WO2018126497A1 - 一种头端调制的内窥偏振成像系统及测量方法 - Google Patents

一种头端调制的内窥偏振成像系统及测量方法 Download PDF

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WO2018126497A1
WO2018126497A1 PCT/CN2017/071501 CN2017071501W WO2018126497A1 WO 2018126497 A1 WO2018126497 A1 WO 2018126497A1 CN 2017071501 W CN2017071501 W CN 2017071501W WO 2018126497 A1 WO2018126497 A1 WO 2018126497A1
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polarization
polarizing
light
detecting
endoscopic
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吴剑
付轶帆
黄志文
何宏辉
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Shenzhen Graduate School Tsinghua University
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Shenzhen Graduate School Tsinghua University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor

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  • the present invention relates to the field of endoscopic imaging measurement, and in particular to a head-end modulated endoscopic polarization imaging system and a measurement method.
  • Polarized optical imaging methods have the advantages of no damage, high resolution, and functional imaging of the measured tissue. Existing studies have shown that polarized optical imaging methods can provide more obvious organization than traditional unpolarized optical imaging methods. Contrast resolution, which can visually reflect differences in tissue microstructure and morphology, and has shown potential for early cancer diagnosis.
  • Endoscopic detection provides a more convenient, quicker, and more efficient method of examination than traditional biopsy methods, and does not cause significant trauma to individuals.
  • Most of the current traditional endoscopic detection methods use ordinary optical imaging, which does not distinguish well between diseased tissue and normal tissue. Therefore, some techniques for combining polarized optical imaging with endoscopic detection have emerged.
  • the invention disclosed in the publication No. CN104161493A entitled “Polarization Imaging Endoscope System and Endoscopic Imaging Method” discloses a polarization imaging system using a liquid crystal phase retardation wave plate as a polarizing device with a focal plane as a detection mode And imaging methods.
  • the above two measurement methods rely on the rigid endoscope as a light guiding and imaging medium, and the light source and the imaging end are far from the end of the endoscope, which is very sensitive to the external environment due to the transmission of polarized light in the medium, and Since the rigid endoscope cannot be bent, the use of the above two measurement methods in practice is limited.
  • the technical problem to be solved by the present invention is to overcome the above drawbacks, and provide a head-end modulated endoscopic polarization imaging system and a measuring method, which realize polarization polarization modulation and demodulation functions at the end of the endoscope, and can perform polarization imaging on the measured tissue.
  • a head-end modulated endoscopic polarization imaging system includes a light source, a polarization generating device, a polarization analyzing device, an imaging device, a head end mechanical fixture, a motion controller, an image acquisition device, and a data processing terminal.
  • the light emitted by the light source is scattered on the object to be measured by the polarization generating device, is imaged by the polarization analyzing device, and is collected by the image capturing device and transmitted to the data processing terminal.
  • the polarization generating device and the polarization analyzing device are mounted on the head end mechanical fixing member, and are integrated with the light source and the imaging device at the end of the endoscope.
  • the data processing terminal connects and controls the motion controller to respectively control a polarization generating state of the polarization generating device and a polarization detecting state of the polarization analyzing device.
  • the polarization generating device includes a polarizing plate, a polarizing bearing, a polarizing transmission member, a polarizing transmission member, and a polarizing micromotor.
  • the polarizing transmission member and the polarizing transmission member are friction transmission wheels.
  • the polarizing transmission member and the polarizing transmission member are gears or belt transmission wheels.
  • the polarizing micromotor is mounted and fixed on the head end mechanical fixing component, and the polarizing transmission component is mounted on the output shaft of the polarizing micromotor, and the polarizing transmission component is assembled and assembled with the deflection component by the transmission component.
  • the transmission component is fixed on the outer ring of the polarizing bearing, and the inner ring of the polarizing bearing is mounted and fixed on the mechanical fixing member of the head end, and the polarizing plate is fixedly attached to the outer ring of the polarizing bearing.
  • the rotation of the polarizing bearing is driven by the rotation of the polarizing micromotor to change the polarization state of the initial polarizing plate for modulating the light into linearly polarized light of different preset polarization states.
  • the polarization analysis device includes an analyzer polarizing plate, a polarization detecting bearing, a deviation detecting transmission member, a deviation detecting transmission member, and a polarization detecting micro motor.
  • the deviation detecting transmission member and the deviation detecting transmission member are friction transmission wheels.
  • the deviation detecting transmission member and the deviation detecting transmission member are gears or belt transmission wheels.
