WO2023273014A1

WO2023273014A1 - Medical imaging device

Info

Publication number: WO2023273014A1
Application number: PCT/CN2021/123838
Authority: WO
Inventors: 汪远; 赵可为; 周丰茂
Original assignee: 南京微纳科技研究院有限公司
Priority date: 2021-06-29
Filing date: 2021-10-14
Publication date: 2023-01-05

Abstract

A medical imaging device (100), comprising a display assembly (10), a near-infrared camera assembly, a visible light camera (30), and a processing terminal (40). The display assembly (10) comprises a first display terminal (11) and a second display terminal (12). The near-infrared camera assembly comprises a first near-infrared camera (21) and a second near-infrared camera (22). The visible light camera (30) is used for obtaining a visible light image of a tissue body to be tested (90). The first near-infrared camera (21) and the second near-infrared camera (22) are both used for obtaining a fluorescence image of a target object (91) in said tissue body (90). The first display terminal (11) is used for displaying a tissue image of said tissue body (90). The tissue image is used for displaying the position of the target object (91) on said tissue body (90). The second display terminal (12) is used for displaying a three-dimensional image of the target object (91). According to the medical imaging device (100), three-dimensional shape detection can be performed on the target object (91) in said tissue body (90), the target object (91) can be observed in real time, and the operation assisting effect on doctors is good.

Description

medical imaging device

This application claims the priority of the Chinese patent application with the application number 202110725651.7 and the application name "Medical Imaging Device" submitted to the China Patent Office on June 29, 2021, and the request to submit to the China Patent Office on June 29, 2021, The priority of the Chinese patent application with the application number 202121462098.4 and the application name "medical imaging device", the entire content of which is incorporated in this application by reference.

technical field

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

Background technique

With the development of science and technology, in modern medical surgery, it is often necessary to use medical imaging technology to image diseased tissue to assist the surgical resection process.

Existing medical imaging devices generally include near-infrared photosensitive elements, and images of objects in lesions and organs are acquired through the near-infrared photosensitive elements. Specifically, fluorescent markers are injected into the human body, so that the fluorescent markers are gathered in the target in the lesion organ, and the two-dimensional fluorescent image of the target can be obtained by using the near-infrared photosensitive element through the fluorescence imaging technology, to assist the doctor in the target detection. operations such as tumor resection.

However, the above-mentioned existing medical imaging devices cannot detect the three-dimensional shape of the target object, which is not conducive to the observation of the target object by the doctor, and the effect of assisting the doctor in surgery is relatively poor.

Contents of the invention

In view of the above problems, the embodiment of the present application provides a medical imaging device, which can perform three-dimensional shape detection of the target object in the tissue to be measured, and has a better effect on assisting doctors in surgery.

In order to achieve the above purpose, the present application provides a medical imaging device, including a display component, a near-infrared camera component, a visible light camera and a processing terminal, the display component includes a first display terminal and a second display terminal, and the near-infrared camera component includes a first near-infrared camera component. The infrared camera and the second near-infrared camera, the first display terminal and the second display terminal, the first near-infrared camera and the second near-infrared camera, and the visible light camera are all electrically connected to the processing terminal;

The visible light camera is used to acquire the visible light image of the tissue to be tested, and the first near-infrared camera and the second near-infrared camera are both used to acquire the fluorescence image of the target in the tissue to be tested;

The first display terminal is used to display the tissue image of the tissue to be measured, wherein the tissue image is used to display the position of the target object on the tissue to be measured, and the tissue image is based on the visible light image of the tissue to be measured and the first near-infrared camera Acquired fluorescence image generation;

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

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

In an optional embodiment, a dichroic mirror is also included, the dichroic mirror is located between the first near-infrared camera and the tissue to be measured, and is used to transmit the fluorescence from the target to the first near-infrared camera ;

The visible light camera is located on the side of the dichroic mirror, and the dichroic mirror is also used to reflect the visible light from the tissue to be measured to the visible light camera.

