CN105962881A - Blood vessel recognition method and device - Google Patents
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Abstract
本发明公开了一种血管识别方法及设备，通过引入双光源系统(红外光源+可见光源)，集合目前智能优化算法的光路系统光学元件调整方法，通过血红蛋白与其他组织对红外光线的吸收比率不同，结合计算机算法的优化，提供一种血管识别腹腔镜，能够与常见的内窥镜进行分光显影的目的，做到对血管识别，易于医生应用。
The invention discloses a blood vessel identification method and equipment. By introducing a dual light source system (infrared light source + visible light source) and integrating the existing intelligent optimization algorithm optical system optical element adjustment method, the absorption ratio of infrared light to hemoglobin and other tissues is different. , combined with the optimization of computer algorithms, provides a blood vessel identification laparoscope, which can perform spectroscopic development with common endoscopes, achieve blood vessel identification, and is easy for doctors to use.
Description
技术领域technical field
本发明属于医疗器械领域，具体涉及一种血管识别方法及设备。The invention belongs to the field of medical devices, and in particular relates to a blood vessel identification method and equipment.
背景技术Background technique
腹腔镜(英文名:Laparoscopic)是一种带有微型摄像头的医用器械，腹腔镜手术就是利用腹腔镜及其相关器械进行的手术:使用冷光源提供照明，将腹腔镜镜头(直径为3～10mm)插入腹腔内，运用数字摄像技术使腹腔镜镜头拍摄到的图像通过光导纤维传导至后级信号处理系统，并且实时显示在专用监视器上。然后医生通过监视器屏幕上所显示患者器官不同角度的图像，对病人的病情进行分析判断，并且运用特殊的腹腔镜器械进行手术。腹腔镜手术创伤小，并发症少，患者康复迅速，目前已在临床得到广泛应用，并且已成为未来手术的发展趋势。Laparoscope (English name: Laparoscopic) is a medical instrument with a miniature camera. Laparoscopic surgery is performed using laparoscope and related instruments: cold light source is used to provide illumination, and laparoscopic lens (diameter: 3-10mm) ) is inserted into the abdominal cavity, and digital camera technology is used to transmit the images captured by the laparoscopic lens to the post-stage signal processing system through the optical fiber, and display them on a dedicated monitor in real time. Then the doctor analyzes and judges the patient's condition through the images of different angles of the patient's organs displayed on the monitor screen, and uses special laparoscopic instruments to perform the operation. Laparoscopic surgery has less trauma, fewer complications, and rapid recovery of patients. It has been widely used in clinical practice and has become the development trend of future surgery.
腹腔镜创伤小，并发症少，患者康复迅速。自100年前被发明以来，就被越来越多的用在各种手术。在中国，经过二十多年的发展，开展腹腔镜手术的科室已涵盖普外，妇产，泌尿外科，肝胆外科等，很多县以上医院，厂矿医院，甚至乡镇医院已经开展了腹腔镜手术。我国目前的腹腔镜市场约310亿/年，市场容量巨大。2011年全球腹腔镜设备市场产值为69.68亿美元，2018年预计将达131.529亿美元。在中国，二级及以上医院都是腹腔镜潜在用户，目前中国二级及以上医院共有11673家(2010年数据)。根据2013年数据，可以看到外企占据了我国腹腔镜市场的绝对优势。同时也说明国产腹腔镜的发展潜力很大。Laparoscopy has less trauma, fewer complications, and patients recover quickly. Since it was invented 100 years ago, it has been used more and more in various surgeries. In China, after more than 20 years of development, the departments performing laparoscopic surgery have covered general surgery, obstetrics and gynecology, urology, hepatobiliary surgery, etc. Many hospitals above the county level, factories and mines hospitals, and even township hospitals have carried out laparoscopic surgery. my country's current laparoscopy market is about 31 billion per year, and the market capacity is huge. In 2011, the output value of the global laparoscopic equipment market was US$6.968 billion, and it is expected to reach US$13.1529 billion in 2018. In China, hospitals of grade II and above are all potential users of laparoscopy. Currently, there are 11,673 hospitals of grade II and above in China (2010 data). According to the data in 2013, it can be seen that foreign companies occupy the absolute advantage of my country's laparoscopy market. At the same time, it also shows that domestic laparoscopy has great potential for development.
