WO2022179117A1 - 基于荧光分子成像的导航方法、设备、存储介质 - Google Patents

基于荧光分子成像的导航方法、设备、存储介质 Download PDF

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Publication number
WO2022179117A1
WO2022179117A1 PCT/CN2021/123832 CN2021123832W WO2022179117A1 WO 2022179117 A1 WO2022179117 A1 WO 2022179117A1 CN 2021123832 W CN2021123832 W CN 2021123832W WO 2022179117 A1 WO2022179117 A1 WO 2022179117A1
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imaging
visible light
module
infrared
measured area
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PCT/CN2021/123832
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English (en)
French (fr)
Inventor
汪远
赵可为
周丰茂
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南京微纳科技研究院有限公司
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Priority claimed from CN202110212035.1A external-priority patent/CN114948204A/zh
Priority claimed from CN202120423498.8U external-priority patent/CN214908029U/zh
Application filed by 南京微纳科技研究院有限公司 filed Critical 南京微纳科技研究院有限公司
Publication of WO2022179117A1 publication Critical patent/WO2022179117A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Definitions

  • the invention relates to the field of medical imaging, in particular to a navigation method, device and storage medium based on fluorescence molecular imaging.
  • fluorescent molecular imaging surgical navigation equipment has been able to inject fluorescent molecular markers such as indocyanine green into the human body and make them accumulate at the tumor of the focal organ.
  • fluorescent molecular markers such as indocyanine green
  • the fluorescence in the near-infrared band can be excited to the greatest extent to achieve tumor localization and morphological acquisition, as well as image acquisition of lesion organs. image)) and the image of the focal organ (visible light image collected based on visible light, generally a color image), and then displayed on the monitor to help the surgeon perform tumor resection.
  • the motorized near-infrared lens of the near-infrared image acquisition system mainly uses a passive method to achieve automatic focusing, and cannot achieve automatic focusing at short distances, especially at a distance of less than 1000mm.
  • the distance between the lens and the focal organ is basically within 1000mm. Therefore, the existing surgical navigation system cannot perform real-time focusing of the near-infrared image acquisition system, that is, it cannot acquire clear infrared images in real time.
  • the patent documents with publication numbers CN209847151 and CN109662695 disclose a fluorescent molecular imaging system and device, which cannot realize real-time focusing of the infrared image acquisition system, which is not conducive to the operation, and limits to a certain extent. its promotion and application.
  • the present invention provides a navigation device based on fluorescent molecular imaging to at least overcome the above-mentioned defects of the prior art, such as the inability to focus in real time when collecting near-infrared images and the resulting unclear near-infrared images.
  • a navigation device based on fluorescent molecular imaging which includes an imaging unit, an industrial computer, and a display unit connected to the industrial computer.
  • the measured area of the fluorescent marker projects the excitation light emitted by the excitation light source, so that the measured area generates near-infrared fluorescence;
  • the first imaging module is connected to the industrial computer, and the first imaging module is based on near-infrared fluorescence imaging and images the obtained near-infrared fluorescence.
  • the fluorescent image is transmitted to the industrial computer;
  • the second imaging module is connected to the industrial computer, and the second imaging module is based on the visible light reflected from the measured area and transmits the obtained visible light image to the industrial computer;
  • the industrial computer is near-infrared fluorescence image and visible light image After fusion, it is transmitted to the display unit for display;
  • the ranging module is connected to the first imaging module, and is used to measure the first distance information between the first imaging module and the measured area in real time and transmit the first distance information to the first imaging module,
  • the first imaging module is made to focus in real time according to the first distance information when imaging based on near-infrared fluorescence.
  • the distance measuring module is further connected to the second imaging module for measuring the second distance information between the second imaging module and the measured area in real time and transmitting the second distance information to the second imaging module, so that the The second imaging module focuses in real time according to the second distance information when imaging based on visible light.
  • the visible light reflected by the measured area comes from ambient light
  • the imaging unit further includes a compensation light source module for compensating visible light to the measured area.
  • the first imaging module includes a near-infrared filter element, a near-infrared lens, and a near-infrared fluorescence photosensitive element, which are arranged in sequence according to the direction in which the near-infrared fluorescence generated by the measured area propagates to the first imaging module.
  • the infrared fluorescence photosensitive element is connected with the industrial computer, and the near-infrared lens is connected with the ranging module, wherein the near-infrared filter element is used to filter out the non-near-infrared fluorescence in the light reflected from the measured area, and obtain the near-infrared fluorescence;
  • the lens is used for real-time focusing of near-infrared fluorescence according to the first distance information fed back by the ranging module;
  • the near-infrared fluorescence photosensitive element is used for imaging based on the near-infrared fluorescence after focusing by the near-infrared lens to obtain a near-infrared fluorescence image, and
  • the near-infrared fluorescence image is transmitted to the industrial computer.
  • the near-infrared filter element allows near-infrared light with a wavelength of 800-1700 nm to pass therethrough.
  • the power of the excitation light source module is 10mw-3000mw, and the central wavelength of the excitation light source is 785nm ⁇ 5nm.
  • the excitation light source module further includes a homogenization module, which is used for homogenizing the excitation light emitted by the excitation light source, so that the intensity distribution of the excitation light projected on the measured area is uniform.
  • the second imaging module includes a visible light filter element, a visible light lens and a visible light photosensitive element, which are arranged in sequence according to the direction in which the visible light reflected from the measured area propagates to the second imaging module, and the visible light photosensitive element is connected to the industrial computer.
  • the visible light lens is connected to the ranging module, wherein the visible light filter element is used to filter out the non-visible light in the light reflected by the measured area to obtain visible light; the visible light lens is used to pair according to the second distance information fed back by the ranging module The visible light is focused in real time; the visible light photosensitive element is used for imaging based on the visible light after focusing by the visible light lens, obtaining the visible light image, and transmitting the visible light image to the industrial computer.
  • the imaging unit further includes an indication light source module, the indication light source module has an indication light source and a beam shaping unit, the indication light source is used for projecting the indication light emitted by the indication light source to the measured area, and the beam shaping unit is used for the indication light source.
  • the light is shaped to indicate where the excitation light from the excitation light source is projected on the area under test.
  • the beam shaping unit of the indicator light source module is a diffractive element for shaping the indicator light emitted by the indicator light source to be consistent with the outline of the excitation light emitted by the excitation light source.
  • the present invention further includes a mobile platform, and the imaging unit, the industrial computer, and the display unit are mounted on the mobile platform; wherein, the mobile platform is provided with a robotic arm, and the imaging unit is movably mounted on the mobile platform through the robotic arm.
  • Another aspect of the present invention provides a navigation method based on fluorescent molecular imaging, comprising: projecting excitation light to a detected area containing a near-infrared fluorescent marker, so that the detected area generates near-infrared fluorescence, using a first imaging module based on Near-infrared fluorescence imaging is used to obtain a near-infrared fluorescence image; a second imaging module is used to obtain a visible light image based on the visible light reflected from the measured area; the near-infrared fluorescence image and the visible light image are fused and displayed; wherein, the real-time measurement of the first imaging module and the visible light image are performed.
  • the first distance information of the measured area enables the first imaging module to focus in real time according to the first distance information when imaging based on near-infrared fluorescence.
  • the second distance information between the second imaging module and the measured area is measured in real time, so that the second imaging module can focus in real time according to the second distance information when imaging based on visible light.
  • the visible light reflected by the measured area comes from ambient light
  • the navigation method further includes: compensating for the visible light to the measured area.
  • using the first imaging module to collect near-infrared fluorescence images based on near-infrared fluorescence includes: filtering out non-near-infrared fluorescence in the light reflected from the measured area to obtain near-infrared fluorescence; and according to the first distance information
  • the near-infrared fluorescence is focused in real time; the near-infrared fluorescence image is obtained based on the near-infrared fluorescence imaging after focusing.
  • the wavelength of the near-infrared fluorescence is 800-1700 nm.
  • the wavelength of the excitation light is 785 nm ⁇ 5 nm.
  • homogenization processing is performed on the excitation light projected on the measured area, so that the intensity distribution of the excitation light projected on the measured area is uniform.
  • using the second imaging module to collect visible light images based on the visible light reflected by the measured area includes: filtering out non-visible light in the light reflected by the measured area to obtain visible light; Real-time focusing; based on the visible light imaging after focusing, a visible light image is obtained.
