CN108703745A - Vein developing method based on structure light and vein imaging system - Google Patents
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Abstract
本发明公开了一种基于结构光的静脉显像方法以及静脉显像系统，方法包括：向目标对象照射红外条纹图得出投影实际位置；再通过红外摄像装置所述目标对象的红外图像，其中，所述红外图像呈现有所述目标对象的静脉的画面；再通过投影装置以可见光的形式向所述投影位置投影红外图像，其中，红外图像与目标对象相重合，所述目标对象的静脉的画面投影至所述目标对象的静脉所在的位置上。通过上述方式，本发明能够在目标对象的静脉位置显示静脉的画面，方便查找目标对象的静脉，并避免了现有技术中的投影和拍摄装置的共光轴要求，降低了装配难度和成本，提高了图像对准精度。
The invention discloses a vein imaging method and a vein imaging system based on structured light. The method includes: irradiating an infrared fringe pattern to a target object to obtain the actual projection position; , the infrared image presents a picture of the vein of the target object; and then the infrared image is projected to the projection position in the form of visible light by the projection device, wherein the infrared image overlaps with the target object, and the vein of the target object The picture is projected onto the position where the vein of the target object is located. Through the above method, the present invention can display the picture of the vein at the position of the vein of the target object, which is convenient for finding the vein of the target object, and avoids the common optical axis requirement of the projection and shooting devices in the prior art, and reduces the difficulty and cost of assembly. Improved image alignment accuracy.
Description
技术领域technical field
本发明涉及医疗设备领域，特别是涉及一种基于结构光的静脉显像方法以及静脉显像系统。The invention relates to the field of medical equipment, in particular to a structured light-based vein imaging method and a vein imaging system.
背景技术Background technique
在现代医学中，静脉注射治疗已经很普遍了，静脉注射是直接将药水直接注射入患者的血液中，其能够提高患者的恢复效率，缩短患者的恢复时间。In modern medicine, intravenous injection therapy has become very common. Intravenous injection is to directly inject medicine into the patient's blood, which can improve the recovery efficiency of patients and shorten the recovery time of patients.
但是，在进行静脉注射之前，医护人员需要对患者进行静脉穿刺，让注射头插入患者的静脉中。而目前大多数识别静脉的方法主要依靠医护人员的肉眼以及经验，但是由于不同的患者其静脉在皮肤表面特征很不明显，导致医护人员很难识别，容易造成了穿刺失败率一直居高不下，需要对患者进行多次的静脉穿刺，这样增加了患者痛苦。根据统计的资料表明：普通成人静脉注射的首次穿刺失败率为30％；儿童静脉注射的首次穿刺失败率为45％；而儿童中需要穿刺3次以上才能进行静脉注射的比例为43％；静脉注射时，还会发生“漏针”现象；而体质虚弱，高烧的患者中完全失败的比率达到45％。However, before performing intravenous injections, medical staff need to perform a venipuncture on the patient, allowing the injection tip to be inserted into the patient's vein. At present, most of the methods for identifying veins mainly rely on the naked eyes and experience of medical staff, but because the veins of different patients are not obvious on the skin surface, it is difficult for medical staff to identify them, and it is easy to cause the puncture failure rate to remain high. Need to carry out repeatedly venipuncture to patient, increased patient's misery like this. According to statistical data, the failure rate of the first puncture of ordinary adult intravenous injection is 30%; When injecting, the phenomenon of "missing needle" will also occur; and the rate of complete failure in patients with weak constitution and high fever reaches 45%.
因此，需要一种辅助医护人员查找患者的静脉系统，从而减少患者穿刺失败痛苦。Therefore, need a kind of assisting medical staff to find patient's venous system, thereby reduce patient's puncture failure pain.
利用红外光拍摄静脉后将图像转换为可见光图像再投影至体表是一种较广泛采用的方法。由于每次采集对象高度和位置存在差异，因此在红外静脉显像装置中，投影和拍摄装置要保持共轴，给系统装配增加困难，增加了装调和总体成本。It is a widely used method to take pictures of veins with infrared light and then convert the images into visible light images and project them onto the body surface. Since there are differences in the height and position of the objects collected each time, in the infrared vein imaging device, the projection and shooting devices must be kept on the same axis, which increases the difficulty of system assembly and increases the adjustment and overall cost.