在各种人体腔体内部进行检查、诊断、手术时，血管都是非常敏感的部位，明确血管的位置和走形，对医生非常有帮助。尤其是在做手术的时候，如果对血管的位置判断失误，损伤了血管，往往会导致严重的伤害。在外科手术尤其是微创手术日益发展的今天，腹腔镜手术携带其无可比拟的优势占据了主流位置。对于肿瘤切除要求的“骨骼化”，部分手术血管的“保护化”，无疑要求我们去寻找一种能够充分显示血管的一种设备。基于此，我们根据既往的研究情况，自助研发一种基于红外的内窥镜操作平台，其目的能够与常见的内窥镜进行分光显影的目的，做到对血管识别，易于医生术中应用的目的。本发明采用双光路系统，可见光光路部分并未进行太多改进，红外光路系统通过主动发射冷红外光线，根据血红蛋白与其他组织对红外光线的吸收比率不同，进而识别血管的位置与形态，结合计算机辅助技术，对血管进行清洗的显露，在术中辅助手术和诊断。通过双光路系统，能够极大提升手术成功率，降低患者术中出现血管损伤的风险，同时能够辅助医生进行诊断，做到依据血管走形决定相应的手术。本项目从最初的构思到目前的逐步形成一个思路以来，与多家企业进行了相关的沟通与交流。目前，项目集成了光学、设备基础、自动化、图像处理、医学基础操作等多方面人才对项目进行分析整合，力图在各方面的资助下能够完成该类设备的研发。在高清(1080P/4K)腹腔镜的技术上，加上红外识别的功能。高清是主体，红外是卖点。换句话说，没有血管识别需求的医生，也可以将本产品作为高清腹腔镜采购。Blood vessels are very sensitive parts when performing inspections, diagnoses, and operations inside various human cavities. It is very helpful for doctors to clarify the location and shape of blood vessels. Especially during surgery, if the position of the blood vessel is misjudged and the blood vessel is damaged, it will often lead to serious injury. With the increasing development of surgery, especially minimally invasive surgery, laparoscopic surgery has occupied the mainstream position with its incomparable advantages. For the "skeletalization" required for tumor resection and the "protection" of some surgical blood vessels, it is undoubtedly necessary for us to find a device that can fully display blood vessels. Based on this, we developed an infrared-based endoscope operating platform based on previous research. Its purpose is to perform spectroscopic imaging with common endoscopes, so as to identify blood vessels and be easy for doctors to use during surgery. Purpose. The present invention adopts a dual optical path system, and the visible light path part has not undergone much improvement. The infrared optical path system actively emits cold infrared light, and recognizes the position and shape of the blood vessel according to the difference in the absorption ratio of the infrared light between hemoglobin and other tissues, combined with a computer Assistive technology, the exposure of blood vessels for cleaning, assisting surgery and diagnosis during surgery. Through the dual optical path system, the success rate of surgery can be greatly improved, the risk of vascular injury in patients can be reduced, and at the same time, it can assist doctors in making a diagnosis, so that the corresponding operation can be decided according to the shape of the blood vessel. Since the initial idea of this project and the gradual formation of an idea at present, relevant communication and exchanges have been carried out with many enterprises. At present, the project integrates optics, equipment foundation, automation, image processing, medical basic operation and other talents to analyze and integrate the project, and strives to complete the research and development of this type of equipment with the support of various parties. In addition to the technology of high-definition (1080P/4K) laparoscopy, the function of infrared recognition is added. HD is the main body, and infrared is the selling point. In other words, doctors who do not need blood vessel recognition can also purchase this product as a high-definition laparoscope.
