CN105534606B - Intelligent imaging system for surgical operation - Google Patents
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Abstract
本发明提出一种用于外科手术的智能成像系统，包括：频域光相干断层成像子系统，用于获取生物组织的深度图像；荧光成像及高光谱分析子系统，用于形成高光谱影像；探头装置，用于对频域光相干断层成像子系统和荧光成像及高光谱分析子系统的光路进行耦合，对生物组织的深度图像和高光谱影像进行融合，得到生物组织的结构功能立体影像，根据生物组织的结构功能影像确定手术区域，在手术区域内进行扫描以获取准实时图像。本发明具有结构简单、成本低廉、操作简单、成像速度快、图像空间分辨率高、体积小、质量轻、图像效果明显的优点。
The present invention proposes an intelligent imaging system for surgery, including: a frequency-domain optical coherence tomography subsystem for acquiring depth images of biological tissues; a fluorescence imaging and hyperspectral analysis subsystem for forming hyperspectral images; The probe device is used to couple the optical path of the frequency-domain optical coherence tomography subsystem and the fluorescence imaging and hyperspectral analysis subsystem, and fuse the depth image and hyperspectral image of biological tissue to obtain a three-dimensional image of the structure and function of biological tissue. The operation area is determined according to the structure and function images of biological tissues, and the operation area is scanned to obtain quasi-real-time images. The invention has the advantages of simple structure, low cost, simple operation, fast imaging speed, high image space resolution, small volume, light weight and obvious image effect.
Description
Technical Field
The invention relates to the technical field of medical imaging, in particular to an intelligent imaging system for surgical operation.
Background
With the continuous improvement of the technology, modern surgical operations need to be changed into minimally invasive implementation, and the trauma to the physiological tissues of a patient is required to be reduced as much as possible while the target site of the operation is accurately positioned, so that the problems of large surgical trauma, long recovery period and the like left by open type operations are solved, the physical tissues and psychological injuries to the patient are reduced to the minimum, and the trauma recovery period is shortened. The pathological changes of the central nervous system, especially tumors, have become a big killer threatening the health of human beings, and the high fatality rate and disability rate caused by the pathological changes are also concerned.
Surgery is the first choice for radical treatment of central nervous system lesions. However, the most difficult problem to solve in the current surgery is the accurate determination of the tumor boundary. Developing structural and functional imagery with high resolution will therefore provide precise image guidance for the procedure. The interventional operation guided by the accurate three-dimensional image has the characteristics of accurately positioning an operation target point, realizing monitoring navigation in the operation process and the like, providing an image with depth information for an operating doctor by the three-dimensional image has more accurate guiding significance, and simultaneously providing a framework of the functional image on the basis of the structural image so as to ensure that the functional area can be completely stored in the operation process. The image has the advantages of small wound, quick recovery, good curative effect, low cost and the like.
Frequency domain optical coherence tomography (FD-OCT) is a stereo imaging modality that provides tissue organs. The principle of FD-OCT is well known, and the use of a near-infrared light source enables a diagnostic image of tissue to have a spatial resolution of 10-20um, enables high-resolution image acquisition of tissue, and enables real-time performance. However, for a fluorescence imaging and hyperspectral analysis system, the OCT system has both image information and a four-dimensional hyperspectral image containing spectral information, and the resolution can be accurately adjusted according to an adjustable scanning mechanism. Meanwhile, the fluorescence is sensitive to the metabolism function of the biological tissue (including analysis of hemoglobin and blood flow in the biological tissue), especially to specific fluorescence imaging and hyperspectral analysis, and the metabolism of the tumor tissue by fluorescence photosensitizers such as ICG, 5-ALA or fluorescein sodium.
Presently, microsurgery in neurosurgery has brought great progress, greatly improving the success rate of the operation and reducing the recurrence rate after the operation. The design of a lens of a microscope is the same as that of a neurosurgery microscope, but the prior art is the same, but in the microsurgery, biological tissues can be imaged only under natural light, the image definition is high, and the tumor boundary is difficult to accurately identify.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art described above.
Therefore, the invention aims to provide an intelligent imaging system for surgical operation, which has the advantages of simple structure, low cost, simple operation, high imaging speed, high image spatial resolution, small volume, light weight and obvious image effect.
