensional data information of the imaging target 113 anatomy collected before the imaging experiment, and the optical data collected by the optical signal collecting module 114 in the imaging experiment. The data processing module 128 extracts the cross-sectional data information of the anatomical structure data at the position of the imaging target 113 of the probe device 123 according to the position information returned from the three-dimensional positioning module 122, and displays the data on the data display module 129 at the same time. The cross-sectional information of the XY plane, the XZ plane, and the YZ plane, and the three-dimensional image information of the three-dimensional anatomical structure data are continuously displayed dynamically. At the same time, the data processing module 128 processes the fluorescence image data and the visible light image data brightness adjustment, feature extraction, feature enhancement, matching, fusion, etc., to obtain a fused image of the fluorescent image and the visible light image, and continuously and dynamically Displayed on the data display module 129. The data display module 129 is mainly used to display the result information after the data processing module 128 processes the data. The software control module 126 is connected to the data storage module 127; the software control module 126 is connected to the data processing module 128; the software control module 126 is connected to the data display module 129; the data storage module 127 is connected to the data processing module 128; Module 128 is coupled to data display module 129.

2 is a flow chart of a three-dimensional optical molecular image navigation method according to the present invention. As shown in the figure, in combination with the system shown in FIG. 1, the method specifically includes:

Step S1: The system support 102 and the optical table support 106 are adjusted to a suitable height by the system support module 101. The computer host 301, the computer display 302, the positioning device 124, the synchronization trigger device 121, the CCD fluorescence camera 120, the CCD visible light camera 119, the excitation fluorescent light source 108, and the visible light source 109 are turned on to illuminate the imaging region 112.

Step S2: Open the software control module 126, the data storage module 127, the data processing module 128, and the data display module 129 in the computer module 125, and set the synchronous trigger frequency of the synchronization triggering device 121 in the software control module 126, the CCD fluorescent camera 120 and CCD visible light phase The camera 119 camera exposure time, camera shutter mode, whether to automatically store image data, positioning parameters of the positioning device, and the like, and then control the optical signal acquisition module 114 and the three-dimensional positioning module 122, so that the optical signal acquisition module 114 performs data acquisition on the imaging region 112. The positioning device 122 of the three-dimensional positioning module positions the probe device 123.

Step S3: According to the synchronization trigger frequency set in the software control module 126, the synchronization triggering device 121 synchronously triggers the CCD fluorescence camera 120 and the CCD visible light camera 119 to synchronously acquire image data in the imaging region 122.

At the same time, the positioning device 124 in the three-dimensional positioning module 122 positions the probe device 123 to position the probe device in the imaging target 113.

Step S4: The CCD fluorescent camera 120 and the CCD visible light camera 119 transmit the captured image data to the computer module 125 through the data line, and the data processing module 128 in the computer module 125 processes the transmitted image data to the CCD fluorescent camera 120 and the CCD. The fluorescence image data and the visible light image data captured by the visible light camera 119 are subjected to brightness adjustment, feature extraction, feature enhancement, addition of pseudo color, matching, fusion, and the like, and the merged image data is displayed in the data display module 129, which will be required The stored data is stored in the data storage module 127.

At the same time, according to the position information of the position probe device 123 transmitted from the three-dimensional positioning module, the cross-section information corresponding to the anatomical structure information of the imaging target 113 acquired before the experiment in the data storage module 127 is extracted and displayed on the data display module 129. At the same time, the three-dimensional anatomical information of the imaging target 113 is also displayed in the data display module 129.

Step S5: In the data display module 129, there are some displayed options, such as: displaying fused image data, displaying fluorescent image data, displaying white light image data, displaying three-dimensional anatomical image data, displaying interface data of the imaging target 113, and the like. The user can also select the corresponding option in the data display module 129 as needed.

It can be seen from the above scheme that the present invention has the following beneficial effects:

1. With the invention, the fluorescent image and the white light image in the imaging region 112 can be continuously and dynamically acquired by using only the realization, and the collected fluorescent image data is merged by the computer module. And white light image data, and real-time fusion display, effectively solve the problem of continuous and dynamic display of fused images.

2. Using the present invention, the optical signal acquisition module 114 and the three-dimensional positioning module 122 can be conveniently controlled by the software control module 126 in the computer module 125, so that the optical signal acquisition module 114 collects fluorescence image data and white light image data, which is a three-dimensional positioning module. Target location information. At the same time, the data is processed by the data processing module 128 to make the final image clear and feature prominent. The function is remarkable and the operation is simple and convenient.