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

In an optional embodiment, it also includes a first near-infrared filter element, the first near-infrared filter element is arranged on the side of the first near-infrared lens facing the tissue to be measured; and/or the medical imaging device also A visible light filter element is included, and the visible light filter element is arranged on the side of the visible light lens facing the tissue body to be measured.

In an optional embodiment, the second near-infrared camera includes a second near-infrared lens, and the second near-infrared lens is directed toward the tissue to be measured, so as to receive fluorescence from the tissue to be measured.

In an optional embodiment, a second near-infrared filter element is also included, and the second near-infrared filter element is arranged on a side of the second near-infrared lens facing the tissue to be measured.

In an optional embodiment, a distance measuring component is also included, and the distance measuring component is used to detect the working distance between the tissue to be measured and the distance measuring component.

In an optional embodiment, the positions of the distance measuring component, the near-infrared camera component and the visible light camera are relatively fixed, and both the near-infrared camera component and the visible light camera perform focus adjustment according to the working distance between the tissue to be measured and the distance measuring component.

In an optional embodiment, it also includes a first mounting bracket and a second mounting bracket, the first near-infrared camera and the visible light camera are set on the first mounting bracket, and the second near-infrared camera is set on the second mounting bracket .

In an optional embodiment, the ranging component includes a first ranging sensor and a second ranging sensor, and the first ranging sensor and the second ranging sensor are placed in the first mounting bracket and the second mounting bracket respectively ; The first ranging sensor is used to detect the first working distance between the tissue to be measured and the first ranging sensor; the second ranging sensor is used to detect the second working distance between the tissue to be measured and the second ranging sensor;

The processing terminal is used to adjust the focus of the first near-infrared camera and the visible light camera according to the first working distance; and/or the processing terminal is used to adjust the focus of the second near-infrared camera according to the second working distance.

In an optional embodiment, an excitation light source is also included, and the exit end of the excitation light source faces the tissue body to be measured, so that the excitation light beam generated by the excitation light source is transmitted to the tissue body to be measured.

In an optional embodiment, an indicating light source is further included, and the indicating light source emits indicating light to the tissue body to be measured, and the indicating light is used to mark the target irradiation area of the excitation light beam.

In an optional implementation manner, the excitation light source includes a uniform light component, which is used to uniformly process the excitation light beam emitted by the excitation light source.

In an optional embodiment, the excitation light beam emitted by the excitation light source has a wavelength of 700nm-800nm.

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

In an optional embodiment, the wavelength of near-infrared fluorescence excited by the tissue to be measured is 820nm-1700nm.

The medical imaging device of the present application includes a display component, a near-infrared camera component, a visible light camera, and a processing terminal, the display component includes a first display terminal and a second display terminal, and the near-infrared camera component includes a first near-infrared camera and a second near-infrared camera The visible light camera is used to obtain the visible light image of the tissue to be tested, and the first near-infrared camera and the second near-infrared camera are both used to obtain the fluorescence image of the target object in the tissue to be tested; the first display terminal is used to display the tissue to be tested A tissue image of the body, wherein the tissue image is used to display the position of the target object on the tissue to be measured, and the tissue image is generated according to the visible light image of the tissue to be measured and the fluorescence image acquired by the first near-infrared camera; the second display terminal The three-dimensional image is used to display the target object, and the three-dimensional image is generated according to the fluorescence image obtained by the first near-infrared camera and the fluorescence image obtained by the second near-infrared camera.