In order to achieve the above object, an embodiment of the present invention proposes an intelligent imaging system for surgery, including: the system comprises a frequency domain light coherence tomography subsystem, a CCD imaging subsystem and a depth imaging subsystem, wherein the frequency domain light coherence tomography subsystem is used for irradiating biological tissues by infrared light and generating reflected light so as to form interference of sample light and reference light, splitting the sample light and the reference light by a spectrometer and then imaging by using the CCD, and carrying out Fourier transform on CCD imaging results to obtain a depth image of the biological tissues; the fluorescence imaging and hyperspectral analysis subsystem is used for analyzing the fluorescence characteristics of the biological tissue to obtain fluorescence polymerization degree and intensity distribution, accurately positioning and judging functions in the biological tissue according to the fluorescence polymerization degree and intensity distribution, and controlling a spectrometer to rotationally scan according to the positioning and judging results of the functions in the biological tissue to form a hyperspectral image; and the probe device is used for coupling the optical paths of the frequency domain optical coherence tomography subsystem and the fluorescence imaging and hyperspectral analysis subsystem, fusing the depth image and the hyperspectral image of the biological tissue to obtain a structural function image of the biological tissue, determining an operation area according to the structural function image of the biological tissue, and scanning in the operation area to obtain a quasi-real-time image.
According to the intelligent imaging system for the surgical operation, disclosed by the embodiment of the invention, the three-dimensional structure function imaging of soft tissues, particularly brain tissues and brain stem tissues can be realized, OCT and fluorescence hyperspectral images can be distinguished and collected, and the real-time imaging in the operation can be collected, so that the intelligent imaging system for the surgical operation has the advantages of simple structure, low cost, simplicity in use of the surgical operation, simplicity in operation, high imaging speed, high image spatial resolution, small volume, light weight and obvious image effect.
In addition, the intelligent imaging system for surgical operation according to the above embodiment of the present invention may further have the following additional technical features:
in some examples, the wavelength of the light source of the frequency domain optical coherence tomography subsystem is different from the wavelength of the light source of the fluorescence imaging and hyperspectral analysis subsystem, the light source of the frequency domain optical coherence tomography subsystem is near infrared light, and the light source of the fluorescence imaging and hyperspectral analysis subsystem is blue-violet light.
In some examples, the probe device scans the entire image in a single point scan with points as pixel locations.
In some examples, the scanning mode of the probe device includes an internal scan and an external scan, wherein the internal scan is a galvanometer-adjustable one-dimensional or two-dimensional scan, and the external scan is a global motion of the probe device.
In some examples, the overall movement of the probe device includes a manual movement mode and a mechanical movement mode.
In some examples, the manual movement mode is to manually control the movement of the probe device in the x, y and z directions, and meanwhile, the external galvanometer integrally scans the whole operation area; the mechanical movement mode is to automatically control the movement of the probe device in the x, y and z directions, and meanwhile, the whole operation area is scanned by the external galvanometer.
In some examples, the scanning of the entire surgical field by the external galvanometer as a whole includes: selecting the initial position of the probe device as (x)0，y0，z0) Aiming at the scanning mode of the galvanometer, the scanning at the initial position is finished by taking the two-dimensional galvanometer scanning mode as the reference, meanwhile, the signal and the image are reconstructed and stored, and the next scanning position (x) is continued after the internal scanning is finished1，y1，z1) Starting the same two-dimensional galvanometer scanning and simultaneously reconstructing signals and images untilCycling to position (x)n-1，yn-1，zn-1) And reconstructed until the complete scanning of the whole operation area is finished and the final position (x) is reachedn，yn，zn) Where z is constant or set directly to 0.
In some examples, the probe device is further configured to stitch and fuse the obtained images after the surgical region is scanned, evaluate the fusion result according to the mutual information and the edge retention degree, and screen the obtained images according to the evaluation result.
In some examples, the image stitching by using an algorithm of linear transition in an overlapping region specifically includes:
setting the width of the overlapping area as L, taking the transition factor as delta, wherein the value range of delta is more than or equal to 0 and less than or equal to 1, and respectively marking the maximum value and the minimum value of the x axis and the y axis of the overlapping area of the two source images as xmax、xminAnd ymax、yminThen the transition factor can be expressed asThe pixel values of the overlap region are:
I＝δIA(x，y)+(1-δ)IB(x，y)
wherein IA、IBCorresponding pixel values of graph a and graph B, respectively.