  • the indicator light is projected to the detected area, and the indicator light is shaped to indicate the position of the excitation light in the detected area.
  • shaping the indicator light is: shaping the indicator light to be consistent with the excitation light profile.
  • an electronic device based on fluorescence 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 realize the above-mentioned fluorescence-based imaging Navigational Methods for Molecular Imaging.
  • Yet another aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the above-mentioned fluorescent molecular imaging-based navigation method.
  • a computer program product comprising a computer program, the computer program being executed by a processor to implement the above-mentioned fluorescent molecular imaging-based navigation method.
  • the navigation device based on fluorescent molecular imaging can be used as a fluorescent molecular imaging surgical navigation device for real-time visualization and positioning of tumor tissue, and the working distance information of the first imaging module (that is, the first imaging module is measured in real time through the ranging module) distance information), so that the first imaging module can actively focus in real time according to the first distance information when collecting near-infrared images, and can obtain clear near-infrared fluorescence images (that is, images of tumor distribution in the lesion tissue) in real time, effectively overcoming current
  • FIG. 1 is a schematic structural diagram of a navigation device based on fluorescence molecular imaging 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 molecular imaging according to an embodiment of the present invention.
  • the terms “arranged”, “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , it can also be an integral connection; it can be a mechanical connection, an electrical connection, or a communication connection (network connection); it can be a direct connection, an indirect connection through an intermediate medium, or an internal connection between two components .
  • the above-mentioned specific meanings in the present invention can be understood in specific situations.
  • first and second are only used for descriptive purposes, for example, to distinguish each component, so as to describe/explain the technical solution more clearly, and should not be construed as indicating or implying the number or substantive nature of the indicated technical features order of meaning, etc.
  • the present invention provides a navigation device based on fluorescent molecular imaging, as shown in FIG. 1 and FIG. 2 , the device includes an imaging unit 101, an industrial computer 104 and a display unit 102 connected to the industrial computer 104, and the imaging unit 101 includes: an excitation light source
  • the module 210 has an excitation light source for projecting excitation light to the tested area 1 containing the near-infrared fluorescent marker, so that the measured area 1 generates near-infrared fluorescence; the first imaging module, connected to the industrial computer 104, the first imaging module Based on near-infrared fluorescence imaging, and transmit the obtained near-infrared fluorescence image to the industrial computer 104;
  • the second imaging module is connected to the industrial computer 104, and the second imaging module is based on the visible light reflected from the measured area 1.
  • the image is transmitted to the industrial computer 104; the industrial computer 104 fuses the near-infrared fluorescent image and the visible light image and transmits it to the display unit 102 for display; the ranging module 208 is connected to the first imaging module for real-time measurement of the first imaging module and the measured
  • the distance information of zone 1 is transmitted 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 navigation device based on fluorescence molecular imaging of the present invention can be used in doctor's surgery, scientific research and the like, and has important practical significance.
  • the excitation light source of the excitation light source module 210 emits excitation light (spot) and projects/radiates it to the test area 1 (usually the focal organ where the tumor is located), thereby obtaining near-infrared fluorescent markers (or fluorescent probes,
  • the fluorescence imaging of indocyanine green, etc. generates a near-infrared fluorescence signal
  • the near-infrared fluorescence signal is imaged on the first imaging module to obtain a near-infrared fluorescence image (ie, an image showing the tumor);
  • the visible light signal is imaged on the second imaging module to obtain a visible light image (that is, a color image of the organ where the tumor is located), and the near-infrared fluorescence image and the visible light image are fused by the industrial computer 104 and then transmitted to the display unit 102 for display
  • the above-mentioned industrial computer 104 can be a conventional controller in the field or a control terminal that can realize human-computer interaction, and it can specifically include a system control module and an image processing module connected to the system control module.
  • the system control module can be used for fluorescence molecular imaging surgery navigation equipment
  • the overall control of the system such as the switch of the excitation light source module 210, the switch of the imaging unit 101, the power distribution of the equipment, the communication between the modules, etc., the doctor can realize various operations on the fluorescence molecular imaging surgical navigation equipment through the industrial computer 104 , such as controlling the device to turn on or off, etc.
  • 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 the system control module (ie, connected in communication), and the industrial computer 104 controls the excitation of the excitation light source module 210
  • the light source emits excitation light (spot) and projects 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, and the second imaging module transmits the visible light image through the system control module
  • a distribution image of the tumor in the lesion tissue ie, an image after overlay fusion
  • the distribution image is transmitted to the display unit 102 through the system control module for display.
  • the display unit 102 is used to display the above-mentioned image information, and it can also be a conventional display in the field, such as an LED screen or a liquid crystal display screen, etc., which combines the imaging unit 101, the industrial computer 104, etc. to develop and locate the measured area 1. It can realize real-time imaging and localization of tumor tissue and other tissues perfused with near-infrared fluorescent markers.
  • the above distance measuring module 208 can also be connected to the second imaging module at the same time, for measuring the second distance information between the second imaging module and the measured area 1 in real time and transmitting the second distance information to the second imaging module, the second imaging module.
  • Real-time focusing according to the second distance information when imaging based on visible light that is, the real-time focusing of the first imaging module and the second imaging module is realized, and clear near-infrared fluorescence images and visible light images are obtained, which is more conducive to clearly display the distribution of tumors in the lesions and organs .
  • the visible light reflected by the above-mentioned area under test 1 can be derived from ambient light, that is, the ambient light is irradiated to the area under test 1, so that the area under test 1 reflects visible light, and then the second imaging module performs imaging based on the visible light to obtain a visible light image;
  • the above-mentioned imaging unit 101 may also include a compensation light source module 209, which is used to compensate visible light to the measured area 1, especially when the ambient light intensity is insufficient (that is, the compensation light source module 209 emits light to the measured area 1). Visible light) to enhance the visible light reflected by the tested area 1, which is beneficial to obtain a clearer visible light image.
  • the fluorescent molecular imaging surgical navigation device of the present invention can work under the lighting environment of a normal operating room, and the above-mentioned ambient light may specifically be the lighting of the operating room.
  • the compensation light source module 209 can be connected to the industrial computer 104, specifically, it can be connected to the system control module of the industrial computer 104, and the compensation light source 209 can be controlled by the system control module of the industrial computer 104 to emit visible light to compensate the measured area 1. visible light.
  • the compensation light source module 209 can be installed on the distance measuring module 208. As shown in FIG. 1 and FIG. 2, one side of the distance measuring module 208 is connected to the excitation light source module 210, and the other side of the distance measuring module 208 is connected to the compensation light source module 210. The light source module 209 is connected.
  • the first imaging module may specifically include near-infrared filters arranged in sequence according to the direction in which the near-infrared fluorescence generated by the measured area 1 propagates to the first imaging module
  • the lens 203 is connected to the ranging module 208, wherein the near-infrared filter element 204 is used to filter out the non-near-infrared fluorescence in the light reflected by the measured area 1 to obtain near-infrared fluorescence; the near-infrared lens 203 is used to The first distance information fed back by 208 performs real-time focusing on the
  • the light reflected from the test area 1 passes through the near-infrared filter element 204, and the near-infrared filter element 204 only allows the near-infrared fluorescence to pass through, even if the required fluorescence signal carrying the tumor information of the focal organ passes through the near-infrared filter element 204
  • the near-infrared fluorescence of the filter element 204 is focused by the near-infrared lens 203 and then imaged on the near-infrared fluorescence photosensitive element 201, thereby obtaining a near-infrared fluorescence image.
  • the ranging module 208 can be connected to the near-infrared lens 203 through the industrial computer 104 (specifically, it can be connected to the near-infrared lens 203 through the system control module of the industrial computer 104).
  • the first distance information is sent to the industrial computer 104, the industrial computer 104 is connected to the near-infrared lens 203, and the first distance information is sent to the near-infrared lens 203, and the internal motor of the near-infrared lens 203 will adjust the focus of the near-infrared lens 203 according to the first distance information
  • the near-infrared fluorescent photosensitive element 201 can collect the most Clear near-infrared fluorescence images.