In the above scheme, on the one hand, the first near-infrared camera and the visible light camera are set to respectively acquire the fluorescence image of the target object in the tissue to be measured and the visible light image of the tissue to be measured, and display the tissue to be measured on the first display terminal. The tissue image of the body to obtain the position of the target object on the tissue body to be measured; on the other hand, another fluorescence image of the target object in the tissue body to be measured is obtained by setting a second near-infrared camera, and displayed on the second display terminal The three-dimensional image of the target object in the tissue to be tested is displayed on the upper surface, that is, the shape of the target object is acquired in real time by a near-infrared binocular vision device formed by the cooperation of the second near-infrared camera and the first near-infrared camera. In other words, the medical imaging device in the above solution can obtain the position of the target object in the tissue to be measured and the three-dimensional information of the target object, and visually display the relative position and shape of the target object and the tissue to be measured in real time on the display component , It is better for doctors to assist in surgery.

The structure of the present invention as well as its other invention objectives and beneficial effects will be more clearly understood through the description of the preferred embodiments in conjunction with the accompanying drawings.

Description of drawings

FIG. 1 is a schematic structural diagram of a medical imaging device provided by an embodiment of the present application;

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

Fig. 3 is a schematic diagram of another structure of a medical imaging device provided by an embodiment of the present application.

Explanation of reference signs:

100-medical imaging device; 10-display component; 11-first display terminal; 12-second display terminal; 21-first near-infrared camera; 211-first near-infrared lens; 212-first near-infrared photosensitive element; 213-the first near-infrared filter element; 22-the second near-infrared camera; 221-the second near-infrared lens; 222-the second near-infrared photosensitive element; 223-the second near-infrared filter element; 30-visible light camera; 301-visible light lens; 302-visible light photosensitive element; 303-visible light filter element; 40-processing terminal; 50-excitation light source; 60-dichroic mirror; - the second distance measuring sensor; 73 - the third distance measuring sensor; 80 - the housing; 81 - the first mounting bracket; 82 - the second mounting bracket; 90 - the tissue to be measured; 91 - the target.

detailed description

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In surgical operations of modern medicine, it is necessary to rely on medical imaging technology to locate the target object, such as a tumor, in the tissue to be measured. Medical imaging technology generally uses near-infrared fluorescence to irradiate the tissue to be tested, and uses near-infrared photosensitive elements to obtain fluorescent images of the target in the tissue to be measured to determine the position of the target and help surgeons to remove the target, such as a tumor. However, the fluorescent image acquired by the near-infrared photosensitive element cannot display the specific shape of the target object, which is not intuitive enough, and is not effective in assisting doctors.

However, the medical imaging device of the present application acquires the images of the tissue to be measured and the target by setting the first near-infrared camera, the second near-infrared camera, and the visible light camera, so that the position of the target in the tissue to be measured and the position of the target can be determined. The three-dimensional specific shape is detected, so as to intuitively guide the doctor to perform the target resection operation and reduce the difficulty of the operation.

The medical imaging device according to the embodiment of the present application will be described below with reference to the accompanying drawings. It should be noted that the near-infrared camera mentioned in this application refers to a near-infrared camera, and near-infrared light (Near Infrared, NIR) is an electromagnetic wave between visible light (VI) and mid-infrared light (MIR). According to the definition of ASTM (American Society for Testing and Materials Testing), it refers to electromagnetic waves with a wavelength in the range of 780-2526nm.

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

The visible light camera 30 is used to acquire the visible light image of the tissue body 90 to be tested, and the first near-infrared camera 21 and the second near-infrared camera 22 are both used to acquire the fluorescence image of the target object 91 in the tissue body 90 to be tested;

The first display terminal 11 is used to display the tissue image of the tissue body 90 to be measured, wherein the tissue image is used to display the position of the target object 91 on the tissue body 90 to be measured, and the tissue image is based on the visible light image of the tissue body 90 to be measured and Generation of fluorescence images acquired by the first near-infrared camera 21;

The second display terminal 12 is used to display the three-dimensional image of the target object 91 , and the three-dimensional image is generated according to the fluorescent image acquired by the first near-infrared camera 21 and the fluorescent image acquired by the second near-infrared camera 22 .