发明内容Contents of the invention
本发明针对以上问题，提供一种基于结构光静脉显像方法以及静脉显像系统，能够在目标对象的静脉所在的位置显示静脉的画面，避免了投影和拍摄装置的共轴要求，降低了系统的装配难度和成本，提高图像对准精度。In view of the above problems, the present invention provides a vein imaging method based on structured light and a vein imaging system, which can display the picture of the vein at the location of the vein of the target object, avoiding the coaxial requirements of the projection and shooting devices, and reducing the system cost. The assembly difficulty and cost are improved, and the image alignment accuracy is improved.
为了解决上述技术问题，本发明采用一个技术方案是：提供两种静脉显像方法，一种包括：投影装置以红外光状态向目标对象投影红外条纹，通过红外摄像机装置采集所述目标对象的红外条纹，从而得出目标对象的位置；再通过红外摄像装置采集所述目标对象的红外图像，其中，所述红外图像呈现有所述目标对象的静脉画面，对采集对象静脉画面进行增强处理；投影装置再以可见光的状态向所述目标对象投影增强图像与目标对象相重合位置，所述目标对象的静脉的画面投影至所述目标对象的静脉所在的位置上。In order to solve the above-mentioned technical problems, the present invention adopts a technical solution as follows: two vein imaging methods are provided, one of which includes: the projection device projects infrared stripes to the target object in the state of infrared light, and collects the infrared image of the target object through an infrared camera device. stripes, so as to obtain the position of the target object; and then collect the infrared image of the target object through an infrared camera device, wherein the infrared image presents the vein picture of the target object, and enhances the vein picture of the collected object; projection The device then projects the enhanced image to the target object in the state of visible light to coincide with the position of the target object, and the picture of the vein of the target object is projected to the position where the vein of the target object is located.
其中，在采集所述目标对象的红外条纹图像的步骤之后，所述方法还包括：提取红外条纹变形前后的相位；通过获取所述条纹前后相位，根据相位差算出前后像素偏移距离，得到投影的实际位置；再通过采集目标对象的红外图像，对所述目标对象的静脉的画面进行突显处理，生成加强后的图像；所述投影装置再以可见光的形式向所述目标对象的静脉呈现在所述目标对象相重合，以使所述红外图像中所呈现的所述目标对象的静脉呈现在所述目标对象的静脉所在的位置上。Wherein, after the step of collecting the infrared fringe image of the target object, the method further includes: extracting the phases before and after the deformation of the infrared fringe; by obtaining the front and rear phases of the fringe, calculating the front and rear pixel offset distance according to the phase difference, and obtaining the projection The actual position of the target object; then by collecting the infrared image of the target object, the image of the vein of the target object is highlighted to generate an enhanced image; the projection device presents the vein of the target object in the form of visible light The target objects are superimposed, so that the veins of the target object presented in the infrared image are presented at the positions where the veins of the target object are located.
另一种包括：投影装置向目标对象投影结构光条纹，摄像机装置以无滤光片状态以采集所述目标对象的结构光条纹，从而得出目标对象的位置；再通过摄像装置以滤光片状态采集所述目标对象的红外图像，其中，所述红外图像呈现有所述目标对象的静脉画面；通过投影装置以可见光的形式向所述目标对象投影与目标对象相重合位置，所述目标对象的静脉的画面投影至所述目标对象的静脉所在的位置上。The other method includes: the projection device projects structured light stripes to the target object, and the camera device collects the structured light stripes of the target object in a state without a filter, so as to obtain the position of the target object; The infrared image of the target object is collected in the state, wherein the infrared image presents the vein picture of the target object; the projection device projects the position coincident with the target object to the target object in the form of visible light, and the target object The picture of the vein of the target object is projected onto the position where the vein of the target object is located.
其中，在采集所述目标对象的结构光条纹图像的步骤之后，所述方法还包括：提取结构光条纹变形前后的相位；通过获取所述条纹前后相位，根据相位差算出前后像素偏移距离，得到投影的实际位置；再通过采集目标对象的红外图像，对所述目标对象的静脉的画面进行突显处理，生成加强后的图像；所述投影装置以可见光的形式向所述目标对象的静脉呈现在所述目标对象相重合，以使所述红外图像中所呈现的所述目标对象的静脉呈现在所述目标对象的静脉所在的位置上。Wherein, after the step of collecting the structured light fringe image of the target object, the method further includes: extracting the phase before and after the deformation of the structured light fringe; by obtaining the front and rear phases of the fringe, calculating the front and rear pixel offset distance according to the phase difference, Obtain the actual position of the projection; then by collecting the infrared image of the target object, highlight the image of the vein of the target object to generate an enhanced image; the projection device presents the vein of the target object in the form of visible light The target object is overlapped, so that the vein of the target object presented in the infrared image is presented at the position where the vein of the target object is located.