现有的国外内窥镜的研究集中在以下几个方向:1)利用窄带光谱NBI(narrow band imaging)技术，可以在诊断中，利用不同波长的光显影，看到病变组织，该技术主要用于诊断。2)荧光染色技术，可以看到癌变组织，并为手术提供依据。3)分辨率为1080P的高清腹腔镜，可以看到更加清晰的组织细节。4)3D可视化绘制技术，可以将体内组织的三维形状等信息展示出来。基于目前的研究情况，我们可以看到着重提升单光源系统的硬件水平是目前国内外研发重点。然而，华山医院的10265腹腔镜手术并发症报道中，45.16％为出血相关性并发症，此外如何能够让手术医生简化手术技术，探明血管的走形和分布，利于上手，是目前迫切需要解决的问题。Existing foreign endoscopic research focuses on the following directions: 1) Using NBI (narrow band imaging) technology, it is possible to use different wavelengths of light in diagnosis to see diseased tissue. for diagnosis. 2) Fluorescent staining technology can see cancerous tissue and provide a basis for surgery. 3) The high-definition laparoscope with a resolution of 1080P can see clearer tissue details. 4) 3D visualization rendering technology, which can display information such as the three-dimensional shape of tissues in the body. Based on the current research situation, we can see that improving the hardware level of the single light source system is the current research and development focus at home and abroad. However, among the 10,265 laparoscopic surgery complications reported by Huashan Hospital, 45.16% were bleeding-related complications. In addition, how to enable surgeons to simplify surgical techniques, ascertain the shape and distribution of blood vessels, and help them get started is an urgent need to solve The problem.
因此，迫切需要设计一种具有血管识别术中定位双光路腹腔镜。Therefore, there is an urgent need to design a double-light path laparoscope with intraoperative positioning for vessel identification.
发明内容Contents of the invention
本发明的目的在于克服上述不足，提供一种血管识别方法及设备，能够与常见的内窥镜进行分光显影的目的，做到对血管识别，易于医生应用。The purpose of the present invention is to overcome the above-mentioned shortcomings, and provide a blood vessel identification method and equipment, which can perform spectroscopic development with common endoscopes, achieve blood vessel identification, and be easy for doctors to use.
为了达到上述目的，一种血管识别方法，包括以下步骤：In order to achieve the above object, a blood vessel recognition method includes the following steps:
步骤一，将内窥镜伸入腹腔中，通过白光光源进行照明，内窥镜的红外线光源发射红外线穿透人体组织，并将血液中的血红蛋白吸收；Step 1: Insert the endoscope into the abdominal cavity and illuminate it with a white light source. The infrared light source of the endoscope emits infrared rays to penetrate human tissues and absorb the hemoglobin in the blood;
步骤二，通过内窥镜中的摄像机进行拍摄，摄像机将图像信息发送至处理主机；Step 2, shoot through the camera in the endoscope, and the camera sends the image information to the processing host;
步骤三，处理主机对血管图像增强；Step 3, processing the host to enhance the blood vessel image;
步骤四，对增强后的血管图像进行分割，图像的分割边界包括血管和其他组织成分；Step 4, segment the enhanced blood vessel image, and the segmentation boundary of the image includes blood vessels and other tissue components;
步骤五，对分割后的血管图像进行血管识别，识别出血管纹路细节；Step 5, blood vessel recognition is performed on the segmented blood vessel image, and the details of the blood vessel lines are identified;
步骤六，对识别出的血管纹路细节进行采用灰度表示的深度分析，并完成3D可视化绘制。Step 6, perform in-depth analysis on the identified vein pattern details in gray scale, and complete 3D visualization drawing.
所述步骤二中，内窥镜将拍摄的图像经过滤波后发送至处理主机。In the second step, the endoscope sends the captured image to the processing host after filtering.
所述步骤三中，图像增强采用非线性对比度变换和图像平滑的算法。In the third step, image enhancement adopts algorithms of nonlinear contrast transformation and image smoothing.
所述步骤四中，分割采用基于图论的Graph Cut或Normalized Cut方法。In the fourth step, the segmentation adopts the Graph Cut or Normalized Cut method based on graph theory.
所述步骤五中，血管识别采用采用LBP特征作为血管识别的主要依据，用身份识别的依据来识别血管纹路细节。In the fifth step, the blood vessel recognition adopts the LBP feature as the main basis for blood vessel recognition, and the identity recognition basis is used to identify the details of the blood vessel lines.