  • the near-infrared filter element 204 allows near-infrared light with a wavelength of 800-1700nm to pass through, that is, the near-infrared filter element 204 filters out the excitation light and the environment that are not in the range of 800-1700nm in the light reflected by the measured area 1. Only the near-infrared fluorescence with a wavelength of 800-1700 nm is allowed to pass through, which is more conducive to obtaining a near-infrared fluorescence image with a high signal-to-noise ratio, and improves the convenience of use of the navigation device.
  • the near-infrared filter element 204 may be a band-pass filter, a long-wavelength filter, or a light-splitting element or the like.
  • the power of the excitation light source module 210 is 10mw-3000mw, and the central wavelength of the excitation light source is 785nm ⁇ 5nm.
  • the measured area 1 is irradiated by the excitation light source, and the excitation light source can excite the wavelength range that is not in the range of the excitation light source.
  • the near-infrared fluorescence in the wavelength range of the shadowless lamp in the operating room can be further combined with the filter processing of the near-infrared filter element 204 to obtain near-infrared fluorescence with a wavelength of 800-1700 nm. Therefore, when the navigation device of the present invention is used, there is no need to close the operation.
  • the detection wavelength range of the existing navigation equipment/system overlaps with the wavelength range of the shadowless lamp, and needs to be used when using Turn off the shadowless light in the operating room
  • the light in this detection range penetrates deeply into the lesion tissue and has high spatial resolution, so not only can the tumor tissue be visualized, but also the perfusion of lymph, blood vessels and related tissues can be realized Develop and monitor.
  • the above-mentioned excitation light source module 210 can be a conventional laser in the field, and in a preferred embodiment, it also has a uniform light module, which is used to perform uniform light processing on the excitation light emitted by the excitation light source, so that the light is projected on the measured area.
  • the intensity distribution of the excitation light of 1 (that is, the excitation light spot irradiated on the surface of the tested area 1) is uniform, which is more conducive to the clarity of the obtained near-infrared fluorescence image.
  • the excitation light source module may be an excitation light source module composed of a conventional power-adjustable semiconductor laser and a uniform light system.
  • the second imaging module includes a visible light filter element 207, a visible light lens 206, and a visible light photosensitive element (or visible light), which are sequentially arranged in the direction in which the visible light reflected from the tested area 1 propagates to the second imaging module.
  • the visible light photosensitive element 202 is connected to the industrial computer 104 (specifically, it may be connected to the system control module of the industrial computer 104), and the visible light lens 206 is connected to the ranging module 208, wherein the visible light filter element 207 is used to filter out the Measure the invisible light in the light reflected by the area 1 to obtain visible light; the visible light lens 206 is used to focus the visible light in real time according to the second distance information fed back by the ranging module 208 ; the visible light photosensitive element 202 is used to focus the visible light based on the visible light lens 206 Perform imaging, obtain a visible light image, and transmit the visible light image to the industrial computer 104 .
  • the light reflected from the test area 1 passes through the visible light filter element 207, the visible light filter element 207 only allows visible light to pass through, 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 photosensitive element 202, thereby Obtain visible light images.
  • the ranging module 208 can be connected to the visible light lens 206 through the industrial computer 104 (specifically, it can be connected to the visible light lens 206 through the system control module of the industrial computer 104).
  • the second distance information is sent to the industrial computer 104, the industrial computer 104 is connected to the visible light lens 206, and the second distance information is sent to the visible light lens 206, and the internal motor of the visible light lens 206 will focus the visible light lens 206 to a clear image position according to the second distance information , so that the visible light photosensitive element 202 collects the clearest visible light image.
  • the above-mentioned ranging module 208 can be connected to the first imaging module and the second imaging module through the industrial computer 104, or can be connected to the first imaging module and the second imaging module through other intermediate media, or can also be directly connected to the first imaging module and the second imaging module.
  • the first imaging module and the second imaging module are connected, as long as the first imaging module and the second imaging module can be focused in real time, which is not particularly limited in the present invention.
  • the above-mentioned imaging unit 101 may further include an indicating light source module 205, the indicating light source module 205 has an indicating light source and a beam shaping unit, the indicating light source is used for projecting the indicating light emitted by the indicating light source to the measured area 1, and the beam shaping unit is used for indicating light. Shaping is performed to indicate the projection position of the excitation light emitted by the excitation light source in the test area 1 .
  • the light emitted by the above-mentioned indicating light source may be green light, and its central wavelength may generally be 492-577 nm, such as 520 nm, which is favorable for indicating the projection position of the excitation light in the measured area 1 .
  • the projection position of the excitation light emitted by the excitation light source in the measured area 1 is indicated, which improves the intuitiveness of the excitation light radiation area (ie, the tumor area) and facilitates the operation of the doctor.
  • the beam shaping unit is a diffractive element, which is used to shape the indicator light emitted by the indicator light source to be consistent with the outline of the excitation light emitted by the excitation light source, so as to more clearly indicate that the excitation light emitted by the excitation light source is in the measured area. 1's projection position.
  • the indicating light source module 205 is connected to the industrial computer 104, specifically, is connected to the system control module of the industrial computer 104, and the diffraction element of the indicating light source module 205 is controlled by the system control module to perform the beam emitted by the indicating light source of the indicating light source module 205.
  • the emitted excitation light is circled at the projection position of the measured area 1 (that is, the excitation light spot projected on the measured area 1 is circled), which is more convenient for the doctor to visually see the radiation area of the excitation light and facilitates the operation.
  • the diffractive element may be a conventional diffractive element with beam shaping function in the art, and its arrangement on the indicating light source module 205 may also be a conventional arrangement in the art, which is not particularly limited in the present invention and will not be repeated.
  • the above-mentioned navigation device may also include a mobile platform 103, and the imaging unit 101, the industrial computer 104, and the display unit 102 are installed on the mobile platform 103, and the mobile platform 103 can carry the entire surgical navigation device/system for movement, that is, it can be moved according to requirements Adjusting the orientation of the device facilitates the operation of the doctor and improves the convenience of use of the device of the present invention.
  • the bottom of the mobile platform 103 can be installed with a plurality of swivel wheels.
  • the mobile platform 103 can be in the shape of a cuboid or a cube, and a swivel wheel can be installed on each of the four corners of the bottom. , which facilitates the movement of the mobile platform 103 .
  • the above-mentioned mobile platform 103 is provided with a robotic arm 105 , and the imaging unit 101 is movably installed on the mobile platform 103 through the robotic arm 105 , which is conducive to adjusting the work of the imaging unit 101 according to requirements.
  • the distance (the distance between the imaging unit 101 and the measured area 1) and the working angle are convenient for the surgeon to operate.
  • the robotic arm 105 may be composed of a first straight portion, a second straight portion, and a third straight portion that are connected in sequence.
  • One end of the first straight portion is mounted on the mobile platform 103, and the other end of the first straight portion is connected to the One end of the second straight portion is connected, the other end of the second straight portion is connected to one end of the third straight portion, the imaging unit 101 is installed on the other end of the third straight portion, the first straight portion is parallel to the third straight portion, and the third straight portion is parallel to the third straight portion.
  • the axial direction of the part is perpendicular to the plane where the measured area 1 is located, and the second straight part is movably connected to the first straight part, which is used to adjust the height of the third straight part, thereby adjusting the working distance between the imaging unit 101 and the measured area 1 .
  • the first straight portion may be fixedly installed on the moving platform 103, and the imaging unit 101 may be movably installed on the third straight portion, or the first straight portion may be movably installed on the moving platform 103, and the imaging unit 101 may be fixedly installed on the third straight portion.
  • the first straight part is movably installed on the moving platform 103, and the imaging unit 101 is also movably installed on the third straight part.
  • the first straight portion can be movably installed on the mobile platform 103, which means that the first straight portion can be rotated and/or moved relative to the mobile platform 103; the imaging unit 101 can be movably installed on the third straight portion, It means that the imaging unit 101 can rotate relative to the third straight portion, and the rotation direction thereof is perpendicular to the axial direction of the third straight portion.
  • the first straight portion, the second straight portion, and the third straight portion can also have a telescopic structure, that is, the lengths of the first straight portion, the second straight portion, and the third straight portion can be adjusted as required, which is more convenient for adjustment.
  • Conditions such as the working distance of the imaging unit 101 and other structures (ie the distance between the imaging unit 101 and the measured area 1 ) and the working angle are convenient for the surgeon to operate.
  • the above-mentioned robotic arm 105 may be a six-degree-of-freedom robotic arm, which facilitates the adjustment of the working distance and the working angle, and the imaging range is selected by the robotic arm 105, thereby facilitating the operation of the doctor.