其中，所述增强所述目标对象的红外图像步骤，包括：将所述红外图像保存，识别图像中静脉的位置，通过以保存的位置；降低其它像素位置的灰度值，提升静脉图像位置像素的灰度值；将所述提升像素的灰度值，生成最终增强图像。Wherein, the step of enhancing the infrared image of the target object includes: saving the infrared image, identifying the position of the vein in the image, and passing the saved position; reducing the gray value of other pixel positions, and increasing the position pixel of the vein image The gray value of the pixel; the gray value of the enhanced pixel is generated to generate the final enhanced image.
为解决上述技术问题，对所述方法1，本发明采用的一个技术方案是：提供一种静脉显像系统，包括红外光源，红外摄像装置和投影装置；所述红外光源用于发射红外光，其中，所述红外光源覆盖目标对象；红外摄像装置用于采集所述目标对象的红外图像，其中，所述红外图像呈现有所述目标对象的静脉画面；投影装置，用于以红外光的形式向所述目标对象投影条纹，得出投影位置；再以可见光的形式向所述目标对象投影所述红外图像，其中，所述红外图像的投影位置与所述目标对象相重合，所述红外图像中所呈现的所述目标对象的静脉的画面投影至所述目标对象的静脉所在的位置上。In order to solve the above-mentioned technical problems, for the method 1, a technical solution adopted by the present invention is: provide a vein imaging system, including an infrared light source, an infrared camera device and a projection device; the infrared light source is used to emit infrared light, Wherein, the infrared light source covers the target object; the infrared camera device is used to collect the infrared image of the target object, wherein the infrared image presents the vein picture of the target object; Projecting stripes to the target object to obtain a projection position; then projecting the infrared image to the target object in the form of visible light, wherein the projection position of the infrared image coincides with the target object, and the infrared image The picture of the vein of the target object presented in the image is projected onto the position where the vein of the target object is located.
其中，所述处理器用于得出投影位置与加强采集红外图像，步骤具体为：通过投影仪投影红外条纹，计算得出条纹变形前后的相位值，通过相位差值得出投影偏移位置；再通过红外摄像头采集所述红外图像，提取静脉图像位置，将所述位置保存；将以除这个位置以外像素灰度值降低，增加提取静脉位置的灰度值；将所述提升灰度值后的图像再通过投影仪以可见光的形式投射出去。Wherein, the processor is used to obtain the projection position and strengthen the collection of infrared images. The specific steps are: project the infrared stripes through the projector, calculate the phase values before and after the deformation of the stripes, and obtain the projection offset position through the phase difference value; The infrared camera collects the infrared image, extracts the position of the vein image, and saves the position; reduces the gray value of the pixel except this position, and increases the gray value of the extracted vein position; Then it is projected out in the form of visible light by a projector.
为解决上述技术问题，对所述方法2，本发明采用的一个技术方案是：提供一种静脉显像系统，包括红外光源，摄像装置和投影装置；所述红外光源用于发射红外光，其中，所述红外光源覆盖目标对象；摄像装置以装有滤光片状态采集所述目标对象的红外图像，其中，所述红外图像呈现有所述目标图像的静脉画面；投影装置，用于以可见光的形式向所述目标对象投影条纹，得出投影位置；再以可见光的形式向所述目标对象投影所述红外图像，其中，所述红外图像的投影位置与所述目标对象相重合，所述红外图像中所呈现的所述目标对象的静脉的画面投影至所述目标对象的静脉所在的位置上。In order to solve the above-mentioned technical problems, for the method 2, a technical solution adopted by the present invention is to provide a vein imaging system, including an infrared light source, an imaging device and a projection device; the infrared light source is used to emit infrared light, wherein , the infrared light source covers the target object; the imaging device collects the infrared image of the target object in a state equipped with an optical filter, wherein the infrared image presents a vein picture of the target image; the projection device is used for visible light Projecting stripes to the target object in the form of visible light to obtain the projection position; then projecting the infrared image to the target object in the form of visible light, wherein the projection position of the infrared image coincides with the target object, and the The picture of the vein of the target object presented in the infrared image is projected onto the position where the vein of the target object is located.
其中，所述处理器用于得出投影位置与加强采集红外图像，步骤具体为：通过投影仪投影结构光条纹，计算得出条纹变形前后的相位值，通过相位差值得出投影偏移位置；再通过红外摄像头采集所述红外图像，提取静脉图像位置，将所述位置保存；将以除这个位置以外像素灰度值降低，增加提取静脉位置的灰度值；将所述提升灰度值后的图像再通过投影仪以可见光的形式投射出去。Wherein, the processor is used to obtain the projection position and strengthen the acquisition of the infrared image. The steps are: project the structured light stripes through the projector, calculate the phase values before and after the deformation of the stripes, and obtain the projection offset position through the phase difference value; Collect the infrared image through an infrared camera, extract the position of the vein image, and save the position; reduce the gray value of the pixel except this position, and increase the gray value of the extracted vein position; The image is then projected through a projector in the form of visible light.