In the above scheme, on the one hand, by setting the first near-infrared camera 21 and the visible light camera 30, the fluorescence image of the target object 91 in the tissue body 90 to be measured and the visible light image of the tissue body 90 to be measured are acquired respectively, and displayed on the first display terminal 11 displays the tissue image of the tissue body 90 to be measured, so as to obtain the position of the target object 91 on the tissue body 90 to be measured; Another fluorescent image of the target object 91 in the tissue body 90 to be tested is displayed on the second display terminal 12, that is, the near-infrared image formed by the cooperation of the second near-infrared camera 22 and the first near-infrared camera 21 is used. The binocular vision device acquires the three-dimensional information on the surface of the target object 91 in real time. In other words, the medical imaging device 100 in the above scheme can obtain the position of the target object 91 in the tissue body 90 to be measured, as well as the three-dimensional information of the target object 91, and compare the relative position and shape of the target object 91 and the tissue body 90 to be measured in real time. Visually displayed in the display unit 10, it has a better effect on assisting doctors in surgery. It should be noted that the process of obtaining a three-dimensional image by using the first near-infrared camera 21 and the second near-infrared camera 22 is well known to those skilled in the art, and will not be repeated here.

In the embodiment of the present application, the visible light camera 30 is used to acquire the visible light image of the tissue body 90 to be tested. Visible light image of organoid 90 .

Both the first near-infrared camera 21 and the second near-infrared camera 22 are used to acquire fluorescence images of the target object 91 in the tissue body 90 to be tested. Exemplarily, if a medical fluorescent probe substance, such as indocyanine green (Indocyanine green, ICG), is injected into the tissue body 90 to be tested in advance, the fluorescent probe substance will be at the target object 91 of the tissue body 90 to be tested. , such as the accumulation at the site of a tumor. Optionally, the medical imaging system may also include an excitation light source 50, the exit end of the excitation light source 50 is directed towards the tissue body 90 to be measured, so that the excitation light beam generated by the excitation light source 50 is irradiated on the tissue body 90 to be measured, and the target object 91 Fluorescent imaging. When the excitation light beam generated by the excitation light source 50 irradiates the tissue body 90 to be tested, the aggregated fluorescent probe substances will be excited to generate fluorescence. After the fluorescence of the target object 91 enters the first near-infrared camera 21 and the second near-infrared camera 22 , both the first near-infrared camera 21 and the second near-infrared camera 22 obtain fluorescence images of the target object 91 .

The first near-infrared camera 21 and the visible light camera 30 are electrically connected to the processing terminal 40, so that the processing terminal 40 receives the fluorescence image of the target object 91 sent by the first near-infrared camera 21, and receives the visible light image sent by the visible light camera 30, and The fluorescence image of the target object 91 and the visible light image of the tissue to be tested 90 are superimposed and fused to obtain a tissue image of the tissue to be tested 90 , that is, an image including both the tissue to be tested 90 and the target 91 therein is obtained. Wherein, the tissue image is used to display the position of the target object 91 on the tissue body 90 to be measured. The first display terminal 11 is used to display the tissue image of the tissue to be measured 90 , and the user can intuitively acquire the position of the target object 91 on the tissue to be measured 90 by viewing the tissue image.

Exemplarily, the specific way of superimposing and fusing the fluorescent image of the target object 91 and the visible light image of the tissue body 90 to be tested may be to directly process the fluorescent image of the target object 91 and superimpose it on the tissue body 90 to be tested with a specific color. On top of the visible light image, a tissue image of the tissue body 90 to be tested is obtained, and the tissue image shows the position of the target object 91 on the tissue body 90 to be tested, for example, a distribution image of a tumor in a lesion organ.

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

As mentioned above, the process of generating a three-dimensional image of the target object 91 according to the first near-infrared camera 21 and the second near-infrared camera 22, that is, binocular vision near-infrared imaging technology, can obtain the specific shape of the target object 91 and the surface height of the target object 91 information, that is, to complete the three-dimensional detection of the target object 91 . The second display terminal 12 is used to display the three-dimensional image of the target object 91 . When the user sees the three-dimensional image, he can intuitively obtain the specific shape of the target object 91. Combined with the tissue image of the tissue body 90 to be measured, the information of the target object 91 can be accurately obtained in real time, which improves the intuitiveness of the operation and reduces the need for doctors. The operation time is improved, and the efficiency of the operation is improved.