  • the working distance adjustment range of the imaging unit 101 can be 100mm-1000mm.
  • the navigation device of the present invention can also realize real-time focusing of the first imaging module within this short distance range, obtain clear near-infrared fluorescence images, and clearly display Tumor situation, easy for doctors to operate.
  • the present invention is not limited to this, and the working distance range can also be reasonably adjusted according to the surgical requirements.
  • the first imaging module, the second imaging module, the excitation light source module 210 , and the ranging module 208 are all included in the imaging unit 101 , and the distances from these modules to the measured area 1 are basically the same (that is, it is substantially equal to the distance from the imaging unit 101 to the measured area 1), that is, the above-mentioned first distance information and second distance information are the same.
  • the distance measuring module 208 can be installed on the excitation light source module 210, and make it the same as the first distance information.
  • the imaging module and the second imaging module are connected, and the first imaging module and the second imaging module realize real-time focusing through the measured distance information.
  • 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.
  • the distance measuring module 208 can also be connected to other modules in the imaging unit 101 as required, so as to realize the distance-based information for other modules. Parameter regulation of information.
  • the excitation light source module 210 may be located on the first side of the first imaging module (specifically, it may be located on the first side of the near-infrared fluorescence photosensitive element 201 of the first imaging module), and the second imaging module may be located on the first side of the first imaging module.
  • the above-mentioned indicating light source module 205 can be installed on the second imaging module, Specifically, it can be installed on the visible light photosensitive element 202. As shown in FIG.
  • the indicator light source module 205 is installed on the side of the visible light photosensitive element 202 away from the first imaging module, and the ranging module 208 is installed on the excitation light source module 210 away from the first imaging module. side.
  • the present invention is not limited to this, as long as the distances between the excitation light source module 210 , the first imaging module, and the second imaging module are basically the same from the measured area 1 (even if the above-mentioned first distance information and second distance information are equal) .
  • the optical axis of the first imaging module is perpendicular to the surface (or the object plane) of the measured area 1 , so as to facilitate the imaging of the near-infrared fluorescence generated by the first imaging module based on the measured area 1 .
  • the industrial computer 104 can be installed in the cavity formed inside the mobile platform 103, and realize the communication connection with the display unit 102, the first imaging module, the second imaging module and other modules, and the display unit 102 can be located in the mobile platform 103.
  • the upper surface of the device is more convenient for doctors to operate and improve the convenience of using the navigation device.
  • the above-mentioned near-infrared fluorescent marker After being injected into a patient, the above-mentioned near-infrared fluorescent marker will accumulate in the patient's focal organ for imaging the tumor in the patient. It can be a conventional fluorescent marker in the art, such as indocyanine green (ICG) and the like.
  • ICG indocyanine green
  • another aspect of the present invention provides a navigation method based on fluorescent molecular imaging, comprising: projecting excitation light to a detected area containing a near-infrared fluorescent marker, so that the detected area generates near-infrared fluorescence , using the first imaging module to obtain a near-infrared fluorescence image based on near-infrared fluorescence imaging; using the second imaging module to obtain a visible light image based on the visible light reflected by the measured area; the near-infrared fluorescence image and the visible light image are fused and displayed; wherein, The first distance information between the first imaging module and the measured area is measured in real time, 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 second distance information between the second imaging module and the measured area is measured in real time, so that the second imaging module can focus in real time according to the second distance information when imaging based on visible light.