  • the detecting micromotor is mounted on the head end mechanical fixing component, and the detecting transmission component is mounted on the output shaft of the detecting micromotor, and the detecting transmission component and the detecting bias are fitted and assembled by the transmission component, and the biasing is transmitted by the transmission component. It is fixed on the outer ring of the differential bearing.
  • the inner ring of the differential bearing is mounted on the head end mechanical fixing member, and the polarizing plate is fixedly attached to the outer ring of the detecting bearing.
  • the polarization of the polarization detecting plate is changed by the rotation of the differential motor to detect the polarization state of the polarization detecting plate, and is used for detecting linearly polarized light of different polarization states after being scattered by the object.
  • the light source includes a broadband source proximal end for generating broadband light, a band pass filter for filtering the broadband light to generate preset narrowband light, a light guiding medium for narrowband optical transmission, and A distal end of the light source that exits the narrowband light transmitted through the light guiding medium.
  • the polarizing angle ⁇ 1 of the polarizing plate has a value range of [0, ⁇ ], and the data processing terminal calculates the need for the polarizing micro motor according to the angle ⁇ 1 and the gear ratio of the polarizing gear and the polarizing transmission gear.
  • the angle of rotation sends a command to the motion controller to control the tilting of the micromotor to the specified position.
  • the polarization angle ⁇ 2 of the polarizing plate has a value of [0, ⁇ ], and the data processing terminal calculates the differential motor according to the angle ⁇ 2 and the gear ratio of the analyzer gear and the analyzer gear.
  • the angle of rotation is required to send a command to the motion controller to control the tilting of the micromotor to the specified position.
  • the data processing terminal is a computer or an embedded processing system.
  • the invention also provides a head-end modulation endoscopic polarization imaging measuring method, the measuring steps are as follows:
  • the light emitted by the light source is polarized by the polarization generating device and then irradiated onto the object to be tested;
  • the polarization analysis device detects light that has been scattered and detected by the object to be detected and is intensity-informed by the imaging device;
  • the determined coefficient matrix, P is a MN ⁇ 1 order column vector, each row of the vector represents the intensity value of the polarization image obtained for each measurement, and the system equation can be obtained to obtain the mueller matrix of the measured object represented by the 9 ⁇ 1 order vector.
  • M' s after the elements are rearranged, the mueller matrix M s of the measured object is obtained.
  • the invention has the beneficial effects that: compared with the prior art, the invention integrates the polarization modulation and demodulation device on the end of the endoscope to make it a whole, and can flexibly and conveniently perform a wide-range endoscopic region for different positions.
  • the polarization detection, the modulation of the incident polarized light and the reception of the demodulated polarized light do not pass through other optical transmission media, greatly reducing the influence of the transmission path and the external environment on the polarization state of the light, and improving the imaging quality.
  • Figure 1 is a schematic diagram of the system structure of a specific embodiment of the present invention.
  • FIG. 2 is a schematic structural view of the polarization measuring head end of FIG. 1.
  • FIG. 2 is a schematic structural view of the polarization measuring head end of FIG. 1.
  • FIG. 3 is a schematic structural view of the light source of FIG. 1.
  • FIG. 4 is a schematic structural view of the imaging end of FIG. 1.
  • Figure 5 is a schematic view showing the structure of the head end mechanical fixing member of Figure 2;
  • the head-end modulation-based endoscopic polarization imaging system described in the present invention includes a medical cold light source 400, a polarization generating device 110, a polarization analyzing device 120, an imaging device 310, a head end mechanical fixture 100, and motion.
  • the light generated by the medical cold light source 400 enters the polarization generating device 110, the light passing through the polarization generating device becomes linearly polarized light, is irradiated to the measured tissue 600, is scattered by the measured tissue, and is detected by the polarization analyzing device 120 to enter the imaging device 310.
  • the polarization analyzing device 120 detects linearly polarized light of a predetermined angle.
  • the polarization generating device 110 and the polarization analyzing device 120 are controlled by the motion control device 200 to rotate the polarizing plate to a predetermined angle to generate different polarizing and detecting states.
  • the distal end 402 of the medical cold light source, the polarization generating device 110, the polarization analyzing device 120, and the imaging device 310 are all fixed on the head end mechanical fixture 110 to form an endoscopic polarization measuring head end.
  • the image acquired by the imaging device 310 is collected by the image acquisition device 300 and transmitted to the data processing terminal 500 for recording and processing.