本发明的有益效果是：区别于现有技术的情况，在本发明实施方式中，采集目标红外条纹或结构光条纹，得出投影的实际位置，再采集目标对象的红外图像，其中，红外图像呈现有目标对象的静脉的画面，通过投影装置以可见光的形式向目标对象投影红外图像，而红外图像的投影与目标对象位置相重合，以使目标对象的静脉的画面投影至目标对象的静脉所在位置上，相当于在目标对象的静脉所在的位置显示静脉的画面，用户可以直观地观察到目标对象的静脉所在位置的，方便查找目标对象的静脉。The beneficial effects of the present invention are: different from the situation of the prior art, in the embodiment of the present invention, target infrared stripes or structured light stripes are collected, the actual position of the projection is obtained, and then the infrared image of the target object is collected, wherein the infrared image There is a picture of the vein of the target object, and the infrared image is projected to the target object in the form of visible light through the projection device, and the projection of the infrared image coincides with the position of the target object, so that the image of the vein of the target object is projected to where the vein of the target object is located In terms of location, it is equivalent to displaying the vein picture at the location of the vein of the target object, and the user can intuitively observe the location of the vein of the target object, and it is convenient to find the vein of the target object.
附图说明Description of drawings
图1是本发明静脉显像方法1实施方式的流程图；Fig. 1 is the flowchart of embodiment of vein imaging method 1 of the present invention;
图2是本发明静脉显像方法1实施方式对投影位置处理的流程图；Fig. 2 is a flow chart of the processing of the projection position in the embodiment of vein imaging method 1 of the present invention;
图3是本发明静脉显像方法2实施方式的流程图；Fig. 3 is the flowchart of embodiment 2 of vein imaging method of the present invention;
图4是本发明静脉显像方法2实施方式对投影位置处理的流程图；Fig. 4 is a flow chart of processing the projection position in Embodiment 2 of the vein imaging method of the present invention;
图5是本发明静脉显像方法实施方式具体增强红外图像的流程图；Fig. 5 is a flow chart of the specific enhanced infrared image of the embodiment of the vein imaging method of the present invention;
图6是本发明静脉显像系统实施方式的示意图；6 is a schematic diagram of an embodiment of the vein imaging system of the present invention;
图7是现有的同轴采集红外静脉系统示意图；Fig. 7 is a schematic diagram of an existing coaxial acquisition infrared vein system;
图8是同轴采集红外静脉系统示意图。Fig. 8 is a schematic diagram of a system for coaxially collecting infrared veins.
具体实施方式Detailed ways
下面结合附图和实施方式对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
实施例1Example 1
如图1，静脉显像方法包括：As shown in Figure 1, vein imaging methods include:
步骤S1：向目标对象照射红外光；Step S1: irradiating infrared light to the target object;
向目标对象投影四幅有相位差的红外条纹；Project four infrared fringes with phase difference to the target object;
通过四幅红外条纹变形前后的相位来算出投影的实际位置；The actual position of the projection is calculated by the phase of the four infrared fringes before and after deformation;
步骤S2：通过红外摄像装置采集目标对象的红外图像，其中红外图像呈现有目标对象的画面；Step S2: collecting an infrared image of the target object through an infrared camera device, wherein the infrared image presents a picture of the target object;
由于目标对象的不同生物组织所反射出去的红外光的量不相同的，可通过采集目标对象亮度和形状分辨出不同的生物组织。Since the amount of infrared light reflected by different biological tissues of the target object is different, different biological tissues can be distinguished by collecting the brightness and shape of the target object.