  • the visible light reflected by the measured area is derived from ambient light
  • the navigation method further includes: compensating for the visible light to the measured area.
  • using the first imaging module to collect near-infrared fluorescence images based on near-infrared fluorescence includes: filtering out non-near-infrared fluorescence in the light reflected from the measured area to obtain near-infrared fluorescence; Infrared fluorescence performs real-time focusing; based on the near-infrared fluorescence imaging after focusing, a near-infrared fluorescence image is obtained.
  • the near infrared fluorescence has a wavelength of 800-1700 nm.
  • using the second imaging module to collect visible light images based on the visible light reflected by the measured area includes: filtering out non-visible light in the light reflected from the measured area to obtain visible light; and focusing the visible light in real time according to the second distance information ; Obtain a visible light image based on the focused visible light image.
  • the wavelength of the excitation light is 785 nm ⁇ 5 nm.
  • homogenization processing is performed on the excitation light projected on the measured area, so that the intensity distribution of the excitation light projected on the measured area is uniform.
  • the indicator light is projected onto the area under test, and the indicator light is shaped to indicate the location of the excitation light in the area under test.
  • shaping the indicator light is shaping the indicator light to conform to the excitation light profile.
  • the fluorescent molecular imaging-based navigation method of the present invention is implemented by the above-mentioned fluorescent molecular imaging-based navigation device, and the implementation principles thereof are similar, and will not be repeated here.
  • an electronic device based on fluorescence 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 realize the above-mentioned fluorescence-based imaging
  • the navigation method of molecular imaging will not be repeated here.
  • Yet another aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the above-mentioned fluorescent molecular imaging-based navigation method.
  • the computer-readable storage medium is, for example, a memory including instructions (computer programs) that can be executed by the processor of the above-mentioned fluorescent molecular imaging-based electronic device to complete the fluorescent molecular imaging-based navigation method.
  • the computer-readable storage medium is a non-transitory computer-readable storage medium, which may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • a computer program product comprising a computer program, the computer program being executed by a processor to implement the above-mentioned fluorescent molecular imaging-based navigation method.
  • at least one processor of the above electronic device can 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 execute the above navigation method for fluorescent molecular imaging.

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Abstract

一种基于荧光分子成像的导航方法、设备、存储介质，基于荧光分子成像的导航设备包括成像单元(101)、工控机(104)和显示单元(102)，成像单元(101)包括分别与工控机(104)相连的激发光源模块(210)、基于近红外荧光成像的第一成像模块和基于可见光成像的第二成像模块，成像单元(101)还包括与第一成像模块相连的测距模块(208)，可以实现第一成像模块实时对焦，获得清晰的近红外图像，由此可以克服采集近红外图像时不能实时对焦以及由此导致的近红外图像不清晰等缺陷。

Description

基于荧光分子成像的导航方法、设备、存储介质
本申请要求于2021年02月25日提交中国专利局、申请号为202110212035.1、申请名称为“基于荧光分子成像的导航方法、设备、存储介质”的中国专利申请的优先权，以及要求于2021年02月25日提交中国专利局、申请号为202120423498.8、申请名称为“基于荧光分子成像的导航设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医学成像领域，具体涉及一种基于荧光分子成像的导航方法、设备、存储介质。
背景技术
现有的荧光分子影像手术导航设备已可通过对人体注射吲哚菁绿等荧光分子标记物并使其聚集在病灶器官肿瘤处，利用荧光显影技术(例如，吲哚菁绿在785nm-808nm波长的激光辐射下，可最大程度地激发出近红外波段的荧光)实现肿瘤定位与形态获取、以及病灶器官的图像获取，并通过将肿瘤图像(基于近红外光采集的近红外图像(或称红外图像))与病灶器官图像(基于可见光采集的可见光图像，一般为彩色图像)进行融合后由显示器显示，来帮助外科医生进行肿瘤的切除。
然而，现有手术导航系统中，近红外图像采集系统的电动近红外镜头主要采用被动方式实现自动对焦，无法实现近距离自动对焦，尤其不能实现1000mm以内距离的自动对焦，而手术场景中近红外镜头与病灶器官的距离基本均在1000mm以内，因此，现有手术导航系统无法进行近红外图像采集系统的实时对焦，即不能实时采集清晰的红外图像。例如，公开号为CN209847151和CN109662695的专利文件公开了一种荧光分子成像系统及装置，该类系统及装置均不能实现红外图像采集系统的实时对焦，不利于手术的进行，在一定程度上限制了其推广应用。
发明内容
本发明提供一种基于荧光分子成像的导航设备，以至少克服上述现有技术所存在的在采集近红外图像时不能实时对焦以及由此导致的近红外图像不清晰等缺陷。