  • a preferred polarization generating device includes a polarizing plate 114, a polarizing bearing 115, a polarizing gear 113, a polarizing transmission gear 112, and a polarizing micromotor 111 for communicating
  • the incident light passing through the device is modulated into linearly polarized light of a specified polarization state.
  • a preferred mounting method is that the polarizing micromotor 111 is mounted and fixed on the base 101 of the head end mechanical fixing member 110.
  • the polarizing transmission gear 112 is mounted on the output shaft of the polarizing micromotor 111, and the polarizing transmission gear 112 is
  • the polarizing gear 113 is fitted and assembled, and the polarizing gear 113 is fixed to the outer ring of the polarizing bearing 115.
  • the inner ring of the polarizing bearing 115 is mounted and fixed on the head end mechanical fixing base 111, and the polarizing plate 114 is fixedly attached to the polarizing plate 114.
  • the outer ring of the polarizing bearing 115 is
  • a preferred polarization analysis apparatus includes an analyzer polarizing plate 124, an analyzer bearing 125, an analyzer gear 123, an analyzer transmission gear 122, and an analyzer micromotor 121 for passing the device.
  • the received light specifies the linearly polarized light of the polarization state.
  • a preferred mounting method is that the differential micromotor 121 is mounted and fixed on the base 101 of the head end mechanical fixing member 110, and the differential transmission gear 122 is mounted on the output shaft of the analyzer micromotor 121, and the differential transmission gear 122 is The analyzer gear 123 is assembled and assembled, and the analyzer gear 123 is fixed to the outer ring of the analyzer bearing 125.
  • the inner ring of the analyzer bearing 125 is mounted and fixed on the head end mechanical fixture base 101, and the polarizing plate 124 is fixedly attached thereto. The outer ring of the bearing 125 is detected.
  • the polarizing plate and the polarizing plate are both thin film polarizers, but those skilled in the art can understand that the polarizing plate and the polarizing plate can use linear polarizing plates of other materials.
  • the transmission mode adopted in the embodiment is a gear-fitting transmission mode, and in addition to this, a non-gear transmission mode such as a belt transmission or a rolling friction transmission can be employed.
  • medical cold light source 400 includes a light source back end 401, a narrow band filter 402, a light directing medium 403, and a light source head end 404.
  • the broadband light emitted from the rear end 401 of the light source passes through the narrow band filter 402 to become narrow band light, and the narrow band light is transmitted to the light source head end 404 through the light guiding medium 403.
  • the rear end 401 of the light source is a wide-spectrum xenon lamp, but is not limited thereto and may use other light sources, such as LEDs or tributary lamps;
  • the filter 402 is a 632 nm narrow-band optical filter, but is not limited to only This band;
  • the light guiding medium 404 is a fiber bundle, but is not limited thereto, and other light guiding media such as a liquid optical waveguide beam may be employed.
  • the composition of the imaging device 310 includes a wide-angle CMOS head-end imaging lens 311 and a CMOS chip 312.
  • the fixing base 101 includes a fixing hole C110 of the polarizing micro motor, a head end shaft passing hole K111 of the polarizing micro motor, a positioning hole C109 of the polarizing gear, a fixing hole C106 of the differential detecting micro motor, and a head end of the differential detecting micro motor.
  • the fixture cover shown in FIG. 5(b) includes a light-emitting aperture K202 for emitting light emitted from the light source and a reception aperture K201 for receiving the scattered light of the measured tissue.
  • the polarization generating device and the polarization analyzing device used in the conventional polarization imaging method are both large, so they are generally disposed outside the body, and the polarization state of the polarized light changes during the transmission of the light guiding medium to the distal end of the endoscope, thereby measuring The result is interference.
  • the polarization generating device, the polarization analyzing device, the light source, and the imaging device are all mounted at the head end of the endoscope, which can overcome the influence of the above transmission problem.
  • the present invention also provides an endoscopic polarization imaging method based on head-end modulation, which is described in conjunction with a preferred embodiment:
  • the light emitted from the light source 400 is polarized by the polarization generating device 110 and then irradiated onto the tissue to be tested.
  • Light scattered by the measured tissue is detected by the polarization analyzing device 120 and intensity imaging is performed by the imaging device 310.
  • the motion controller 200 is controlled by the data processing terminal 500 to transmit a specified number of pulses to the corresponding polarizing micromotor 111 and the analyzer micromotor 121, thereby realizing the polarization states of the polarization generating device 110 and the polarization analyzing device 120 of steps a and b. After the micromotor and the differential micromotor are rotated to the designated position, the current surface of the measured tissue and the polarization of the measured surface are recorded.