In some examples, the fusion results are evaluated using an objective evaluation method, wherein,
mutual information between the source image A, B and the fused image F may be obtained by:
MIABIF＝MIAF+MIBF
where L is the number of gray levels of the image, PAFAnd PBFIs the joint probability density, P, of the respective source image A, B and the fused image FB，PBAnd PFProbability densities of the source image A, B and the fused image F, respectively;
the edge retention is calculated by the following formula:
wherein,and respectively representing the preservation of the edge amplitude and phase between the source image A and the fused image F, QBFAnd QAFSimilarly, M and N represent the size of the image, ωAAnd ωBAre the weight coefficients. QAB/FHas a value range of [0,1 ]]。
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of an intelligent imaging system for surgery, according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of the probe optical path structure and mechanical movement of an intelligent imaging system for surgery, according to one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a probe device of the intelligent imaging system for surgery according to one embodiment of the invention;
FIG. 4 is a basic control flow diagram of an intelligent imaging system for use in surgery, according to one embodiment of the present invention; and
fig. 5 is a schematic diagram of a manner in which a probe device of an intelligent imaging system for surgery automatically scans a sample according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
An intelligent imaging system for surgery according to an embodiment of the present invention is described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an intelligent imaging system for surgery according to an embodiment of the present invention. As shown in fig. 1, an intelligent imaging system for surgery according to an embodiment of the present invention includes: a frequency domain optical coherence tomography imaging subsystem 1(FD-OTC), a fluorescence imaging and hyperspectral analysis subsystem 2 and a probe device 3, wherein the connection mode is as shown in figure 1, and a synchronous control mode is adopted.
Specifically, the frequency domain optical coherence tomography subsystem 1 is a basis of three-dimensional structure imaging, and is configured to irradiate a biological tissue or a sample by using short-wave infrared light and generate reflected light to form interference between sample light and reference light, perform spectroscopy on the sample light and the reference light by using a spectrometer, perform imaging by using a CCD, and perform fast fourier transform on a CCD imaging result to obtain a depth image of the biological tissue. The wavelength of the light source of the frequency domain light coherence tomography subsystem 1 is different from that of the light source of the fluorescence imaging and hyperspectral analysis subsystem 2, the light source of the frequency domain light coherence tomography subsystem 1 is near infrared light, and the light source of the fluorescence imaging and hyperspectral analysis subsystem 2 is blue-violet light. In this example, the frequency domain optical coherence tomography subsystem 1 uses, for example, a broadband light source with a center wavelength of 1310nm and a bandwidth of 60 nm. The scanning time can be reduced by using the frequency domain optical coherence tomography sub-imaging 1, the extraction of depth information is realized by Fourier transform, the frequency domain optical coherence tomography sub-imaging 1 has micron-sized spatial resolution, the imaging speed is high, and the imaging depth reaches millimeter level; meanwhile, the system has the characteristics of no wound and no radiation, capability of detecting the depth of the tissue to form a three-dimensional structural image with a perspective effect and the like.
The fluorescence imaging and hyperspectral analysis subsystem 2 is used for analyzing the fluorescence characteristics of the biological tissue to obtain fluorescence polymerization degree and intensity distribution, accurately positioning and judging the functions in the biological tissue according to the fluorescence polymerization degree and intensity distribution, and controlling the spectrometer to rotate and scan according to the positioning and judging results of the functions in the biological tissue to form a hyperspectral image. In this example, the fluorescence imaging and hyperspectral analysis subsystem 2 comprises, for example, an EMCCD and a spectrometer, and the real-time reading and processing of the image is added, so that the image acquisition speed is high. The shared optical path is a basic optical path of the frequency domain optical coherence tomography subsystem 1 and the fluorescence imaging and hyperspectral analysis subsystem 2, belongs to a sample optical path part in the FDOCT (frequency domain optical coherence tomography subsystem 1), and is an optical path structure collected at the front end in the fluorescence imaging and hyperspectral analysis subsystem 2.
The spatial resolution of the fluorescence imaging and hyperspectral analysis subsystem 2 can reach the micron order, so that the spatial structure of the biological tissue is clearly resolved; secondly, the fluorescence imaging and hyperspectral analysis subsystem 2 can form fluorescence images on biological tissues and samples, and acquires fluorescence intensity images under the condition of fixed wavelength, namely, the functional image analysis is realized according to the intensity difference generated by the metabolism of the tissues on the fluorescent photosensitizer; thirdly, the fluorescence imaging and hyperspectral analysis subsystem 2 can also perform corresponding analysis and identification on the fluorescence spectrum of the tissue; finally, the hyperspectral image can be formed by adjusting the rotation scanning of the spectrometer in the fluorescence imaging and hyperspectral analysis subsystem 2.