本发明的一方面，提供一种基于荧光分子成像的导航设备，包括成像单元、工控机和与工控机相连的显示单元，成像单元包括：激发光源模块，具有激发光源，用于向含有近红外荧光标记物的受测区投射激发光源发出的激发光，使受测区产生近红外荧光；第一成像模块，与工控机相连，第一成像模块基于近红外荧光成像并将所获得的近红外荧光图像传输至工控机；第二成像模块，与工控机相连，第二成像模块基于受测区反射的可见光成像并将所获得的可见光图像传输至工控机；工控机将近红外荧光图像和可见光图像融合后传输至显示单元进行显示；测距模块，与第一成像模块相连，用于实时测量第一成像模块与受测区的第一距离信息并将第一距离信息传输至第一成像模块，使第一成像模块在基于近红外荧光成像时根据第一距离信息实时对焦。
根据本发明的一实施方式，测距模块还与第二成像模块相连，用于实时测量第二成像模块与受测区的第二距离信息并将第二距离信息传输至第二成像模块，使第二成像模块在基于可见光成像时根据第二距离信息实时对焦。
根据本发明的一实施方式，受测区反射的可见光来源于环境光，成像单元还包括补偿光源模块，补偿光源模块用于向受测区补偿可见光。
根据本发明的一实施方式，第一成像模块包括按受测区产生的近红外荧光向第一成像模块传播的方向依次设置的近红外滤光元件、近红外镜头和近红外荧光感光元件，近红外荧光感光元件与工控机相连，近红外镜头与测距模块相连，其中，近红外滤光元件，用于滤除受测区反射的光中的非近红外荧光，获得近红外荧光；近红外镜头，用于根据测距模块反馈的第一距离信息对近红外荧光进行实时对焦；近红外荧光感光元件，用于基于近红外镜头对焦后的近红外荧光进行成像，获得近红外荧光图像，并将近红外荧光图像传输至工控机。
根据本发明的一实施方式，近红外滤光元件允许波长为800-1700nm的近红外光通过。
根据本发明的一实施方式，激发光源模块的功率为10mw-3000mw，以及激发光源的中心波长为785nm±5nm。
根据本发明的一实施方式，激发光源模块还具有匀光模块，匀光模块用于对激发光源发出的激发光进行匀光处理，以使投射于受测区的激发光强度分布均匀。
根据本发明的一实施方式，第二成像模块包括按受测区反射的可见光向第二成像模块传播的方向依次设置的可见光滤光元件、可见光镜头和可见光感光元件，可见光感光元件与工控机相连，可见光镜头与测距模块相连，其中，可见光滤光元件，用于滤除受测区反射的光中的非可见光，获得可见光；可见光镜头，用于根据测距模块反馈的第二距离信息对可见光进行实时对焦；可见光感光元件，用于基于可见光镜头对焦后的可见光进行成像，获得可见光图像，并将可见光图像传输至工控机。
根据本发明的一实施方式，成像单元还包括指示光源模块，指示光源模块具有指示光源以及光束整形单元，指示光源用于向受测区投射指示光源发出的指示光，光束整形单元用于对指示光进行整形，以指示激发光源发出的激发光在受测区的投射位置。
根据本发明的一实施方式，指示光源模块的光束整形单元为衍射元件，用于将指示光源发出的指示光整形为与激发光源发出的激发光轮廓一致。
根据本发明的一实施方式，还包括移动平台，成像单元、工控机、显示单元安装在移动平台上；其中，移动平台上设有机械臂，成像单元通过机械臂活动安装于移动平台上。
本发明的另一方面，提供一种基于荧光分子成像的导航方法，包括：向含有近红外荧光标记物的受测区投射激发光，使受测区产生近红外荧光，采用第一成像模块基于近红外荧光成像，获得近红外荧光图像；采用第二成像模块基于受测区反射的可见光成像，获得可见光图像；将近红外荧光图像和可见光图像融合后进行显示；其中，实时测量第一成像模块与受测区的第一距离信息，使第一成像模块在基于近红外荧光成像时根据第一距离信息实时对焦。
根据本发明的一实施方式，实时测量第二成像模块与受测区的第二距离信息，使第二成像模块在基于可见光成像时根据第二距离信息实时对焦。
根据本发明的一实施方式，受测区反射的可见光来源于环境光，导航方 法还包括：向受测区补偿可见光。
根据本发明的一实施方式，采用第一成像模块基于近红外荧光采集近红外荧光图像，包括：滤除受测区反射的光中的非近红外荧光，获得近红外荧光；根据第一距离信息对近红外荧光进行实时对焦；基于对焦后的近红外荧光成像，获得近红外荧光图像。
根据本发明的一实施方式，近红外荧光的波长为800-1700nm。
根据本发明的一实施方式，激发光的波长为785nm±5nm。
根据本发明的一实施方式，对投射于受测区的激发光进行匀光处理，以使投射于受测区的激发光强度分布均匀。
根据本发明的一实施方式，采用第二成像模块基于受测区反射的可见光采集可见光图像，包括：滤除受测区反射的光中的非可见光，获得可见光；根据第二距离信息对可见光进行实时对焦；基于对焦后的可见光成像，获得可见光图像。
根据本发明的一实施方式，向受测区投射指示光，对指示光进行整形，以指示激发光在受测区的位置。
根据本发明的一实施方式，对指示光进行整形为：将指示光整形为与激发光轮廓一致。
本发明的再一方面，提供一种基于荧光分子成像的电子设备，包括：处理器、存储器以及计算机程序；其中，计算机程序存储在存储器中，并被配置为由处理器执行以实现上述基于荧光分子成像的导航方法。
本发明的再一方面，提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现上述基于荧光分子成像的导航方法。
本发明的再一方面，提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行以实现上述基于荧光分子成像的导航方法。
本发明提供的基于荧光分子成像的导航设备，可作为荧光分子影像手术导航设备，用于肿瘤组织的实时显影、定位，且通过测距模块实时测量第一成像模块的工作距离信息(即第一距离信息)，使第一成像模块在采集近红外图像时根据第一距离信息通过主动方式实时对焦，可以实时获得清晰的近红外荧光图像(即肿瘤在病灶组织中的分布图像)，有效克服现有荧光分子影像导航设备所存在的近红外图像不清晰等缺陷，从而可以显著提高手术效率，具有重要的实用意义。
附图说明
图1为本发明一实施方式的基于荧光分子成像的导航设备的结构示意图；
图2为本发明一实施方式的基于荧光分子成像的导航设备的成像单元结构示意图。
附图标记说明：
1：受测区；101：成像单元；102：显示单元；103：移动平台；104：工控机；105：机械臂；201：近红外荧光感光元件；202：可见光感光元件；203：近红外镜头；204：近红外滤光元件；205：指示光源模块；206：可见光镜头；207：可见光滤光元件；208：测距模块；209：补偿光源模块；210：激发光源模块。
具体实施方式
为使本领域技术人员更好地理解本发明的方案，下面结合附图对本发明作进一步地详细说明。
在本发明的描述中，除非另有明确的规定和限定，术语“设置”、“安装”、“连接”、“相连”应做广义理解，例如，可以是固定连接、也可以是可拆卸连接，也可以是一体连接；可以是机械连接，也可以是电连接，也可以是通信连接(网络连接)；可以是直接连接，也可以是通过中间媒介间接连接，也可以是两个元件内部连通。对于本领域的普通技术人员而言，可以具体情况理解上述属于在本发明中的具体含义。此外，术语“第一”、“第二”仅用于描述目的，例如区分各部件，以更清楚说明/解释技术方案，而不能理解为指示或暗示所指示的技术特征的数量或具有实质性意义的顺序等含义。
本发明提供一种基于荧光分子成像的导航设备，如图1和图2所示，该设备包括成像单元101、工控机104和与工控机104相连的显示单元102，成像单元101包括：激发光源模块210，具有激发光源，用于向含有近红外荧光标记物的受测区1投射激发光，使受测区1产生近红外荧光；第一成像模块，与工控机104相连，第一成像模块基于近红外荧光成像并将所获得的近红外荧光图像传输至工控机104；第二成像模块，与工控机104相连，第二成像模块基于受测区1反射的可见光成像并将所获得的可见光图像传输至工控机104； 工控机104将近红外荧光图像和可见光图像融合后传输至显示单元102进行显示；测距模块208，与第一成像模块相连，用于实时测量第一成像模块与受测区1的距离信息并将距离信息传输至第一成像模块，使第一成像模块在基于近红外荧光成像时根据第一距离信息实时对焦。
本发明的基于荧光分子成像的导航设备可用于医生手术和科研等方面，具有重要的实用意义。具体来说，激发光源模块210的激发光源发出激发光(光斑)并投射/辐射至受测区1(一般为肿瘤所在的病灶器官)，从而得到近红外荧光标记物(或称荧光探针，例如吲哚菁绿等)的荧光显影，生成近红外荧光信号，该近红外荧光信号成像在第一成像模块上，得到近红外荧光图像(即显示肿瘤的图像)；同时受测区1反射的可见光信号成像在第二成像模块上，得到可见光图像(即肿瘤所在病灶器官的彩色图像)，近红外荧光图像和可见光图像经工控机104融合后传输至显示单元102进行显示，从而显示出肿瘤在病灶器官/组织中的分布图像。本发明的设备可实时检测、显示肿瘤位置与形态，利于医生快速定位肿瘤位置，提高手术效率。
上述工控机104可以是本领域常规控制器或可实现人机交互的控制终端，其具体可以包括系统控制模块和与系统控制模块相连的图像处理模块，系统控制模块可用于荧光分子影像手术导航设备系统的整体控制，例如激发光源模块210的开关、成像单元101的开关、设备电源分配、各模块之间的通信等，医生可通过工控机104实现对该荧光分子影像手术导航设备的各种操作，如控制设备开启或关闭等。具体地，上述激发光源模块210、第一成像模块、第二成像模块、测距模块208、显示单元102均分别与系统控制模块相连(即通信连接)，工控机104控制激发光源模块210的激发光源发出激发光(光斑)，并将该激发光投射至受测区1；第一成像模块将近红外荧光图像通过系统控制模块传输至图像处理模块、第二成像模块将可见光图像通过系统控制模块传输至图像处理模块，经图像处理模块进行叠加融合处理后，得到肿瘤在病灶组织中的分布图像(即叠加融合后图像)，然后通过系统控制模块将该分布图像传输至显示单元102进行显示。
显示单元102用于对上述图像信息进行显示，其亦可以是本领域常规显示器，例如LED屏或液晶显示屏等，其结合成像单元101、工控机104等对受测区1进行显影、定位的功能，可以实现对肿瘤组织等灌注有近红外荧光标记物组织的实时显影、定位。
上述测距模块208还可以同时与第二成像模块相连，用于实时测量第二成像模块与受测区1的第二距离信息并将第二距离信息传输至第二成像模块，第二成像模块在基于可见光成像时根据第二距离信息实时对焦，即实现第一成像模块和第二成像模块的实时对焦，获得清晰的近红外荧光图像和可见光图像，更利于清楚显示肿瘤在病灶器官的分布情况。
上述受测区1反射的可见光可以来源于环境光，亦即，环境光照射至受测区1，使受测区1反射可见光，进而使第二成像模块基于该可见光进行成像，获得可见光图像；上述成像单元101还可以包括补偿光源模块209，补偿光源模块209用于向受测区1补偿可见光，尤其可以在环境光强度不足时进行补光(即通过补偿光源模块209向受测区1发射可见光)，增强受测区1所反射的可见光，利于获得更为清晰的可见光图像。本发明的荧光分子影像手术导航设备可在正常手术室的灯光环境下工作，上述环境光具体可以是手术室的灯光。