  • the local coordinate system determined by the endoscopic probe can determine the gray value (m, n) of each pixel of the currently captured image and the measured tissue.
  • the incident light will scatter after being irradiated onto the measured tissue after passing through the polarizing device, and the scattered light will carry polarization information related to the optical properties of the tissue, and the image is processed by the imaging device after being screened by the analyzer.
  • This process can be described as:
  • I out (m,n) and I in (m,n) correspond to the intensity values received by the point (m,n) on the imaging device and the intensity of the light emitted by the light source, respectively, for each pixel on the imaging device. It is said that I in (m, n) does not change during the measurement, and I out (m, n) will vary with the polarization state of the polarizing device and the analyzer, which is the modulation of the light intensity signal. .
  • A denotes the instrument mueller matrix corresponding to the polarization state of the polarizing device
  • P denotes the mueller matrix of the polarization state of the analyzer
  • the product of the j matrix elements of the column expands M s into a 9 ⁇ 1 order column vector M' s , and the above expression can be expressed as:

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Abstract

一种头端调制的内窥偏振成像系统及其内窥偏振成像测量方法，该系统包括光源（400）、偏振发生装置（110）、偏振分析装置（120）、成像装置（310）、头端机械固定件（100）、运动控制器（200）、图像采集设备（300）以及数据处理终端（500），其中，偏振发生装置（110）、偏振分析装置（120）安装在头端机械固定件（100）上，与光源（400）、成像装置（310）集成于内窥镜头端。该系统将偏振调制与解调设备集成于内窥镜头端，使之为一个整体，可以灵活方便地对不同的位置进行大范围内窥区域偏振检测，对入射偏振光的调制和经过解调后的偏振光的接收不经过其它的光传输介质，大幅度地减小了传输路径以及外部环境对光偏振状态的影响，具有头端高度集成、结构小、成像快的有益效果。

Description

一种头端调制的内窥偏振成像系统及测量方法 技术领域
本发明涉及内窥成像测量领域，尤其涉及一种头端调制的内窥偏振成像系统及测量方法。
背景技术
偏振光学成像方法具有无损伤，分辨率高，并且能够对被测组织进行功能成像等优点，现有研究表明偏振光学成像方法相对于传统的非偏振光学成像方法而言，能够提供更加明显的组织对比分辨能力，能直观地反映组织微观结构和形态上的不同，并已经显示出在早期癌变诊断中的潜力。