步骤S3：通过投影仪装置以可见光的形式向目标对象投影红外图像，其中，红外图像的投影位置由步骤S1得出，使其与目标对象相重合，目标对象的静脉的画面投影至目标对象的静脉所在的位置上；Step S3: Project the infrared image to the target object in the form of visible light through the projector device, wherein the projection position of the infrared image is obtained from step S1, so that it coincides with the target object, and the image of the vein of the target object is projected onto the target object. Where the veins are located;
红外光对于用户是不可见的，可见光对于用户是可见的，投影仪装置不仅能投影红外条纹，也可以用可见光的形式投影红外图像，则用户可以直观看到红外图像，而红外图像的投影位置通过投影红外条纹得到，使其与目标对象相重合，则红外图像中所呈现的目标对象的静脉投影至目标对象的静脉之上，形同目标对象的实体静脉显示出来一样，大大提高了医护人员的识别度。Infrared light is invisible to users, and visible light is visible to users. The projector device can not only project infrared stripes, but also project infrared images in the form of visible light, so users can directly see infrared images, and the projection position of infrared images Obtained by projecting infrared stripes so that they coincide with the target object, the veins of the target object presented in the infrared image are projected onto the veins of the target object, just like the physical veins of the target object are displayed, which greatly improves the medical staff. recognition.
实施例2Example 2
如图2和5，另一实施例As shown in Figures 2 and 5, another embodiment
步骤S4：向目标对象投射红外条纹；Step S4: Projecting infrared stripes to the target object;
步骤S5：通过投射四幅有相位差的红外条纹图，采集红外条纹变形前后图像。Step S5: Collect images before and after the infrared fringe deformation by projecting four infrared fringe images with phase difference.
步骤S6：通过采集的变形前后图像，算出变形前后的相位值，通过两者相位差值算出投影的偏移位置及投影实际位置，目标对象的静脉的画面投影至目标对象的静脉所在位置上。Step S6: Calculate the phase value before and after the deformation through the collected images before and after the deformation, calculate the projected offset position and the projected actual position through the phase difference between the two, and project the image of the vein of the target object to the position of the vein of the target object.
步骤S7：向目标对象照射红外光；Step S7: irradiating infrared light to the target object;
向目标对象投影四幅有相位差的结构光条纹图；Project four structured light fringe images with phase difference to the target object;
通过摄像机以没有滤光片状态采集四幅结构光条纹变形前后的相位来算出投影的实际位置；The actual position of the projection is calculated by collecting the phases of the four structured light stripes before and after deformation by the camera in the state of no filter;
步骤S8：通过摄像装置的有滤光片状态采集目标对象的红外图像，其中红外图像呈现有目标对象的画面；Step S8: collecting an infrared image of the target object through the state of the camera device with an optical filter, wherein the infrared image presents a picture of the target object;
由于目标对象的不同生物组织所反射出去的红外光的量不相同的，可通过采集目标对象亮度和形状分辨出不同的生物组织。Since the amount of infrared light reflected by different biological tissues of the target object is different, different biological tissues can be distinguished by collecting the brightness and shape of the target object.
步骤S9：通过投影仪装置以可见光的形式向目标对象投影红外图像，其中，红外图像的投影位置由步骤S7得出，使其与目标对象相重合，目标对象的静脉的图像投影至目标对象的静脉所在的位置上；Step S9: Project an infrared image to the target object in the form of visible light through the projector device, wherein the projection position of the infrared image is obtained from step S7, so that it coincides with the target object, and the image of the vein of the target object is projected onto the target object. Where the veins are located;
红外光对于用户是不可见的，可见光对于用户是可见的，摄像装置不仅采集照射在目标静脉上的红外图像，也可以用来采集可见光的形式投影目标对象的结构光条纹，通过投影仪以可见光的形式将增强后的红外图像投影在结构光得出的位置上，则用户可以直观看到增强后的红外图像，而红外图像的投影位置通过投影结构光条纹得到，使其与目标对象相重合，则红外图像中所呈现的目标对象的静脉投影至目标对象的静脉之上，形同目标对象的实体静脉显示出来一样，大大提高了医护人员的识别度。Infrared light is invisible to the user, and visible light is visible to the user. The camera device not only collects the infrared image irradiated on the target vein, but also can be used to collect visible light to project the structured light stripes of the target object. In the form of projecting the enhanced infrared image on the position obtained by the structured light, the user can intuitively see the enhanced infrared image, and the projection position of the infrared image is obtained by projecting the structured light stripe, so that it coincides with the target object , the vein of the target object presented in the infrared image is projected onto the vein of the target object, just like the physical vein of the target object is displayed, which greatly improves the recognition degree of the medical staff.
实施例2Example 2
如图4和5，另一实施例As shown in Figures 4 and 5, another embodiment
步骤S10：向目标对象投射结构光条纹；Step S10: Projecting structured light stripes to the target object;
步骤S11：通过投射四幅有相位差的结构光条纹图，采集结构光条纹变形前后图像。Step S11: Collecting images before and after deformation of the structured light fringe by projecting four structured light fringe images with phase difference.