可选地，补偿光源模块209可以与工控机104相连，具体可以是与工控机104的系统控制模块相连，通过工控机104的系统控制模块控制补偿光源209发出可见光，以向受测区1补偿可见光。
可选地，补偿光源模块209可以安装在测距模块208上，如图1和图2所示，测距模块208的一侧与激发光源模块210连接，测距模块208的另一侧与补偿光源模块209连接。
如图1和图2所示，在本发明的一实施方式中，第一成像模块具体可以包括按受测区1产生的近红外荧光向第一成像模块传播的方向依次设置的近红外滤光元件204、近红外镜头203和近红外荧光感光元件(或称近红外相机)201，近红外荧光感光元件201与工控机104相连(具体可以是与工控机104的系统控制模块相连)，近红外镜头203与测距模块208相连，其中，近红外滤光元件204用于滤除受测区1反射的光中的非近红外荧光，获得近红外荧光；近红外镜头203用于根据测距模块208反馈的第一距离信息对近红外荧光进行实时对焦；近红外荧光感光元件201用于基于近红外镜头203对焦后的近红外荧光进行成像，获得近红外荧光图像，并将近红外荧光图像传输至工控机104。具体来说，受测区1反射的光经过近红外滤光元件204，近红外滤光元件204仅使近红外荧光通过，即使所需的携带病灶器官的肿瘤信息的荧光信号通过，通过近红外滤光元件204的近红外荧光通过近红外镜头203 对焦后成像于近红外荧光感光元件201，从而获得近红外荧光图像。
可选地，测距模块208可以通过工控机104与近红外镜头203相连(具体可以是通过工控机104的系统控制模块与近红外镜头203相连)，测距模块208获取第一距离信息后，将第一距离信息发送至工控机104，工控机104与近红外镜头203相连，将第一距离信息发送至近红外镜头203，近红外镜头203内部电机会根据第一距离信息将近红外镜头203调焦至图像清晰位置(镜头电机转动角度和距离有标定的函数关系，通过该关系实现近红外镜头203调焦，此系本领域公知技术，不再赘述)，进而使近红外荧光感光元件201采集最清晰的近红外荧光图像。
可选地，近红外滤光元件204允许波长为800-1700nm的近红外光通过，即近红外滤光元件204滤除受测区1反射的光中的不在800-1700nm范围的激发光及环境光，而仅使波长为800-1700nm的近红外荧光通过，更利于获得高信噪比的近红外荧光图像，以及提高导航设备的使用便利性。可选地，近红外滤光元件204可以为带通滤波片、长波通滤波片或分光元件等。
在一些实施例中，上述激发光源模块210的功率为10mw-3000mw，以及激发光源的中心波长为785nm±5nm，在该条件下，受测区1受到激发光源的照射，能够激发出波长范围不在手术室无影灯波长范围内的近红外荧光，进一步配合近红外滤光元件204的滤光处理，能够获得例如波长为800-1700nm的近红外荧光，因此，在使用本发明的导航设备时无需关闭手术室的无影灯或做其他遮光处理，相对于现有的荧光分子影像手术导航设备具有更为明显的使用便利性(现有导航设备/系统的探测波长范围与无影灯波长范围有重合，在使用时需要关闭手术室无影灯)，并且该探测范围内的光对病灶组织的穿透深度深，空间分辨率高，因此，不仅可对肿瘤组织进行显影，还可实现对淋巴、血管以及相关组织的灌注情况进行显影和监测。
上述激发光源模块210可以是本领域常规激光器，在优选一实施方式中，其还具有匀光模块，匀光模块用于对激发光源发出的激发光进行匀光处理，以使投射于受测区1的激发光(即照射到受测区1表面的激发光光斑)强度分布均匀，更利于所获得的近红外荧光图像的清晰度。具体地，该激发光源模块可以是常规功率可调节半导体激光器与匀光系统构成的激发光源模块。
如图1和图2所示，第二成像模块包括按受测区1反射的可见光向第二成像模块传播的方向依次设置的可见光滤光元件207、可见光镜头206和可见 光感光元件(或称可见光相机)202，可见光感光元件202与工控机104相连(具体可以是与工控机104的系统控制模块相连)，可见光镜头206与测距模块208相连，其中，可见光滤光元件207用于滤除受测区1反射的光中的非可见光，获得可见光；可见光镜头206用于根据测距模块208反馈的第二距离信息对可见光进行实时对焦；可见光感光元件202用于基于可见光镜头206对焦后的可见光进行成像，获得可见光图像，并将可见光图像传输至工控机104。具体来说，受测区1反射的光经过可见光滤光元件207，可见光滤光元件207仅使可见光通过，通过可见光滤光元件207的可见光通过可见光镜头206对焦后成像于可见光感光元件202，从而获得可见光图像。
可选地，测距模块208可以通过工控机104与可见光镜头206相连(具体可以是通过工控机104的系统控制模块与可见光镜头206相连)，测距模块208获取第二距离信息后，将第二距离信息发送至工控机104，工控机104与可见光镜头206相连，将第二距离信息发送至可见光镜头206，可见光镜头206内部电机会根据第二距离信息将可见光镜头206调焦至图像清晰位置，进而使可见光感光元件202采集最清晰的可见光图像。
需要说明的是，上述测距模块208可以通过工控机104与第一成像模块、第二成像模块相连，也可以通过其他中间媒介与第一成像模块、第二成像模块相连，或者也可直接与第一成像模块、第二成像模块相连，只要能实现第一成像模块、第二成像模块实时对焦即可，本发明对此不做特别限制。
上述成像单元101还可以包括指示光源模块205，该指示光源模块205具有指示光源以及光束整形单元，指示光源用于向受测区1投射指示光源发出的指示光，光束整形单元用于对指示光进行整形，以指示激发光源发出的激发光在受测区1的投射位置。上述指示光源所发出的光可以为绿光，其中心波长一般可以为492-577nm，例如520nm，利于指示激发光在受测区1的投射位置。通过指示光源模块205，指示激发光源发出的激发光在受测区1的投射位置，提高激发光辐射区域(即肿瘤区域)的直观性，更便于医生手术操作。可选的，该光束整形单元为衍射元件，用于将指示光源发出的指示光整形为与激发光源发出的激发光轮廓一致，以更为清楚地指示激发光源所发出的激发光在受测区1的投射位置。
可选地，指示光源模块205与工控机104相连，具体是与工控机104的系统控制模块相连，通过系统控制模块控制指示光源模块205的衍射元件对 指示光源模块205的指示光源发出的光束进行整形，使指示光源发出的指示光的形状/轮廓与激发光源模块210的激发光源发出的照射在受测区1表面的激发光一致(例如整形为圆形、方框等形状)，将激发光源发出的激发光在受测区1的投射位置圈出(即，将投射在受测区1的激发光光斑圈出)，更利于医生直观看到激发光的辐射区域，便于手术操作。该衍射元件可以是本领域常规具有光束整形作用的衍射元件，其在指示光源模块205上的设置方式亦可以是本领域常规设置，本发明对此不做特别限制，不再赘述。
本发明中，上述导航设备还可以包括移动平台103，成像单元101、工控机104、显示单元102安装在移动平台103上，移动平台103可以承载整个手术导航设备/系统进行移动，即可以根据需求调整设备方位，便于医生手术操作，提高本发明设备的使用便利性。移动平台103的底部可以安装有多个万向轮，例如该移动平台103可以为长方体或正方体型，可以在其底部的四个边角上各安装一个万向轮，通过其底部的万向轮，利于移动平台103的移动。
在本发明的一实施方式中，如图1所示，上述移动平台103上设有机械臂105，成像单元101通过机械臂105活动安装于移动平台103上，利于根据需求调节成像单元101的工作距离(成像单元101与受测区1之间的距离)和工作角度，从而便于医生手术操作。
可选地，机械臂105可以由依次连接的第一直部、第二直部、第三直部组成，第一直部的一端安装在移动平台103上，第一直部的另一端与第二直部的一端连接，第二直部的另一端与第三直部的一端连接，成像单元101安装在第三直部的另一端，第一直部与第三直部平行，第三直部的轴向垂直于受测区1所在平面，第二直部与第一直部活动连接，用于调整第三直部的高度，进而调整成像单元101与受测区1之间的工作距离。
可选地，第一直部可以固定安装在移动平台103上，成像单元101活动安装在第三直部上，或者，第一直部活动安装在移动平台103上，成像单元101固定安装在第三直部上，或者，第一直部活动安装在移动平台103上，成像单元101亦活动安装在第三直部上。其中，所述第一直部可以活动安装在移动平台103上，是指第一直部可以相对于移动平台103转动和/或移动；所述成像单元101可以活动安装在第三直部上，是指成像单元101可以相对于第三直部转动，其转动方向与第三直部的轴向垂直。
可选地，第一直部、第二直部、第三直部还可以具有伸缩结构，即可以 根据需要调整第一直部、第二直部、第三直部的长度，进而更利于调整成像单元101等结构的工作距离(即成像单元101与受测区1的距离)和工作角度等条件，便于医生手术操作。
具体地，上述机械臂105可以是六自由度机械臂，利于实现工作距离和工作角度的调节，通过机械臂105选择成像范围，从而便于医生手术操作。
一般情况下，成像单元101的工作距离调节范围可以为100mm-1000mm，本发明的导航设备在该短距离范围内也可实现第一成像模块的实时对焦，获得清晰的近红外荧光图像，清楚显示肿瘤情况，便于医生操作。当然本发明不以此为限，也可以根据手术要求合理调整工作距离范围。
具体地，如图1和图2所示，第一成像模块、第二成像模块、激发光源模块210、测距模块208均包含于成像单元101，该些模块至受测区1的距离基本相同(即基本等于成像单元101至受测区1的距离)，即上述第一距离信息和第二距离信息相同，一般可将测距模块208安装在激发光源模块210上，并使其与第一成像模块、第二成像模块相连，通过所测定的距离信息使第一成像模块、第二成像模块实现实时对焦。当然，测距模块208所测定的距离信息亦为成像单元101至受测区1的距离信息，也可以根据需要使测距模块208与成像单元101中的其他模块相连，实现对其他模块基于距离信息的参数调控。
例如，在一些实施例中，激发光源模块210可以位于第一成像模块的第一侧(具体可以是位于第一成像模块的近红外荧光感光元件201的第一侧)，第二成像模块位于第一成像模块的与第一侧相对的第二侧(具体可以是位于第一成像模块的近红外荧光感光元件201的第二侧，)，上述指示光源模块205可以安装在第二成像模块上，具体可以安装在可见光感光元件202上，如图2所示，指示光源模205安装在可见光感光元件202远离第一成像模块的一侧，测距模块208安装在激发光源模块210远离第一成像模块的一侧。当然本发明不以此为限，只要满足激发光源模块210、第一成像模块、第二成像模块距离受测区1的距离基本相同即可(即使上述第一距离信息和第二距离信息相等)。其中，第一成像模块的光轴垂直于受测区1的表面(或称物面)，以利于第一成像模块基于受测区1产生的近红外荧光成像。