内窥检测相对于传统的活检方法能够提供更方便、快捷、高效的检查方式，并且不会对个体造成较大的创伤。当前的传统内窥检测方法所采用的大部分为普通光学成像，不能很好地区分体内病变组织与正常组织。因此出现了一些将偏振光学成像与内窥检测相结合的技术。
公开号为CN104161493A、发明名称为“偏振成像内窥镜系统及内窥成像方法”的发明申请公布了一种采用液晶相位延迟波片作为起偏器件以分焦平面为检偏方式的偏振成像系统及成像方法。
文献“Ji Q,Elson D S.A high definition Mueller polarimetric endoscope for tissue characterisation.[J].Scientific Reports,2016,6.”公布了一种采用体外转动进行偏振调制和解调的内窥偏振测量系统及方法。
上述两种测量方式所依托的是硬管内窥镜作为导光及成像介质，并且其光源及成像端都远离内窥镜头端，由于偏振光在介质中的传输过程中对外部环境非常敏感，并且硬管内窥镜由于不能弯曲，导致上述两种测量方式在实际中的使用会受到限制。
文献“Vizet J,Manhas S,Deby S,et al.Demonstration of Mueller polarimetry through an optical fiber for endoscopic applications[C]//CLEO:Applications and Technology.2014:3047-54.”、文献“Vizet J,Manhas S,Tran J,et al.Optical fiber-based full Mueller polarimeter for endoscopic imaging using a two-wavelength simultaneous measurement method.[J].Journal of Biomedical Optics,2016,21(7).”和文献“Rivet S,Bradu A,Podoleanu A.Fast full 4x4 Mueller polarimeter for  endoscopic applications[C]//SPIE BiOS.2016.”公布了利用光纤作为导光和成像介质的内窥偏振测量方法，均需要在头端加上机械位移装置才能进行面成像，否则只能进行单点测量。
发明内容
本发明所要解决的技术问题是克服上述缺陷，提供一种头端调制的内窥偏振成像系统及测量方法，在内窥镜头端实现偏振调制与解调功能，可对被测组织进行偏振成像。
为达到上述目的，本发明通下述技术方案实现：
一种头端调制的内窥偏振成像系统，包括光源、偏振发生装置、偏振分析装置、成像装置、头端机械固定件、运动控制器、图像采集设备以及数据处理终端。
所述光源发出的光经过所述偏振发生装置照射在被测物上被散射，通过所述偏振分析装置进入所述成像装置成像，经由所述图像采集设备采集并传输至所述数据处理终端。
所述偏振发生装置、偏振分析装置安装在所述头端机械固定件上，与光源、成像装置集成于内窥镜头端。
所述数据处理终端连接并控制所述运动控制器，分别控制偏振发生装置的偏振产生状态与偏振分析装置的偏振检测状态。
所述偏振发生装置包括起偏偏振片、起偏轴承、起偏被传动部件、起偏传动部件以及起偏微型马达。
所述起偏被传动部件和起偏传动部件为摩擦传动轮。
所述起偏被传动部件和起偏传动部件为齿轮或皮带传动轮。
所述起偏微型马达安装固定在头端机械固定件上，所述起偏传动部件安装在起偏微型马达的输出轴上，起偏传动部件与起偏被传动部件贴合装配，起偏被传动部件固定在起偏轴承的外圈，起偏轴承的内圈安装固定在头端机械固定件上，起偏偏振片固定贴合在起偏轴承的外圈。
通过起偏微型马达的转动带动起偏轴承转动以改变起始偏振片的偏振状态，用于将光调制成不同预设偏振态的线偏振光。
所述偏振分析装置包括检偏偏振片、检偏轴承、检偏被传动部件、检偏传动部件以及检偏微型马达。
所述检偏被传动部件和检偏传动部件为摩擦传动轮。
所述检偏被传动部件和检偏传动部件为齿轮或皮带传动轮。
所述检偏微型马达安装固定在头端机械固定件上，检偏传动部件安装在检偏微型马达的输出轴上，检偏传动部件与检偏被传动部件贴合装配，检偏被传动部件固定在检偏轴承的外圈，检偏轴承的内圈安装固定在头端机械固定件上，检偏偏振片固定贴合在检偏轴承的外圈。
通过检偏微型马达的转动带动检偏轴承转动以改变检偏偏振片的偏振状态，用于检测经被测物散射后不同偏振态的线偏振光。
所述光源包括用于产生宽带光的宽带光源近端、用于对所述宽带光进行滤波以产生预设窄带光的带通滤光片、用于进行窄带光传输的导光介质以及用于出射经由所述导光介质传输后的窄带光的光源远端。