In the embodiment of the present application, the first near-infrared camera 21 and the second near-infrared camera 22 are arranged adjacently, that is, the first near-infrared camera 21 and the second near-infrared camera 22 can be arranged in the same installation structure, or can be arranged separately in two mounting structures. The imaging areas of the first near-infrared camera 21 and the second near-infrared camera 22 have an overlapping area, and the tissue body 90 to be tested can be located in the overlapping area, which can ensure the completion of binocular vision imaging. Optionally, the setting parameters of the first near-infrared camera 21 and the second near-infrared camera 22 may be the same.

In the embodiment of the present application, the medical imaging device further includes a dichroic mirror 60, which is a passive device and does not require external energy, as long as there is input light. The dichroic mirror 60 can separate the light source into a specific spectrum and change the light path direction of part of the spectrum, and can almost completely transmit certain wavelengths of light, while almost completely reflecting other wavelengths of light. Exemplarily, as shown in FIG. 1 , the dichroic mirror 60 is located between the first near-infrared camera 21 and the tissue body 90 to be measured, and is used to transmit the fluorescence from the target object 91 to the first near-infrared camera along the optical path A. The camera 21 and the visible light camera 30 are located on the side of the dichroic mirror 60 , and the dichroic mirror 60 is also used to reflect the visible light from the tissue body 90 to be measured to the visible light camera 30 along the optical path B. In this way, the first near-infrared camera 21 and the visible light camera 30 can actually share part of the optical path.

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

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

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

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

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

Wherein, the first near-infrared filter element 213 and the second near-infrared filter element 223 can block light other than infrared light such as visible light, and only allow infrared light to pass through. Exemplarily, both the first near-infrared filter element 213 and the second near-infrared filter element 223 only allow infrared rays with a wavelength range of 820nm-1700nm to pass through, thereby filtering the excitation beam and visible light reflected by the tissue body 90 to be measured. And because the wavelength range of light allowed by the first near-infrared filter element 213 and the second near-infrared filter element 223 is 820nm-1700nm, the penetration depth is large, therefore, the fluorescence image of the target object 91 with a high signal-to-noise ratio can be obtained . In practical applications, it can be used to visualize human lymph, blood vessels, etc. and monitor the perfusion of related tissues.

Optionally, the first near-infrared photosensitive element 212, the second near-infrared photosensitive element 222 and the visible light photosensitive element 302 may all include a charge coupled device (Charge Coupled Device, referred to as CCD) and a metal oxide semiconductor element (Complementary Metal- Oxide Semiconductor, referred to as CMOS).

Optionally, the number of the first near-infrared photosensitive element 212 and the second near-infrared photosensitive element 222 can be one or more. , to get different image information.

In the embodiment of the present application, as mentioned above, the medical imaging device 100 includes an excitation light source 50 for emitting an excitation light beam to the tissue body 90 to be measured. Optionally, the excitation light beam emitted by the excitation light source 50 has a wavelength of 700nm-800nm. After the conventional medical excitation beam irradiates the tissue to be tested, the wavelength of the fluorescence emitted by the tissue to be tested is in the near-infrared region, while in the present invention, the wavelength of the near-infrared fluorescence emitted by the tissue to be tested is 820nm-1700nm, That is to say, the light in the second near-infrared region can detect the target object 91 at a deeper depth under the infrared light of this frequency band, which is more conducive to the detection of the deeper target object 91 . In addition, the power of the excitation light source 50 is adjustable, and the adjustable range is 1mW-1000mW. It can be understood that the excitation light source 50 is a semiconductor laser with adjustable power, which can help the device realize the detection of small tumors under its high luminous power; but The application is not limited to this adjustment range.