可选地，工控机104可以安装在移动平台103内部形成的空腔内，并实现与显示单元102、第一成像模块、第二成像模块等模块的通信连接，显示单 元102可以位于移动平台103的上表面，以更利于医生操作，提高导航设备的使用便利性。
上述近红外荧光标记物被注射至患者体内后会聚集在患者的病灶器官，用于对患者体内的肿瘤进行显影，其可以是本领域常规荧光标记物，例如吲哚菁绿(ICG)等。
作为本发明思想的延伸，本发明的另一方面，提供一种基于荧光分子成像的导航方法，包括：向含有近红外荧光标记物的受测区投射激发光，使受测区产生近红外荧光，采用第一成像模块基于近红外荧光成像，获得近红外荧光图像；采用第二成像模块基于受测区反射的可见光成像，获得可见光图像；将近红外荧光图像和可见光图像融合后进行显示；其中，实时测量第一成像模块与受测区的第一距离信息，使第一成像模块在基于近红外荧光成像时根据第一距离信息实时对焦。
在一些实施例中，实时测量第二成像模块与受测区的第二距离信息，使第二成像模块在基于可见光成像时根据第二距离信息实时对焦。
在一些实施例中，受测区反射的可见光来源于环境光，导航方法还包括：向受测区补偿可见光。
在一些实施例中，采用第一成像模块基于近红外荧光采集近红外荧光图像，包括：滤除受测区反射的光中的非近红外荧光，获得近红外荧光；根据第一距离信息对近红外荧光进行实时对焦；基于对焦后的近红外荧光成像，获得近红外荧光图像。
在一些实施例中，近红外荧光的波长为800-1700nm。
在一些实施例中，采用第二成像模块基于受测区反射的可见光采集可见光图像，包括：滤除受测区反射的光中的非可见光，获得可见光；根据第二距离信息对可见光进行实时对焦；基于对焦后的可见光成像，获得可见光图像。
在一些实施例中，激发光的波长为785nm±5nm。
在一些实施例中，对投射于受测区的激发光进行匀光处理，以使投射于受测区的激发光强度分布均匀。
在一些实施例中，向受测区投射指示光，对指示光进行整形，以指示激发光在受测区的位置。
在一些实施例中，对指示光进行整形为：将指示光整形为与激发光轮廓 一致。
本发明的基于荧光分子成像的导航方法由上述基于荧光分子成像的导航设备实施，其实现原理相类似，不再过多赘述。
本发明的再一方面，提供一种基于荧光分子成像的电子设备，包括：处理器、存储器以及计算机程序；其中，计算机程序存储在存储器中，并被配置为由处理器执行以实现上述基于荧光分子成像的导航方法，不再赘述。
本发明的再一方面，提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现上述基于荧光分子成像的导航方法。该计算机可读存储介质例如是包括指令(计算机程序)的存储器，该指令可由上述基于荧光分子成像的电子设备的处理器执行以完成基于荧光分子成像的导航方法。举例来说，该计算机可读存储介质为非临时性计算机可读存储介质，可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本发明的再一方面，提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行以实现上述基于荧光分子成像的导航方法。根据本申请的实施例，上述电子设备的至少一个处理器可以从可读存储介质读取计算机程序，至少一个处理器执行计算机程序使得电子设备执行上述荧光分子成像的导航方法。
以上，对本发明的实施方式进行了说明。但是，本发明不限定于上述实施方式。凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (24)

  1. 一种基于荧光分子成像的导航设备，其特征在于，包括成像单元、工控机和与所述工控机相连的显示单元，所述成像单元包括：
    激发光源模块，具有激发光源，用于向含有近红外荧光标记物的受测区投射所述激发光源发出的激发光，使所述受测区产生近红外荧光；
    第一成像模块，与所述工控机相连，所述第一成像模块基于所述近红外荧光成像并将所获得的近红外荧光图像传输至所述工控机；
    第二成像模块，与所述工控机相连，所述第二成像模块基于所述受测区反射的可见光成像并将所获得的可见光图像传输至所述工控机；
    所述工控机将所述近红外荧光图像和可见光图像融合后传输至所述显示单元进行显示；
    测距模块，与所述第一成像模块相连，用于实时测量第一成像模块与所述受测区的第一距离信息并将所述第一距离信息传输至第一成像模块，使所述第一成像模块在基于所述近红外荧光成像时根据所述第一距离信息实时对焦。
  2. 根据权利要求1所述的导航设备，其特征在于，所述测距模块还与所述第二成像模块相连，用于实时测量第二成像模块与所述受测区的第二距离信息并将所述第二距离信息传输至第二成像模块，使所述第二成像模块在基于所述可见光成像时根据所述第二距离信息实时对焦。
  3. 根据权利要求1所述的导航设备，其特征在于，所述受测区反射的可见光来源于环境光，所述成像单元还包括补偿光源模块，所述补偿光源模块用于向所述受测区补偿可见光。
  4. 根据权利要求1所述的导航设备，其特征在于，所述第一成像模块包括按所述受测区产生的近红外荧光向所述第一成像模块传播的方向依次设置的近红外滤光元件、近红外镜头和近红外荧光感光元件，所述近红外荧光感光元件与所述工控机相连，所述近红外镜头与所述测距模块相连，其中，
    所述近红外滤光元件，用于滤除受测区反射的光中的非近红外荧光，获得近红外荧光；
    所述近红外镜头，用于根据所述测距模块反馈的第一距离信息对所述近红外荧光进行实时对焦；
    所述近红外荧光感光元件，用于基于所述近红外镜头对焦后的近红外荧光进行成像，获得所述近红外荧光图像，并将所述近红外荧光图像传输至所述工控机。
  5. 根据权利要求4所述的导航设备，其特征在于，所述近红外滤光元件允许波长为800-1700nm的近红外光通过。
  6. 根据权利要求1所述的导航设备，其特征在于，所述激发光源模块的功率为10mw-3000mw，以及所述激发光源的中心波长为785nm±5nm。
  7. 根据权利要求1所述的导航设备，其特征在于，所述激发光源模块还具有匀光模块，所述匀光模块用于对所述激发光源发出的激发光进行匀光处理，以使投射于所述受测区的激发光强度分布均匀。
  8. 根据权利要求2所述的导航设备，其特征在于，所述第二成像模块包括按所述受测区反射的可见光向所述第二成像模块传播的方向依次设置的可见光滤光元件、可见光镜头和可见光感光元件，所述可见光感光元件与所述工控机相连，所述可见光镜头与所述测距模块相连，其中，
    所述可见光滤光元件，用于滤除所述受测区反射的光中的非可见光，获得可见光；
    所述可见光镜头，用于根据所述测距模块反馈的第二距离信息对所述可见光进行实时对焦；
    所述可见光感光元件，用于基于所述可见光镜头对焦后的可见光进行成像，获得所述可见光图像，并将所述可见光图像传输至所述工控机。
  9. 根据权利要求1所述的导航设备，其特征在于，所述成像单元还包括指示光源模块，指示光源模块具有指示光源以及光束整形单元，所述指示光源用于向所述受测区投射所述指示光源发出的指示光，所述光束整形单元用于对所述指示光进行整形，以指示所述激发光源发出的激发光在所述受测区的投射位置。
  10. 根据权利要求9所述的导航设备，其特征在于，所述指示光源模块的光束整形单元为衍射元件，用于将所述指示光源发出的指示光整形为与所述激发光源发出的激发光轮廓一致。
  11. 根据权利要求1-10任一项所述的导航设备，其特征在于，还包括移动平台，所述成像单元、工控机、显示单元安装在所述移动平台上；其中，所述移动平台上设有机械臂，所述成像单元通过所述机械臂活动安装于所述 移动平台上。
  12. 一种基于荧光分子成像的导航方法，其特征在于，包括：向含有近红外荧光标记物的受测区投射激发光，使所述受测区产生近红外荧光，采用第一成像模块基于所述近红外荧光成像，获得近红外荧光图像；采用第二成像模块基于受测区反射的可见光成像，获得可见光图像；将所述近红外荧光图像和所述可见光图像融合后进行显示；
    其中，实时测量所述第一成像模块与所述受测区的第一距离信息，使所述第一成像模块在基于所述近红外荧光成像时根据所述第一距离信息实时对焦。
  13. 根据权利要求12所述的导航方法，其特征在于，实时测量所述第二成像模块与所述受测区的第二距离信息，使所述第二成像模块在基于所述可见光成像时根据所述第二距离信息实时对焦。
  14. 根据权利要求12所述的导航方法，其特征在于，所述受测区反射的可见光来源于环境光，所述导航方法还包括：向所述受测区补偿可见光。
  15. 根据权利要求12所述的导航方法，其特征在于，所述采用第一成像模块基于近红外荧光采集近红外荧光图像，包括：
    滤除所述受测区反射的光中的非近红外荧光，获得近红外荧光；
    根据所述第一距离信息对所述近红外荧光进行实时对焦；
    基于对焦后的近红外荧光成像，获得所述近红外荧光图像。
  16. 根据权利要求12所述的导航方法，其特征在于，所述近红外荧光的波长为800-1700nm。
  17. 根据权利要求12所述的导航方法，其特征在于，所述激发光的波长为785nm±5nm。
  18. 根据权利要求12所述的导航方法，其特征在于，对投射于所述受测区的激发光进行匀光处理，以使投射于所述受测区的激发光强度分布均匀。
  19. 根据权利要求13所述的导航方法，其特征在于，所述采用第二成像模块基于所述受测区反射的可见光采集可见光图像，包括：
    滤除所述受测区反射的光中的非可见光，获得可见光；
    根据所述第二距离信息对所述可见光进行实时对焦；
    基于对焦后的可见光成像，获得所述可见光图像。
  20. 根据权利要求12所述的导航方法，其特征在于，向所述受测区投射 指示光，对所述指示光进行整形，以指示所述激发光在所述受测区的位置。
  21. 根据权利要求20所述的导航方法，其特征在于，对所述指示光进行整形为：将所述指示光整形为与所述激发光轮廓一致。
  22. 一种基于荧光分子成像的电子设备，其特征在于，包括：处理器、存储器以及计算机程序；其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行以实现权利要求12-21任一项所述的基于荧光分子成像的导航方法。
  23. 一种计算机可读存储介质，其特征在于，其上存储有计算机程序，所述计算机程序被处理器执行以实现权利要求12-21任一项所述的基于荧光分子成像的导航方法。
  24. 一种计算机程序产品，其特征在于，包括计算机程序，该计算机程序被处理器执行以实现权利要求12-21任一项所述的基于荧光分子成像的导航方法。
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