所述起偏偏振片的偏振角度θ1取值范围为[0，π]，所述数据处理终端根据所述角度θ1以及起偏齿轮与起偏传动齿轮的传动比计算起偏微型马达需要转动的角度，发送指令到运动控制器控制起偏微型马达转动到指定位置。
所述检偏偏振片的偏振角度θ2取值为范围为[0，π]，所述数据处理终端根据所述角度θ2以及检偏齿轮与检偏传动齿轮的传动比计算检偏微型马达需要转动的角度，发送指令到运动控制器控制起偏微型马达转动到指定位置。
所述的数据处理终端为计算机或者嵌入式处理系统。
本发明还提供一种头端调制的内窥偏振成像测量方法，测量的步骤如下：
a.将光源发出的光经过偏振发生装置起偏后照射到被测物上；
b.偏振分析装置检测经由被测物散射并经过检偏的光并由成像装置进行强度成像；
c.分别改变步骤a和b中的起偏偏振态N次以及检偏偏振态M次，拍摄MN幅被测物表面偏振图像，建立关于被测物入射光和出射光的系统方程，获得被测物表面的mueller矩阵信息。
所述步骤c求解被测物表面的mueller矩阵的系统方程可描述为AM′s＝P，其中A为MN×9阶矩阵，是根据步骤c所设定的偏振发生态以及偏振分析态的组合所确定的系数矩阵，P为MN×1阶列向量，向量的每一行代表每次测量得到的偏振图像强度值，求解系统方程可以获得以9×1阶列向量代表的被测物的mueller矩阵M′s，经过元素重新排列即可得到被测物的mueller矩阵Ms。
本发明的有益效果是：与现有技术相比，本发明将偏振调制与解调设备集成于内窥镜头端，使之为一个整体，可以灵活方便地对不同的位置进行大范围内窥区域偏振检测，对入射偏振光的调制和经过解调后的偏振光的接收不经过其它的光传输介质，大幅度地减小了传输路径以及外部环境对光偏振状态的影响，提高了成像质量。
附图说明
图1是本发明的具体实施例的系统结构原理图。
图2是图1中的偏振测量头端结构示意图。
图3是图1中的光源结构示意图。
图4是图1中的成像端结构示意图。
图5是图2中头端机械固定件结构示意图。
具体实施方式
下面结合附图对本发明的较佳实施例进行详细阐述，以使本发明的优点和特征能更易于被本领域技术人员理解，从而对本发明的保护范围做出更为清楚明确的界定。
参见图1和图2，本发明所描述的基于头端调制的内窥偏振成像系统包括医疗冷光源400、偏振发生装置110、偏振分析装置120、成像装置310、头端机械固定件100、运动控制器200、图像采集设备300、数据处理终端500。
由医疗冷光源400所产生的光进入偏振发生装置110，经过偏振发生装置的光变为线偏振光，照射至被测组织600，经由被测组织散射后经过偏振分析装置120检测进入成像装置310，偏振分析装置120检测预定角度的线偏振光。
偏振发生装置110和偏振分析装置120由运动控制器件200控制偏振片旋转到预定角度以产生不同的起偏和检偏状态。
医疗冷光源的远端402、偏振发生装置110，偏振分析装置120以及成像装置310都固定在头端机械固定件110上，形成内窥偏振测量头端。经过成像装置310采集后的图像由图像采集设备300采集并传输至数据处理终端500进行记录与处理。
参见图2所提供的一种优选的偏振发生装置，其包括起偏偏振片114、起偏轴承115、起偏齿轮113、起偏传动齿轮112以及起偏微型马达111，用于对通 过该装置的入射光调制成指定偏振态的线偏振光。
一种优选的安装方式为，起偏微型马达111安装固定在头端机械固定件110的底座101上，起偏传动齿轮112安装在起偏微型马达111的输出轴上，起偏传动齿轮112与起偏齿轮113贴合装配，起偏齿轮113固定在起偏轴承115的外圈，起偏轴承115的内圈安装固定在头端机械固定件底座111上，起偏偏振片114固定贴合在起偏轴承115的外圈。
参见图2所提供的一种优选的偏振分析装置，其包括检偏偏振片124、检偏轴承125、检偏齿轮123、检偏传动齿轮122以及检偏微型马达121，用于对通过该装置的接收光指定偏振态的线偏振光。
一种优选的安装方式为，检偏微型马达121安装固定在头端机械固定件110的底座101上，检偏传动齿轮122安装在检偏微型马达121的输出轴上，检偏传动齿轮122与检偏齿轮123贴合装配，检偏齿轮123固定在检偏轴承125的外圈，检偏轴承125的内圈安装固定在头端机械固定件底座101上，检偏偏振片124固定贴合在检偏轴承125的外圈。
本实施例中，所采用的起偏偏振片和检偏偏振片均为薄膜线偏振片，但是本领域的技术人员可以了解，起偏偏振片和检偏偏振片可以采用其它材料的线偏振片。本实施例中所采用的传动方式为齿轮贴合的传动方式，除此之外还可采用非齿轮的传动方式，例如皮带传动或滚动摩擦传动。