步骤S12：通过采集的变形前后图像，算出变形前后的相位值，通过两者相位差值算出投影的偏移位置及投影实际位置，目标对象的静脉的画面投影至目标对象的静脉所在位置上。Step S12: Calculate the phase value before and after the deformation through the collected images before and after the deformation, calculate the projected offset position and the projected actual position through the phase difference between the two, and project the image of the vein of the target object to the position of the vein of the target object.
步骤S13：红外摄像头采集的红外图像，识别其中静脉图像的位置。Step S13: Identify the position of the vein image in the infrared image collected by the infrared camera.
步骤S14：降低除静脉位置以外的像素灰度值，提高静脉位置像素的灰度值，从而生成新的最终加强后的静脉图像。Step S14: reducing the gray value of pixels other than the vein position and increasing the gray value of the pixel at the vein position, thereby generating a new final enhanced vein image.
步骤S15：加强后的图像再通过投影仪以可见光的形式投影在目标对象的静脉上，根据前面得出投影位置，使得加强后红外图像与目标对象完全重合。Step S15: The enhanced image is then projected on the vein of the target object in the form of visible light by the projector, and the projection position is obtained according to the above, so that the enhanced infrared image completely overlaps with the target object.
本发明根据上述方法1又提供静脉显像系统实施方式。请参阅图6，静脉显像系统40包括红外光源41，红外摄像装置42和投影装置43。According to the above-mentioned method 1, the present invention also provides an embodiment of a vein imaging system. Please refer to FIG. 6 , the vein imaging system 40 includes an infrared light source 41 , an infrared camera device 42 and a projection device 43 .
红外光源41用于发射红外光，其中，红外光源41所发射的红外光源41覆盖目标对象50。其中，红外光可较好地穿透目标对象50的表皮和真皮等生物组织，而静脉中的血中的血红蛋白对红外光的光谱吸收特性也是不相同的，因此，目标对象50在吸收再反射出去的红外光包含了静脉信息。The infrared light source 41 is used to emit infrared light, wherein the infrared light source 41 emitted by the infrared light source 41 covers the target object 50 . Wherein, infrared light can penetrate biological tissues such as the epidermis and dermis of the target object 50 well, and the spectral absorption characteristics of the hemoglobin in the blood in the vein are not the same for the infrared light, therefore, the target object 50 absorbs and then reflects The outgoing infrared light contains vein information.
红外摄像装置42用于采集目标对象50的红外图像，其中，红外图像呈现有目标对象50的静脉画面。由于目标对象50的各个生物组织吸收红外光的光谱吸收特性不相同，则红外图像除了呈现有目标对象50的静脉画面之外还呈现有目标对象50的其它生物组织画面。投影装置43通过状态器45将投影器以红外条纹状态投影目标对象50上，通过条纹变形前后的相位差得出投影位置，使得红外图像与目标对象50完全重合。The infrared camera device 42 is used to collect an infrared image of the target object 50 , wherein the infrared image presents a vein picture of the target object 50 . Since each biological tissue of the target object 50 has different spectral absorption properties for absorbing infrared light, the infrared image presents images of other biological tissues of the target object 50 in addition to the vein image of the target object 50 . The projection device 43 projects the projector on the target object 50 in the state of infrared stripes through the state controller 45 , and obtains the projection position through the phase difference before and after the deformation of the stripes, so that the infrared image and the target object 50 completely overlap.
处理器44用于获取红外摄像装置42所采集到的条纹图像和红外图像，处理器44储存未发生变形的四幅条纹51(没有目标)，处理器44获取变形后的四幅条纹52(有目标)，通过公式1.5提取投射红外条纹的相位，公式1.1至1.4是光栅条纹表达式，a(x,y)和b(x,y)分别表示光强和物体表面反射率的变化，Φ(x,y) 是受物体高度调制后的相位值。公式2表示提取条纹变形前后的相位值的差值，将公式2算出的相位差值代入公式3，从而得出有目标进入后像素偏移的位置，得出投影装置43投影的实际位置，使得以可见光的形式向目标对象50投影红外图像相重合，红外图像中所呈现的所述目标对象50的静脉画面投影至所述目标对象50的静脉所在的位置上。Processor 44 is used to obtain the fringe images and infrared images collected by infrared camera 42, processor 44 stores four fringes 51 (without target) that have not been deformed, and processor 44 obtains four fringes 52 (with target) after deformation , the phase of the projected infrared fringe is extracted by Equation 1.5. Equations 1.1 to 1.4 are grating fringe expressions, a(x,y) and b(x,y) represent the change of light intensity and object surface reflectance respectively, Φ(x, y) is the phase value modulated by the height of the object. Equation 2 represents the difference between the phase values before and after the fringe deformation is extracted, and the phase difference value calculated by Equation 2 is substituted into Equation 3, thereby obtaining the position of the pixel offset after the target enters, and obtaining the actual position projected by the projection device 43, so that The infrared image is projected onto the target object 50 in the form of visible light to overlap, and the vein picture of the target object 50 presented in the infrared image is projected to the position where the vein of the target object 50 is located.