The probe device 3 is used for coupling the optical paths of the frequency domain optical coherence tomography subsystem 1 and the fluorescence imaging and hyperspectral analysis subsystem 2, fusing the depth image and the hyperspectral image of the biological tissue to obtain a structural function image of the biological tissue, determining an operation area according to the structural function image of the biological tissue, and scanning in the operation area to obtain a quasi-real-time image. The probe device 3 adopts a single-point scanning mode and is snakelike scanning, and the whole image is scanned by taking points as pixel positions.
As shown in fig. 2, the probe optical path structure and the mechanical movement mode of the imaging system of the embodiment of the invention are shown. The probe light path mainly relates to a light path coupling form of two imaging subsystems, and is designed aiming at a light path of frequency domain light coherence tomography firstly, the design of sample light mainly considers that the used wavelengths are different in the coupling process of the sample light and a common light path of a fluorescence imaging and hyperspectral analysis subsystem 2 light source light path, the former is near infrared light, and the latter uses blue-violet light as a light source to generate exciting light, so that the transmittance of two different wave bands is considered in the use process of a filter; as the light path of the reflected light and the exciting light, it is necessary to consider that the reflected light of the frequency domain light coherent tomography subsystem 1 reaches a coupler to form interference imaging, and simultaneously, it is necessary to consider that the exciting light of the fluorescence imaging and hyperspectral analysis subsystem 2 is received, therefore, a high-reflection near infrared light and high-pass blue-violet light filter are used here, and the two filters are the main components of the light path of the system.
In an embodiment of the present invention, as shown in fig. 3, the scanning mode of the probe apparatus 3 includes an internal scanning and an external scanning, wherein the internal scanning is an adjustable one-dimensional or two-dimensional scanning of the galvanometer, and the scanning speed can be strictly controlled, so that the storage speed in the host computer can be adjusted and controlled according to the actual scanning speed, and in addition, the internal scanning range is smaller; the external scanning is the integral movement of the probe device, and the external scanning can increase the scanning range properly.
Further, embodiments of the present invention employ a two-dimensional galvanometer as the scanning mirror. The probe device 3 comprises, for example, a microscope structure, wherein the objective of the microscope is a scanning objective, and has a higher magnification and a smaller numerical aperture, so that the increased focal length allows for sufficient spatial scanning imaging of the biological tissue or sample.
More specifically, the overall movement of the probe device 3 includes a manual movement manner and a mechanical movement manner. The manual movement mode is that the probe device 3 is manually controlled to move in the x direction, the y direction and the z direction, and meanwhile, the whole operation area is scanned by an external galvanometer; the mechanical movement mode is to automatically control the movement of the probe device 3 in the x, y and z directions, and simultaneously, the whole external galvanometer scans the whole operation area.
Wherein, above-mentioned outside galvanometer is whole scans the operation region, specifically includes: during the movement of the probe device 3, after the calibration of the z-axis, the initial position of the probe device 3 is first selected as (x)0，y0，z0) Aiming at the scanning mode of the galvanometer, the scanning at the initial position is finished by taking the two-dimensional galvanometer scanning mode as the reference, meanwhile, the signal and the image are reconstructed and stored, and the next scanning position (x) is continued after the internal scanning is finished1，y1，z1) Starting the same two-dimensional galvanometer scan and reconstructing both signal and image until looping to position (x)n-1，yn-1，zn-1) And reconstructed until the complete scanning of the whole operation area is finished and the final position (x) is reachedn，yn，zn) Wherein z is a constant for the sake of calculationOr set it directly to 0.
In this process, since the problem of image fusion between two positions is involved, i.e. two or more images are to be stitched, it is also necessary to consider the problem of eliminating the connecting seams in the overlapping area. In order to solve the problem of splicing and connecting seams in the overlapping area, in the embodiment of the invention, the adopted algorithm is an algorithm of linear transition of the overlapping area. Therefore, the probe device 3 is used for splicing and fusing the obtained images after the surgical area is scanned, evaluating the fusion result according to the mutual information and the edge retention degree, and screening the obtained images according to the evaluation result, specifically, leaving the good result of the fused image, discarding the bad result, rescanning the good result, and further processing the good result.