在图3所示的实施例中，医疗冷光源400包括光源后端401、窄带滤光片402、导光介质403和光源头端404。光源后端401发出的宽带光经过窄带滤光片402后为变为窄带光，窄带光经过导光介质403传输到光源头端404。在本实施例中，光源后端401采用宽谱氙灯，但不限制于此并可以采用其余光源，例如LED或贡灯；滤光片402为632nm的窄带光滤光片，但不限制只采用此波段；导光介质404为光纤束，但不限制于此，可采用其它导光介质，例如液体光波导束。
在图4所示的实施例中，成像装置310的组成包括广角CMOS头端成像镜头311和CMOS芯片312。
参见图5(a)所示的一种优选的头端机械固定件，包括固定件底座101和固定件盖102。固定件底座101包括起偏微型马达的固定孔C110、起偏微型马达的头端轴通过孔K111、起偏齿轮的安置孔C109、检偏微型马达的固定孔C106、检偏微型马达的头端轴通过孔K108、检偏齿轮的安置孔C107、光源的通过固定 孔K104、起偏轴承、起偏齿轮和起偏偏振片的安置孔C102、CMOS的安置孔C105、CMOS头端成像镜头311通过固定孔K103以及检偏轴承、检偏齿轮和检偏偏振片的安置孔C101。图5(b)所示的固定件盖包括用于出射由光源发出的光出射光通孔K202和用于接收被测组织散射光的接收光通孔K201。
传统的偏振成像方法所采用的偏振发生器件和偏振分析器件都较大，所以一般安置在体外，偏振光在导光介质传输到内窥镜远端的过程中偏振态会发生改变，从而对测量结果产生干扰。本实施例中将偏振发生装置、偏振分析装置、光源以及成像装置都安装在内窥镜的头端，可以克服上述传输问题所造成的影响。
本发明还提供一种基于头端调制的内窥偏振成像方法，结合一种优选的实施方式进行说明：
进行内窥偏振测量的步骤如下：
a.将光源400发出的光经过偏振发生装置110起偏后照射到被测组织上。
b.由偏振分析装置120检测经由被测组织散射后的光并由成像装置310进行强度成像。
c.分别改变步骤a中的起偏偏振态N(N≥3)次以及b中的检偏偏振态M(M≥3)次，拍摄MN幅被测组织表面偏振图像并存储在数据处理终端500中，建立关于被测组织入射和出射的系统方程，获得被测组织表面的mueller矩阵信息。
通过数据处理终端500控制运动控制器200发送指定数目的脉冲到对应的起偏微型马达111和检偏微型马达121，实现步骤a和步骤b的偏振发生装置110和偏振分析装置120偏振态的改变，待起偏微型马达和检偏微型马达转动到指定位置后，记录当前的起偏及检偏偏振状态下被测组织表面图像。
根据获取图像对应的起偏偏振态和检偏偏振态，在内窥探头所确定的局部坐标系下可以确定当前所拍摄图像每一像素点灰度值(m,n)与被测组织所决定的mueller矩阵阵元之间的线性方程。
根据偏振测量原理，入射光经过起偏器件后照射到被测组织上会发生散射，散射后的光会携带与组织光学特性相关的偏振信息，经过检偏器件筛选后由成像器件进行强度成像，这个过程可以描述为：
Figure PCTCN2017071501-appb-000001
Iout(m,n)和Iin(m,n)分别对应成像器件上点(m,n)所接收到光强值和光源所发出的光强值，对成像器件上的每个像素来说，在测量过程中Iin(m,n)不会发生改变，而Iout(m,n)会随着起偏器件和检偏器件偏振态的不同而不同，这就是光强信号的调制。A表示起偏器件对应偏振态的仪器mueller矩阵，P表示检偏器件对应偏振态的mueller矩阵，uij＝aipj为A的第一行的第i个矩阵阵元与P的第一列的j个矩阵阵元的乘积，将Ms展开为9×1阶的列向量M′s，上述表达式可以表示为：
Figure PCTCN2017071501-appb-000002
该线性方程可简化描述为：UMs(i,j)＝I′out(i,j)，对于待求解的mueller矩阵Ms(i,j)，可由线性方程组求伪逆的方法得到：
M′s(i,j)＝(UTU)-1UT·I′out(i,j)；
9×1阶的列向量M′s(i,j)＝[m11,m12,m13,m21,m22,m23,m31,m32,m33]T经过重新排列后得到被测样品的mueller矩阵Ms(i,j)。
Figure PCTCN2017071501-appb-000003
特别的，在本实施例中，选取N＝4，起偏偏振片和检偏偏振片相对于内窥头端预设水平位置的角度分别设置为θ1＝0°,45°,90°,135°，θ2＝0°,45°,90°,135°。如此可求解Ms(i,j)与获取的灰度图像中某一特定像素点取值向量I′out(i,j)的线性关系，改变像素坐标进行相同的运算可获得整幅图像的mueller矩阵Ms。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种头端调制的内窥偏振成像系统，包括光源、偏振发生装置、偏振分析装置、成像装置、头端机械固定件、运动控制器、图像采集设备以及数据处理终端；