In the embodiment of the present application, optionally, the medical imaging device 100 further includes an indication light source, which emits indication light to the tissue body 90 to be measured, and the indication light is used to mark the target irradiation area of the excitation beam. In other words, the indicating light source is used to indicate the projected position of the exciting beam, and is used for outline during operation.

In the embodiment of the present application, the excitation light source 50 may include a light homogenization component, which is used to uniformly process the excitation light beam emitted by the excitation light source 50 . That is, the homogenization module is used to make the intensity distribution of the light spot irradiated by the excitation light source 50 on the surface of the tissue body 90 to be measured more uniform.

Optionally, the medical imaging device 100 may further include a distance measuring component 70 for detecting the working distance between the tissue body 90 to be measured and the distance measuring component 70 .

Exemplarily, the positions of the distance measuring component 70 , the near-infrared camera component and the visible light camera 30 are relatively fixed, and both the near-infrared camera component and the visible light camera 30 perform focus adjustment according to the working distance between the tissue object 90 to be measured and the distance measuring component 70 .

Specifically, since both the infrared camera assembly and the visible light camera 30 are relatively fixed to the distance measuring assembly 70, and the distance measuring assembly 70 can measure the working distance between the tissue to be measured 90 and the distance measuring assembly 70, the first approximation The distance between the infrared camera 21 and the tissue body 90 to be measured, the distance between the second near-infrared camera 22 and the tissue body 90 to be measured, and the distance between the visible light camera 30 and the tissue body 90 to be measured.

It can be understood that the focus of the first near-infrared lens 211 can be adjusted according to the distance between the first near-infrared camera 21 and the tissue body 90 to be measured until the image is clearest. Similarly, the second near-infrared lens 221 can focus according to the distance between the second near-infrared camera 22 and the tissue to be measured 90 until its imaging is clearest; Focus at a distance of 90 until the image is clearest.

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

FIG. 2 is a schematic diagram of a structure of a medical imaging device provided by an embodiment of the present application, and FIG. 3 is a schematic diagram of another structure of a medical imaging device provided by an embodiment of the present application.

In the embodiment of the present application, as mentioned above, the first near-infrared camera 21 and the second near-infrared camera 22 may be arranged in the same installation structure, or may be arranged in two installation structures respectively. 2, as an optional manner, the first near-infrared camera 21, the second near-infrared camera 22 and the visible light camera 30 can be arranged in the same installation structure, for example, the medical imaging device 100 includes a housing 80, the first A near-infrared camera 21 , a second near-infrared camera 22 , and a visible light camera 30 are all arranged in the casing 80 . At this time, the ranging component 70 may include a third ranging sensor 73 , and the third ranging sensor 73 may be disposed on the exciting light source 50 . Optionally, the first distance measuring sensor, the second distance measuring sensor, and the third distance measuring sensor may use a laser distance meter, for example.

Referring to FIG. 3 , as another optional implementation manner, the medical imaging device 100 includes a first mounting bracket 81 and a second mounting bracket 82, the first near-infrared camera 21 and the visible light camera 30 are arranged on the first mounting bracket 81, The second near-infrared camera 22 is arranged on the second mounting bracket.

Correspondingly, the ranging component 70 includes a first ranging sensor 71 and a second ranging sensor 72, the first ranging sensor 71 is used to detect the first working distance between the tissue object 90 to be measured and the first ranging sensor 71 The second ranging sensor 72 is used to detect the second working distance between the tissue body 90 to be measured and the second ranging sensor 72; the first near-infrared camera 21 and the visible light camera 30 are used for focusing according to the first working distance, and the second Two near-infrared cameras 22 are used for focusing according to the second working distance.

The position of the ranging component 70 will be described in detail below with reference to FIGS. 2 and 3 .