I1(x,y)＝a(x,y)+b(x,y)cos[Φ(x,y)] (1.1)I 1 (x,y)=a(x,y)+b(x,y)cos[Φ(x,y)] (1.1)
I3(x,y)＝a(x,y)+b(x,y)cos[Φ(x,y)+π] (1.3)I 3 (x,y)=a(x,y)+b(x,y)cos[Φ(x,y)+π] (1.3)
ΔΦ(x,y)＝Φ1-Φ2 (2)ΔΦ(x,y)=Φ 1 -Φ 2 (2)
具体的，处理器44增强采集的红外图像，生成最终增强图像的步骤为：将红外图像保存，识别并提取静脉图像的位置；将除提取位置以外的像素点灰度值降低，增加提取位置的灰度值；将增强后的图像传输给投影装置43，投影设备 43再通过状态器45以可见光的形式将增强后的红外图像投影至目标对象50上。Specifically, the processor 44 enhances the collected infrared image, and the steps of generating the final enhanced image are: saving the infrared image, identifying and extracting the position of the vein image; Gray value; transmit the enhanced image to the projection device 43 , and the projection device 43 projects the enhanced infrared image onto the target object 50 in the form of visible light through the state device 45 .
静脉显像系统40还包括滤光片46。The vein imaging system 40 also includes an optical filter 46 .
如图8所示，同轴采集红外静脉系统，红外光源41照射人体手背50，反射光线经过热镜48反射到红外摄像装置42，经过处理器44，将增强后的图片传输到投影装置43，投影装置43以可见光的形式通过透镜组47，将增强后图片覆盖在人的手背上，这样便于护士找到穿刺的静脉。As shown in Figure 8, the coaxial infrared vein collection system, the infrared light source 41 illuminates the back of the hand 50 of the human body, the reflected light is reflected to the infrared camera device 42 through the hot mirror 48, and the enhanced picture is transmitted to the projection device 43 through the processor 44, The projection device 43 passes through the lens group 47 in the form of visible light, and covers the enhanced picture on the back of the person's hand, which is convenient for the nurse to find the punctured vein.
在本发明实施方式中，采集目标对象的红外图像，其中，红外图像呈现有目标对象的静脉的画面，通过投影装置43以红外光形式投影四幅有相位差的条纹图，通过条纹图变形前后相位差值得出投影偏移位置，从而得出投影实际位置；再将红外图像按照投影实际位置以可见光形式投射红外图像，与目标对象相重合，以使目标对象的静脉的画面投影至目标对象的静脉所在位置，相当于在目标对象的静脉所在位置显示静脉的画面，用户可以直观地观察到目标对象的静脉所在位置的，方便查找目标对象的静脉，与同轴采集红外静脉系统相比较，简化了系统的整体结构，减少了热镜48以及透镜组47，减少了成本，结构上更加紧凑。In the embodiment of the present invention, the infrared image of the target object is collected, wherein the infrared image presents a picture of the vein of the target object, four fringe patterns with phase difference are projected in the form of infrared light by the projection device 43, and the front and rear phases of the fringe pattern are deformed. The difference is used to obtain the projection offset position, thereby obtaining the actual projection position; then the infrared image is projected in the form of visible light according to the actual projection position, and coincides with the target object, so that the image of the vein of the target object is projected to the vein of the target object The position is equivalent to displaying the vein picture at the position of the vein of the target object. The user can intuitively observe the position of the vein of the target object, which is convenient for finding the vein of the target object. Compared with the coaxial acquisition infrared vein system, it simplifies In the overall structure of the system, the hot mirror 48 and the lens group 47 are reduced, the cost is reduced, and the structure is more compact.
本发明根据上述方法2又提供静脉显像系统实施方式。请参阅图7，静脉显像系统40包括红外光源41，摄像装置42和投影装置43。According to the above-mentioned method 2, the present invention also provides an embodiment of a vein imaging system. Referring to FIG. 7 , the vein imaging system 40 includes an infrared light source 41 , a camera device 42 and a projection device 43 .