Specifically, the description about the fusion analysis method of the stereoscopic structure image and the functional image is as follows:
the fusion of the depth structure image based on OCT and the plane structure four-dimensional image based on fluorescence hyperspectrum and the spectrum information image is the basis of high-precision diagnosis, the basic characteristic information of the structure image and the function image is extracted, and the fusion analysis of the images is realized after the point information of the two-dimensional structure and the three-dimensional structure is accurately registered; and extracting the information of the pathological changes to realize the identification of the structural functional pathological changes.
The description of the image fusion and evaluation method is as follows: for the three-dimensional structure-function image formed by FDOCT and fluorescence, the FDOCT image can form a perspective image of a three-dimensional structure on biological tissues, and the fluorescence can form an image with blood flow changes on the surface of the tissues. The two images need to be fused firstly to obtain the biological tissue structure functional image containing rich information, so the fusion of the images and the information is very important. In the embodiment, the image fusion is realized by using multi-scale transformation and linear transition of the image overlapping region.
The image splicing is performed by adopting an algorithm of linear transition in an overlapping area, and the method specifically comprises the following steps:
suppose thatThe width of the overlapping area is L, the transition factor is delta, the value range of delta is more than or equal to 0 and less than or equal to 1, and the maximum and minimum values of the x axis and the y axis of the overlapping area of the two source images are respectively marked as xmax、xminAnd ymax、yminThen the transition factor can be expressed asThe pixel values of the overlap region are:
I＝δIA(x，y)+(1-δ)IB(x，y)
wherein IA、IBCorresponding pixel values of graph a and graph B, respectively. This approach allows the transition to be relatively smooth with no significant abrupt changes.
And evaluating the fusion result by adopting an objective evaluation method, wherein the correlation between two variables or a plurality of variables is measured by mutual information, or the information quantity of another variable contained in one variable is measured. Mutual information between the source image A, B and the fused image F may be obtained by:
mutual information between the source image A, B and the fused image F may be obtained by:
MIABIF＝MIAF+MIBF
where L is the number of gray levels of the image, PAFAnd PBFIs the joint probability density, P, of the respective source image A, B and the fused image FB，PBAnd PFThe probability densities of the source image A, B and the fused image F, respectively, the larger the value of the mutual information, the more the fused image is obtained from the source imageThe larger the information, and therefore the more quality the fused image.
Degree of edge retention (Q)AB/F) The brightness of the edge information obtained from the source image by the fusion image is reflected, and is calculated by the following formula:
wherein,and respectively representing the preservation of the edge amplitude and phase between the source image A and the fused image F, QBFAnd QAFSimilarly, M and N represent the size of the image, ωAAnd ωBAre the weight coefficients. QAB/FHas a value range of [0,1 ]]And a larger value indicates more edge information is retained.
Further, after image stitching, fusion and evaluation are completed in the scanning process of the probe device, corresponding analysis needs to be performed on the optical characteristics and fluorescence characteristics of the biological tissue, particularly on the optical attenuation characteristics, fluorescence intensity characteristics, tissue structure characteristics and the like, the structural function properties of the identified tissue are analyzed, and meanwhile, the pathological characteristics of the biological tissue are analyzed with reference to the preoperative tissue identification properties. Therefore, comprehensive and accurate information can be provided for lesion identification in the operation, the identification accuracy is improved so as to guide the accurate excision of the residual lesion in the operation and completely store the functions as much as possible.
Referring to fig. 4, the control of the probe apparatus 3 is mainly divided into two control modes, i.e., a manual mode and an automatic mode, and the determination of the step distance is implemented according to different actual distances. The two modes are set, so that a doctor can conveniently have height adjustability in the operation process, and the operation is convenient to implement.
Under the condition of a manual mode, the operation can be completed according to the multi-degree-of-freedom movement mode of the microscope, so that a doctor can be identified to observe pathological changes in an operation area in real time and process the pathological changes in the operation process, and meanwhile, a microscope module in the operation is continuously adjusted to track the operation area. In the manual mode, the probe device 3 is used in cooperation with a doctor to complete real-time microscopy and optical coherence tomography in the operation process, and fluorescence images and hyperspectral information are used to guide the doctor to identify lesions. Fluorescence in the operation process is displayed in real time, and the lesion area is identified and calibrated, so that clear image guidance is provided for doctors.
In addition, in a manual mode, a multi-degree-of-freedom motion structure is used in combination with the motion modes of the optical structure functional image imaging system and the neurosurgical microscope probe, and a light path in the multi-degree-of-freedom motion structure is completely reflected by using a total reflection mirror for coupling light with different wavelengths. The front end of the probe can also be integrated into a microscope, and real-time scanning and imaging in the operation process are realized by combining the movement of the microscope. Because the lesion characteristics and boundary information of the operation area are observed in real time by matching with an operator in a manual mode, the operator can adjust the probe in the operation in real time to complete the acquisition and reconstruction of the image.