3. By using the invention, the convenient design of the bracket can facilitate the operation of lifting, moving and the like. At the same time, by selecting a reasonable filter and appropriate fluorescence intensity, deeper fluorescence information can be detected, maximally retaining useful optical signals.

4. By the present invention, since the light protection process is required during the experiment, at the same time, by placing the first filter 110 in the excitation fluorescent light source 108 and placing the 2 filter 111 in the visible light source 109, the illumination is imaged. The fluorescent signal and the visible light signal on the region 112 have different spectral ranges. In actual operation, the experimenter can see clear white light information, and can also observe the obvious fluorescence information, and the fusion information of the two.

5. With the present invention, the position of the probe device 123 within the imaging target 113 can be located by the positioning device 124 in the three-dimensional positioning module 122, while being extracted and displayed by the anatomical structure information of the imaging target stored in the computer module 125. The anatomical section information of the imaging target 113 at the position in the imaging target 113 where the tip of the probe device 123 is located can also display the anatomical three-dimensional data information of the imaging target.

A person skilled in the art should further appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both, in order to clearly illustrate hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. Professionals can use different methods to implement the described functions for each specific application, but this implementation should not be considered Beyond the scope of the invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Any other form of storage medium known.

The specific embodiments of the present invention have been described in detail with reference to the preferred embodiments of the present invention. All modifications, equivalent substitutions, improvements, etc., made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

A three-dimensional optical molecular image navigation system, comprising: a system support module (101), a light source module (107), an optical signal acquisition module (114), a three-dimensional positioning module (122), and a computer module (125) );

The system support module (101) supports the devices in the system;

The light source module (107) provides illumination to the imaging area;

An optical signal acquisition module (114) acquires an optical signal in the imaging region;

The three-dimensional positioning module (122) locates the depth information of the probe device in the imaging target;

The computer module (125) processes and displays the parameter settings and the image data;

The system support module (101) is connected to the light source module (107) through the light source bracket (102); the system support module (101) is connected to the optical signal acquisition module (114) through the optical platform support (106); the system support module (101) is connected to the three-position positioning module (122) through a three-position positioning device bracket (100); the system support module (101) is connected to the computer module (125) through the computer mainframe support (103) and the computer display support (104) connection.
The system according to claim 1, wherein the system support module (101) comprises a three-position positioning device bracket (100), a light source bracket (102), a computer host bracket (103), and a computer monitor bracket (104). , system bracket (105), optical platform bracket (106), wherein:

The three-position positioning device bracket (100) supports a three-position positioning module (122);

The light source bracket (102) supports the light source module (107);

The computer host bracket (103) supports a computer host;

The computer monitor stand (104) supports a computer display; the system stand (105) supports the three-dimensional positioning device bracket (100), a light source bracket (102), a computer host bracket (104), and a computer monitor bracket (105) And optical platform bracket (106);

The optical platform bracket (106) is configured to support the optical signal acquisition module (114);

The three positioning device bracket (102) is connected to the system bracket (105); the light source bracket (102) is connected to the system bracket (105); the computer host bracket (103) and the system bracket (105) The computer monitor bracket (104) is coupled to the system bracket (105); the optical platform bracket (106) is coupled to the system bracket (105).
The system according to claim 1, wherein said light source module (107) comprises an excitation fluorescent light source (108), a white light source (109), a first filter (110), and a second filter (111). );among them:

The excitation fluorescent light source (108) provides excitation fluorescence; the first filter (110) is built in the excitation fluorescent light source (108), and the excitation fluorescence source (108) provides excitation fluorescence through the first a filter (110) is then irradiated to the imaging area (112);

The visible light source (109) provides visible light; the second filter (111) is built in the visible light source (109), and the visible light source (109) provided by the visible light source passes through the second filter (111) is then irradiated to the imaging area (112).
The system according to claim 1, wherein said optical signal acquisition module (114) comprises an optical lens (115), a beam splitting prism (116), a third filter (117), and a fourth filter ( 118), CCD visible light camera (119), CCD fluorescent camera (121), synchronous triggering device (121); wherein:

The optical lens (116) is coupled to the beam splitting prism (116); the third filter (117) is located at an interface of the beam splitting prism (116) and the CCD fluorescent camera (120); The fourth filter (118) is located at the interface of the beam splitting prism (116) and the CCD visible light camera (119); the CCD visible light camera (119) is connected to the beam splitting prism (116), and is collected. Visible light in the imaging region (112); the CCD fluorescent camera (120) is coupled to the dichroic prism (116) to acquire excitation fluorescence in the imaging region (112), the synchronization triggering device (121) and the A CCD fluorescent camera (120), a CCD visible light camera (119), and a computer main body are connected for synchronously triggering the CCD fluorescent camera (120) and the CCD visible light camera (121) to acquire a fluorescent image and a visible light image.
The system of claim 1 wherein said three dimensional positioning module (122) comprises probe means (123), positioning means (124); wherein:

The probe device (113) detects anatomical cross-sectional information within the imaging target (113); the positioning device (124) positions the probe device (123) within the imaging target (113) ;

The positioning device (124) is coupled to the system support module (101) by a three-dimensional positioning device bracket (100); the probe device (123) is moved in various directions in the imaging region (122);

When the probe device (113) is inserted into the imaging target (113), the positioning device (124) positions the tip of the probe device (123) and calculates that the needle tip is located at the imaging target ( 113) The depth.
The system according to claim 1, wherein the computer module (125) comprises a software control module (126), a data storage module (127), a data processing module (128), and a data display module (129); among them:

The software control module (126) sets basic parameters in the three-dimensional positioning module (122), the optical signal acquisition module (114), and the light source module (107);

The data storage module (127) stores the acquired imaging target (113) anatomical three-dimensional data information, and the optical data collected by the optical signal acquisition module (114);

The data processing module (128) extracts cross-sectional data information of the anatomical data at the inner position of the imaging target (113) of the probe device (123) according to the position information returned in the three-dimensional positioning module (122). And displayed on the data display module (129), dynamically displaying (XY) plane, (XZ) plane, (YZ) plane section information and three-dimensional image information of the three-dimensional anatomical structure data;

The data processing module (128) combines the fluorescence image data and the visible light image data acquired by the optical signal acquisition module (114) for brightness adjustment, feature extraction, feature enhancement, matching, and fusion processing to obtain a fusion of the fluorescent image and the visible light image. An image is dynamically displayed on the data display module (129);

The data display module (129) displays result information after the data processing module (128) performs data processing;

The software control module (126) is connected to the data storage module (127); the software control module (126) is connected to the data processing module (128); and the software control module (126) is connected to the data display module (129); The data storage module (127) is coupled to the data processing module (128); the data processing module (128) is coupled to the data display module (129).
A three-dimensional optical molecular image navigation method, the method comprising:

Step S1: adjusting the system bracket and the optical platform bracket to a suitable height through the system support module; opening the computer host, the computer display, the positioning device, the synchronous trigger device, the CCD fluorescent camera, the CCD visible light camera, the excitation fluorescent light source, and the visible light source to image Irradiation of the area;

Step S2: Open the software control module, the data storage module, the data processing module, the data display module in the computer module, set the synchronous trigger frequency of the synchronous starting device in the software control module, the CCD fluorescent camera and the CCD visible light camera exposure time, the camera shutter Method, whether to automatically store image data, locate positioning parameters of the device, and then control the optical signal acquisition module and the three-dimensional positioning module, so that the optical signal acquisition module collects data for the imaging area, so that the positioning device of the three-dimensional positioning module positions the probe device Positioning

Step S3: According to the synchronous trigger frequency set in the software control module, the synchronous trigger device synchronously triggers the CCD fluorescent camera and the CCD visible light camera to synchronously acquire image data in the imaging region; and the positioning device in the three-dimensional positioning module positions the probe device. Positioning, positioning the position of the probe device in the imaging target;

Step S4: The CCD fluorescent camera and the CCD visible light camera transmit the captured image data to the computer module through the data line, and the data processing module in the computer module processes the transmitted image data, and the fluorescence captured by the CCD fluorescent camera and the CCD visible light camera. The image data and the visible light image data are subjected to brightness adjustment, feature extraction, feature enhancement, adding pseudo color, matching, and fusion processing, and displaying the merged image data in the data display module, and storing the data to be stored in the data storage module. At the same time, according to the position information of the position probe device transmitted from the three-dimensional positioning module, the anatomical structure of the imaging target acquired before the experiment in the data storage module The cross-section information corresponding to the information is extracted and displayed in the data display module, and at the same time, the three-dimensional anatomical structure information of the imaging target is also displayed in the data display module.