2, as an optional implementation, the first near-infrared camera 21, the second near-infrared camera 22, and the visible light camera 30 are fixed relative to the housing 80, and the distance-measuring component includes only one distance-measuring sensor, that is, the third distance-measuring sensor. The distance sensor 73, the third distance sensor can be arranged on the excitation light source 50.

In the medical imaging device illustrated in FIG. 3 , the ranging component 70 includes a first ranging sensor 71 and a second ranging sensor 72, and the first near-infrared camera 21 and the visible light camera 30 are relatively fixed to the first mounting bracket 81. Configure a ranging assembly for the first near-infrared camera 21 and the visible light camera 30, that is, the first ranging sensor 71, and the second near-infrared camera 22 and the second mounting bracket 82 are relatively fixed, and configure a second near-infrared camera The ranging component is the second ranging sensor 72 . And the first ranging sensor 71 and the second ranging sensor 72 are respectively placed in the first mounting bracket 81 and the second mounting bracket 82; that is, the first ranging sensor 71 can be installed on the first mounting bracket 81, and the second The ranging sensor 72 may be mounted on a second mounting bracket 82 .

The medical imaging device of the present application includes a display component, a near-infrared camera component, a visible light camera, and a processing terminal. Measuring the fluorescent image of the target in the tissue; the first display terminal is used to display the tissue image of the tissue to be measured, wherein the tissue image is used to display the position of the target on the tissue to be measured, and the tissue image is based on the tissue to be measured The visible light image of the object and the fluorescence image acquired by the first near-infrared camera are generated; the second display terminal is used to display the three-dimensional image of the target object, and the three-dimensional image is based on the fluorescence image acquired by the first near-infrared camera and the fluorescence image acquired by the second near-infrared camera. Fluorescence image generation. In the above scheme, on the one hand, the first near-infrared camera and the visible light camera are set to respectively acquire the fluorescence image of the target object in the tissue to be measured and the visible light image of the tissue to be measured, and display the tissue to be measured on the first display terminal. The tissue image of the body to obtain the position of the target object on the tissue body to be measured; on the other hand, another fluorescence image of the target object in the tissue body to be measured is obtained by setting a second near-infrared camera, and displayed on the second display terminal The three-dimensional image of the target object in the tissue to be tested is displayed on the upper surface, that is, the shape of the target object is acquired in real time by a near-infrared binocular vision device formed by the cooperation of the second near-infrared camera and the first near-infrared camera. In other words, the medical imaging device in the above solution can obtain the position of the target object in the tissue to be measured and the three-dimensional information of the target object, and visually display the relative position and shape of the target object and the tissue to be measured in real time on the display component , It is better for doctors to assist in surgery.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be fixedly connected, or it can be connected through the middle The media is indirectly connected, which can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In describing the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, Constructed and operative in a particular orientation and therefore are not to be construed as limitations of the invention.

The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and not necessarily Used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein, for example, can be practiced in sequences other than those illustrated or described herein.

Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims

A medical imaging device, characterized in that it includes a display component, a near-infrared camera component, a visible light camera, and a processing terminal, the display component includes a first display terminal and a second display terminal, and the near-infrared camera component includes a first near-infrared camera component An infrared camera and a second near-infrared camera, the first display terminal, the second display terminal, the first near-infrared camera, the second near-infrared camera, and the visible light camera are all electrically connected to the processing terminal connect;

The visible light camera is used to acquire a visible light image of the tissue to be tested, and both the first near-infrared camera and the second near-infrared camera are used to acquire a fluorescence image of a target in the tissue to be tested;

The first display terminal is used to display the tissue image of the tissue to be measured, wherein the tissue image is used to display the position of the target on the tissue to be measured, and the tissue image is generation of the visible light image of the tissue to be measured and the fluorescence image acquired by the first near-infrared camera;