一种血管识别方法采用的设备，包括内窥镜，内窥镜连接有光源和摄像机，摄像机连接处理主机，处理主机具有人机接口，处理主机连接有显示器；A device used in a blood vessel identification method, comprising an endoscope, the endoscope is connected to a light source and a camera, the camera is connected to a processing host, the processing host has a man-machine interface, and the processing host is connected to a display;
所述光源包括红外线光源和白光光源；The light source includes an infrared light source and a white light source;
所述处理主机为电脑、专业图像处理服务器或者嵌入式的计算主机。The processing host is a computer, a professional image processing server or an embedded computing host.
所述内窥镜内设置有发射光纤和接受光纤，接受光纤连接摄像机，发射光纤连接光源的红外线光源和白光光源。The endoscope is provided with a transmitting optical fiber and a receiving optical fiber, the receiving optical fiber is connected to the camera, and the emitting optical fiber is connected to the infrared light source and the white light source of the light source.
所述摄像机具有不同频段光谱的滤波功能。The camera has filtering functions of different frequency band spectra.
所述显示器为单个显示器或多个显示器组成的阵列。The display is a single display or an array composed of multiple displays.
所述人机接口包括键盘、按键、鼠标和触摸板中的至少一种。The man-machine interface includes at least one of a keyboard, keys, mouse and touch pad.
与现有技术相比，本发明的血管识别方法将照射过红外线的人体组织进行拍摄，再将图像中的血管进行图像增强，增强后进行分割，再识别出血管纹路细节，通过处理主机完成3D可视化绘制，本发明有助于临床手术医生进行术中决策，容易辨认血管并能够尽早得到血管的走形分布，一方面便于术中的操作，有了“导航”系统能够减少寻找血管的时间，缩短手术时间；此外，能够给医生的技术提供有益的补充，缩短学习曲线；缩短手术时间，意味着能够减少患者术中的应激事件，有利于患者的康复。Compared with the prior art, the blood vessel recognition method of the present invention shoots human tissue irradiated with infrared rays, then enhances the blood vessels in the image, segments them after enhancement, and then recognizes the details of blood vessel lines, and completes 3D through processing the host computer. Visual drawing, the present invention helps clinical surgeons to make intraoperative decisions, easily identify blood vessels and get the shape distribution of blood vessels as soon as possible, on the one hand, it is convenient for intraoperative operation, and the "navigation" system can reduce the time to find blood vessels, Shorten the operation time; in addition, it can provide beneficial supplements to the doctor's technology and shorten the learning curve; shortening the operation time means that the stress events during the operation can be reduced, which is conducive to the recovery of the patient.
本发明的设备通过处理主机控制，控制摄像机拍摄可见光照片、红外光线照片、可见光叠加红外光线照片，获得这些照片之后，通过处理主机对图像进行分析，最终将血管的位置和走形进行3D可视化绘制，以便于医生使用，本设备采用主动发射冷红外光线的光源，根据血红蛋白与其他组织对红外光线的吸收比率不同，进而识别血管的位置与形态，辅助手术和诊断，能够极大提升手术成功率，降低患者术中出现血管损伤的风险，同时能够辅助医生进行诊断。The device of the present invention is controlled by the processing host to control the camera to take visible light photos, infrared photos, and visible light superimposed infrared photos. After obtaining these photos, the image is analyzed through the processing host, and finally the position and shape of the blood vessels are visualized in 3D. For the convenience of doctors, this device adopts a light source that actively emits cold infrared light. According to the difference in the absorption ratio of hemoglobin and other tissues to infrared light, it can identify the position and shape of blood vessels, assist surgery and diagnosis, and can greatly improve the success rate of surgery. , reduce the risk of vascular injury in patients during surgery, and at the same time assist doctors in diagnosis.