The manual adjustment of the probe unit 3 by the doctor is performed by subjective judgment of the doctor in the focusing condition, and has strong subjectivity, so that the problem of image quality may be caused. The experience demands on the doctor are relatively high and are also closely linked to the habitual problems of the doctor. Therefore, the probe device 3 needs to be provided with a focal length identification prompt and indication, the calibration position of the lens from the biological tissue approximately away from the calibration z-axis can be known by setting the focal length range of the scanning lens, and the sample can be scanned in the accurate imaging range.
In the automatic mode, the field of view of the lesion site is first determined from the microscope image, and the corresponding scan range is found by the basic positioning of the surgical field. The position determination is to roughly determine the operation area, and after the basic position of the lesion is determined, a coordinate basic point is selected as a reference point to start movement, and the movement process comprises two aspects:
on one hand, the scanning range of the galvanometer is within a square with the area of 2.2 multiplied by 2.2mm under the objective lens of 10 times, and can reach within a square with the area of 4.4 multiplied by 4.4mm under the objective lens of 5 times. The basic identification of the control module is as shown in the automatic control in fig. 4, firstly, the original point is automatically positioned and selected by the probe device 3, then the scanning of the two-dimensional galvanometer is started, the optical signal reconstruction image is obtained, the probe device 3 is translated to the next position, the above processes are repeated, the judgment of the operation boundary is guided to be completed, and finally, the image splicing and the image reconstruction of the whole operation area are completed.
Referring to fig. 5, the manner in which the probe device 3 scans a sample is shown. The complete scanning of the operation area is adopted in the embodiment, the scanning process is diversified in the operation area, the snake-shaped scanning mode is adopted in the embodiment, and the complete scanning of the area is completed. In particular, below the scanning objective is a galvanometer scanning area, the area of which is relatively small. And after the current area scanning is finished, entering the next area scanning. The detailed process is as follows: taking an initial scanning point as (x)0，y0，z0) In the subsequent scanning point, because the Z axis is fixed, the Z is taken as 0 for the convenience of calculation, and the subsequent scanning process is like a snake-shaped scanning mode till (x)n，yn，zn) The scanning of this area is ended.
On the other hand, the overall movement of the probe device 3 adopts a flat scanning mode, for example, the translation and the up-and-down are main movement modes, the translation is to scan biological tissues in a wider range so as to reduce the complexity of the operation of a doctor, and the lesion tumor resection degree in the operation process can be judged more accurately and comprehensively; the up-down movement of the z axis is mainly used for adjusting the focal length of the objective lens, and the probe is not designed with an automatic focusing identification function, so that a doctor needs to look at an image stop button in real time in the up-down movement process so as to achieve the focusing effect. The translation process requires movement which is calibrated to be integer number by number for the position of the y axis, and also indicates that the translation of the whole operation area needs to pass through (x)0，y0，z0)、(x1，y1，z1)、…(xn，yn，zn) This translational movement completes the scan.
According to the embodiment of the invention, the image information guiding operation with micron-sized resolution can be provided based on FD-OCT, fluorescence imaging and hyperspectral imaging, the guiding and analysis in the existing ultrasonic and biological biopsy operations are overcome, the radioactivity of CT in the operation can be avoided, and the resolution defects of MRI and CT in the operation are overcome; the two-dimensional galvanometer is used for improving the imaging speed so as to guide the operation implementation in real time in the operation process.
The application scenario of the invention is mainly the excision of tumors and lesions in surgical operations, especially the identification of tumor boundaries and residual tumors, such as tumors in neurosurgical operations, gliomas, ependymomas and the like. The probe has the advantages of simple structure, low cost, simple use in surgical operation, simple operation, high imaging speed, high image spatial resolution, small volume, light weight, obvious image effect and the like.
In summary, the intelligent imaging system for surgical operations according to the embodiments of the present invention can not only image the three-dimensional structure function of soft tissues, especially brain tissues and brain stem tissues, but also distinguish and collect OCT and fluorescence hyperspectral images, and can collect real-time imaging in the surgery, and has the advantages of simple structure, low cost, simple surgical operation, simple operation, fast imaging speed, high image spatial resolution, small volume, light weight, and obvious image effect.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
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