The second display terminal is configured to display a three-dimensional image of the target object, wherein the three-dimensional image is generated according to the fluorescence image acquired by the first near-infrared camera and the fluorescence image acquired by the second near-infrared camera.
The medical imaging device according to claim 1, wherein the first near-infrared camera and the second near-infrared camera are arranged adjacently, and the first near-infrared camera and the second near-infrared camera The imaging area has an overlapping area, and the tissue body to be measured is located in the overlapping area.
The medical imaging device according to claim 1, further comprising a dichroic mirror, the dichroic mirror is located between the first near-infrared camera and the tissue to be measured, and is used to make The fluorescence of the target is transmitted to the first near-infrared camera;

The visible light camera is located at the side of the dichroic mirror, and the dichroic mirror is also used to reflect the visible light from the tissue to be measured to the visible light camera.
The medical imaging device according to claim 3, wherein the first near-infrared camera includes a first near-infrared lens, the visible light camera includes a visible light lens, and the optical axis of the first near-infrared lens and the The optical axes of the visible light lenses are perpendicular to each other.
The medical imaging device according to claim 4, further comprising a first near-infrared filter element, the first near-infrared filter element is arranged on the first near-infrared lens toward the tissue to be measured One side of the body; and/or the medical imaging device further includes a visible light filter element, the visible light filter element is arranged on the side of the visible light lens facing the tissue to be measured.
The medical imaging device according to claim 3, wherein the second near-infrared camera includes a second near-infrared lens, the second near-infrared lens is directed toward the tissue to be measured, and is used for receiving images from the Fluorescence of the tissue to be measured.
The medical imaging device according to claim 6, further comprising a second near-infrared filter element, the second near-infrared filter element is arranged on the second near-infrared lens toward the tissue to be measured side of the body.
The medical imaging device according to any one of claims 1-7, further comprising a distance measuring component configured to detect a working distance between the tissue to be measured and the distance measuring component.
The medical imaging device according to claim 8, characterized in that, the positions of the distance measuring component, the near-infrared camera component and the visible light camera are relatively fixed, and the near-infrared camera component and the visible light camera are both based on the The working distance between the tissue body to be measured and the distance measuring component is adjusted.
The medical imaging device according to claim 9, further comprising a first mounting bracket and a second mounting bracket, the first near-infrared camera and the visible light camera are arranged on the first mounting bracket, the The second near-infrared camera is arranged on the second mounting bracket.
The medical imaging device according to claim 10, wherein the ranging component comprises a first ranging sensor and a second ranging sensor, and the first ranging sensor and the second ranging sensor are respectively placed In the first mounting bracket and the second mounting bracket; the first distance measuring sensor is used to detect the first working distance between the tissue body to be measured and the first distance measuring sensor; the second The distance measuring sensor is used to detect the second working distance between the tissue to be measured and the second distance measuring sensor;

The processing terminal is used to adjust the focus of the first near-infrared camera and the visible light camera according to the first working distance; and/or, the processing terminal is used to focus the first near-infrared camera and the visible light camera according to the second working distance. The second near-infrared camera performs focus adjustment.
The medical imaging device according to any one of claims 1-7, further comprising an excitation light source, the exit end of the excitation light source faces the tissue to be measured, so that the excitation light beam generated by the excitation light source Irradiating to the tissue body to be tested.
The medical imaging device according to claim 12, further comprising an indication light source, the indication light source emits indication light to the tissue to be measured, and the indication light is used to mark the target irradiation of the excitation beam area.
The medical imaging device according to claim 12, wherein the excitation light source comprises a light homogenization component, and the light uniformity component is used to uniformly process the excitation light beam emitted by the excitation light source.
The medical imaging device according to claim 12, characterized in that, the excitation light beam emitted by the excitation light source has a wavelength of 700nm-800nm.
The medical imaging device according to claim 12, wherein the power of the excitation light source is adjustable, and the power adjustment range of the excitation light source is 1 mW-1000 mW.
The medical imaging device according to claim 12, characterized in that the near-infrared fluorescence excited by the tissue to be measured has a wavelength of 820nm-1700nm.