附图说明Description of drawings
图1为本发明3D可视化绘制的流程图；Fig. 1 is the flowchart of 3D visualization drawing of the present invention;
图2为本发明的血管识别方法采用的设备的结构示意图；FIG. 2 is a schematic structural diagram of equipment used in the blood vessel identification method of the present invention;
图3为本发明内窥镜的结构示意图；Fig. 3 is the structural representation of endoscope of the present invention;
其中，101、内窥镜；102、红外线光源；103、白光光源；105、发射光纤；106、接受光纤；202、光源；203、摄像机；204、处理主机；205、显示器；206、人机接口。Among them, 101, endoscope; 102, infrared light source; 103, white light source; 105, transmitting optical fiber; 106, receiving optical fiber; 202, light source; 203, camera; 204, processing host; 205, display; 206, man-machine interface .
具体实施方式detailed description
下面结合附图对本发明做进一步说明。The present invention will be further described below in conjunction with the accompanying drawings.
参见图1，一种血管识别方法，包括以下步骤：Referring to Fig. 1, a blood vessel recognition method comprises the following steps:
步骤一，将内窥镜101伸入腹腔中，通过白光光源103进行照明，内窥镜101的红外线光源102发射红外线穿透人体组织，并将血液中的血红蛋白吸收；Step 1, the endoscope 101 is inserted into the abdominal cavity, illuminated by the white light source 103, and the infrared light source 102 of the endoscope 101 emits infrared rays to penetrate human tissues and absorb hemoglobin in the blood;
步骤二，通过内窥镜101中的摄像机203进行拍摄，摄像机203将图像信息经过滤波后发送至处理主机204；Step 2, shoot through the camera 203 in the endoscope 101, and the camera 203 sends the image information to the processing host 204 after filtering;
步骤三，处理主机204对血管图像增强，图像增强采用非线性对比度变换和图像平滑的算法，尤其是当血管深度达到组织内部5mm左右时，有效的图像增强方法，可以为后续处理提供便利；Step 3, the processing host 204 enhances the blood vessel image. The image enhancement adopts non-linear contrast transformation and image smoothing algorithm, especially when the blood vessel depth reaches about 5mm inside the tissue, an effective image enhancement method can provide convenience for subsequent processing;
步骤四，对增强后的血管图像进行分割，图像的分割边界包括血管和其他组织成分，分割采用基于图论的Graph Cut或Normalized Cut方法；Step 4, segment the enhanced blood vessel image, the segmentation boundary of the image includes blood vessels and other tissue components, and the segmentation adopts the Graph Cut or Normalized Cut method based on graph theory;
步骤五，对分割后的血管图像进行血管识别，识别出血管纹路细节，血管识别采用采用LBP特征作为血管识别的主要依据，用身份识别的依据来识别血管纹路细节，可以满足实际应用的需要；Step 5: Perform blood vessel recognition on the segmented blood vessel image to identify the details of the blood vessel pattern. The blood vessel recognition adopts the LBP feature as the main basis for blood vessel recognition, and uses the basis of identity recognition to identify the details of the blood vessel pattern, which can meet the needs of practical applications;
步骤六，对识别出的血管纹路细节进行采用灰度表示的深度分析，并完成3D可视化绘制。Step 6, perform in-depth analysis on the identified vein pattern details in gray scale, and complete 3D visualization drawing.
参见图2和图3，一种血管识别方法采用的设备，包括内窥镜101，内窥镜101连接有光源202和摄像机203，摄像机203连接处理主机204，处理主机204具有人机接口206，处理主机204连接有显示器205，摄像机203具有不同频段光谱的滤波功能；Referring to FIG. 2 and FIG. 3 , a device used in a blood vessel identification method includes an endoscope 101, the endoscope 101 is connected to a light source 202 and a camera 203, the camera 203 is connected to a processing host 204, and the processing host 204 has a man-machine interface 206, The processing host 204 is connected with a display 205, and the camera 203 has a filtering function of different frequency band spectra;
光源202包括红外线光源102和白光光源103，内窥镜101内设置有发射光纤105和接受光纤106，接受光纤106连接摄像机203，发射光纤105连接光源202的红外线光源102和白光光源103；The light source 202 includes an infrared light source 102 and a white light source 103, and the endoscope 101 is provided with a transmitting optical fiber 105 and a receiving optical fiber 106, the receiving optical fiber 106 is connected to the camera 203, and the emitting optical fiber 105 is connected to the infrared light source 102 and the white light source 103 of the light source 202;
处理主机204为电脑、专业图像处理服务器或者嵌入式的计算主机。The processing host 204 is a computer, a professional image processing server or an embedded computing host.