    所述光源发出的光经过所述偏振发生装置照射在被测物上被散射，通过所述偏振分析装置进入所述成像装置成像，经由所述图像采集设备采集并传输至所述数据处理终端；其特征在于：
    所述偏振发生装置、偏振分析装置安装在所述头端机械固定件上，与光源、成像装置集成于内窥镜头端；
    所述数据处理终端连接并控制所述运动控制器，分别控制偏振发生装置的偏振产生状态与偏振分析装置的偏振检测状态。
  2. 根据权利要求1所述的头端调制的内窥偏振成像系统，其特征在于：
    所述偏振发生装置包括起偏偏振片、起偏轴承、起偏被传动部件、起偏传动部件以及起偏微型马达；
    所述起偏被传动部件和起偏传动部件为摩擦传动轮，优选地，起偏被传动部件和起偏传动部件为齿轮或皮带传动轮；
    所述起偏微型马达安装固定在头端机械固定件上，所述起偏传动部件安装在起偏微型马达的输出轴上，起偏传动部件与起偏被传动部件贴合装配，起偏被传动部件固定在起偏轴承的外圈，起偏轴承的内圈安装固定在头端机械固定件上，起偏偏振片固定贴合在起偏轴承的外圈；
    通过起偏微型马达的转动带动起偏轴承转动以改变起始偏振片 的偏振状态，用于将光调制成不同预设偏振态的线偏振光。
  3. 根据权利要求1所述的头端调制的内窥偏振成像系统，其特征在于：
    所述偏振分析装置包括检偏偏振片、检偏轴承、检偏被传动部件、检偏传动部件以及检偏微型马达；
    所述检偏被传动部件和检偏传动部件为摩擦传动轮；
    所述检偏微型马达安装固定在头端机械固定件上，检偏传动部件安装在检偏微型马达的输出轴上，检偏传动部件与检偏被传动部件贴合装配，检偏被传动部件固定在检偏轴承的外圈，检偏轴承的内圈安装固定在头端机械固定件上，检偏偏振片固定贴合在检偏轴承的外圈；
    通过检偏微型马达的转动带动检偏轴承转动以改变检偏偏振片的偏振状态，用于检测经被测物散射后不同偏振态的线偏振光。
  4. 根据权利要求3所述的头端调制的内窥偏振成像系统，其特征在于：
    所述检偏被传动部件和检偏传动部件为齿轮或皮带传动轮。
  5. 根据权利要求1所述的头端调制的内窥偏振成像系统，其特征在于：
    所述光源包括用于产生宽带光的宽带光源近端、用于对所述宽带光进行滤波以产生预设窄带光的带通滤光片、用于进行窄带光传输的导光介质以及用于出射经由所述导光介质传输后的窄带光的光源远端。
  6. 根据权利要求2所述的头端调制的内窥偏振成像系统，其特征在于：
    所述起偏偏振片的偏振角度θ1取值范围为[0，π]，所述数据处理终端根据所述角度θ1以及起偏齿轮与起偏传动齿轮的传动比计算起偏微型马达需要转动的角度，发送指令到运动控制器控制起偏微型马达转动到指定位置。
  7. 根据权利要求3所述的头端调制的内窥偏振成像系统，其特征在于：
    所述检偏偏振片的偏振角度θ2取值为范围为[0，π]，所述数据处理终端根据所述角度θ2以及检偏齿轮与检偏传动齿轮的传动比计算检偏微型马达需要转动的角度，发送指令到运动控制器控制起偏微型马达转动到指定位置。
  8. 根据权利要求1所述的头端调制的内窥偏振成像系统，其特征在于：
    所述的数据处理终端为计算机或者嵌入式处理系统。
  9. 一种采用权利要求1所述的头端调制的内窥偏振成像系统进行内窥偏振成像测量方法，其特征在于：包括如下步骤：
    a.将光源发出的光经过偏振发生装置起偏后照射到被测物上；
    b.偏振分析装置检测经由被测物散射并经过检偏的光并由成像装置进行强度成像；
    c.分别改变步骤a和b中的起偏偏振态N次以及检偏偏振态M次，拍摄MN幅被测物表面偏振图像，建立关于被测物入射光和出射 光的系统方程，获得被测物表面的mueller矩阵信息。
  10. 根据权利要求5所述的窥偏振成像测量方法，其特征在于：所述步骤c求解被测物表面的mueller矩阵的系统方程可描述为AM′s＝P，其中A为MN×9阶矩阵，是根据步骤c所设定的偏振发生态以及偏振分析态的组合所确定的系数矩阵，P为MN×1阶列向量，向量的每一行代表每次测量得到的偏振图像强度值，求解系统方程可以获得以9×1阶列向量代表的被测物的mueller矩阵M′s，经过元素重新排列即可得到被测物的mueller矩阵Ms。
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