优选的，显示器205为单个显示器或多个显示器组成的阵列。Preferably, the display 205 is a single display or an array composed of multiple displays.
优选的，人机接口206包括键盘、按键、鼠标和触摸板中的至少一种。Preferably, the man-machine interface 206 includes at least one of a keyboard, keys, mouse and touch pad.
红外线光源102能够发射850nm红外线穿透约6mm的人体组织，并被血液中的血红蛋白吸收。用红外线照射人体组织，并用红外摄像头拍摄，可以发现血管呈现2个特征：①表现为阴影；②连续线状。根据这2个特征，机器视觉就能辨认出血管，并加以描绘。The infrared light source 102 can emit 850nm infrared rays to penetrate about 6mm of human tissue and be absorbed by hemoglobin in blood. Irradiating human tissue with infrared rays and taking pictures with an infrared camera, it can be found that the blood vessels present two characteristics: ① appear as a shadow; ② continuous line. Based on these two features, machine vision can identify blood vessels and describe them.
本发明借鉴的现有成熟技术：腹腔镜技术；红外线静脉显影技术；高清影像传输技术；以上技术均有成熟的货架产品。The existing mature technologies for reference in the present invention are: laparoscopy technology; infrared venography technology; high-definition image transmission technology; all of the above technologies have mature shelf products.
本发明在开展的动物实验中，血管识别深度达到5mm，识别的准确率达到99％，高清影像的有效像素≥5MP，输出帧率30fps以上。In animal experiments carried out by the present invention, the blood vessel recognition depth reaches 5mm, the recognition accuracy reaches 99%, the effective pixels of high-definition images are ≥ 5MP, and the output frame rate is above 30fps.
本发明针对目前市场的薄弱环节，目前市场销售的腹腔镜无红外功能，不能提供血管显示的辅助功能，本项目研发的产品一旦投入批量生产，必定拥有广阔的市场。本项目的顺利开展势必将增强我国腹腔镜在研发、设计、生产制造方面的国际竞争力；促进形成我国在腹腔镜领域中的自主知识产权；力争在三到五年内形成研发、设计、生产、封装、测试和销售的完整产业链；进一步提升陕西省在医疗器械技术领域的业内地位；为医生带来手术便利，造福患者，并带动陕西省其它相关的信息电子和光电子产业的发展。The present invention aims at the weak links in the current market. The laparoscopes currently sold in the market have no infrared function and cannot provide auxiliary functions for blood vessel display. Once the products developed by this project are put into mass production, they will surely have a broad market. The smooth development of this project is bound to enhance the international competitiveness of my country's laparoscopy in R&D, design, and manufacturing; promote the formation of my country's independent intellectual property rights in the field of laparoscopy; and strive to form R&D, design, production, and A complete industrial chain of packaging, testing and sales; further enhance Shaanxi Province's industry status in the field of medical device technology; bring convenience to doctors, benefit patients, and drive the development of other related information electronics and optoelectronic industries in Shaanxi Province.
本发明能够有助于临床手术医生进行术中决策，容易辨认血管并能够尽早得到血管的走形分布，一方面便于术中的操作，有了“导航”系统能够减少寻找血管的时间，缩短手术时间；此外，能够给医生的技术提供有益的补充，缩短学习曲线；缩短手术时间，意味着能够减少患者术中的应激事件，有利于患者的康复。The invention can help clinical surgeons make intraoperative decisions, easily identify blood vessels and obtain the shape distribution of blood vessels as soon as possible. In addition, it can provide useful supplements to the doctor's technology and shorten the learning curve; shortening the operation time means reducing the stress events of the patient during the operation, which is conducive to the recovery of the patient.
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