红外光源41用于发射红外光，其中，红外光源41所发射的红外光源41覆盖目标对象50。其中，红外光可较好地穿透目标对象50的表皮和真皮等生物组织，而静脉中的血中的血红蛋白对红外光的光谱吸收特性也是不相同的，因此，目标对象50在吸收再反射出去的红外光包含了静脉信息。The infrared light source 41 is used to emit infrared light, wherein the infrared light source 41 emitted by the infrared light source 41 covers the target object 50 . Wherein, infrared light can penetrate biological tissues such as the epidermis and dermis of the target object 50 well, and the spectral absorption characteristics of the hemoglobin in the blood in the vein are not the same for the infrared light, therefore, the target object 50 absorbs and then reflects The outgoing infrared light contains vein information.
摄像装置42通过调节状态器53，用于采集目标对象50的红外图像将状态器53调制摄像装置有滤光片的状态，其中，红外图像呈现有目标对象50的静脉画面。由于目标对象50的各个生物组织吸收红外光的光谱吸收特性不相同，则红外图像除了呈现有目标对象50的静脉画面之外还呈现有目标对象50的其它生物组织画面。投影装置43以结构光条纹投影目标对象50上，通过将状态器53 调节至无滤光片的状态采集条纹变形前后的相位差得出投影位置，使得红外图像与目标对象50完全重合。The camera device 42 is used to collect the infrared image of the target object 50 by adjusting the state controller 53 and modulating the state controller 53 to a state where the camera device has an optical filter, wherein the infrared image presents a vein image of the target object 50 . Since each biological tissue of the target object 50 has different spectral absorption properties for absorbing infrared light, the infrared image presents images of other biological tissues of the target object 50 in addition to the vein image of the target object 50 . The projection device 43 projects the structured light stripes onto the target object 50 , and adjusts the state controller 53 to the state of no filter to collect the phase difference before and after the deformation of the stripes to obtain the projection position, so that the infrared image and the target object 50 completely overlap.
处理器44用于获取摄像装置42所采集到的结构光条纹图像和红外图像，处理器44储存未发生变形的四幅条纹51(没有目标)，处理器44获取变形后的四幅条纹52(有目标)，通过公式1.5提取投射红外条纹的相位，公式1.1至1.4 是光栅条纹表达式，a(x,y)和b(x,y)分别表示光强和物体表面反射率的变化，Φ(x,y)是受物体高度调制后的相位值。公式2表示提取条纹变形前后的相位值的差值，将公式2算出的相位差值代入公式3，从而得出有目标进入后像素偏移的位置，得出投影装置43投影的实际位置，使得以可见光的形式向目标对象50 投影红外图像相重合，红外图像中所呈现的所述目标对象50的静脉画面投影至所述目标对象50的静脉所在的位置上。Processor 44 is used to obtain the structured light fringe image and the infrared image collected by camera 42, processor 44 stores four fringes 51 (without target) that have not been deformed, and processor 44 obtains four fringes 52 (with target) after deformation. ), the phase of the projected infrared fringes is extracted by Equation 1.5, Equations 1.1 to 1.4 are grating fringe expressions, a(x,y) and b(x,y) represent the change of light intensity and object surface reflectance respectively, Φ(x ,y) is the phase value modulated by the height of the object. Equation 2 represents the difference between the phase values before and after the fringe deformation is extracted, and the phase difference value calculated by Equation 2 is substituted into Equation 3, thereby obtaining the position of the pixel offset after the target enters, and obtaining the actual position projected by the projection device 43, so that The infrared image is projected onto the target object 50 in the form of visible light to overlap, and the vein picture of the target object 50 presented in the infrared image is projected to the position where the vein of the target object 50 is located.
I1(x,y)＝a(x,y)+b(x,y)cos[Φ(x,y)] (1.1)I 1 (x,y)=a(x,y)+b(x,y)cos[Φ(x,y)] (1.1)
I3(x,y)＝a(x,y)+b(x,y)cos[Φ(x,y)+π] (1.3)I 3 (x,y)=a(x,y)+b(x,y)cos[Φ(x,y)+π] (1.3)
ΔΦ(x,y)＝Φ1-Φ2 (2)ΔΦ(x,y)=Φ 1 -Φ 2 (2)
具体的，处理器44增强采集的红外图像，生成最终增强图像的步骤为：将红外图像保存，识别并提取静脉图像的位置；将除提取位置以外的像素点灰度值降低，增加提取位置的灰度值；将增强后的图像传输给投影装置43，以可见光的形式将增强后的红外图像投影至目标对象50上。Specifically, the processor 44 enhances the collected infrared image, and the steps of generating the final enhanced image are: saving the infrared image, identifying and extracting the position of the vein image; grayscale value; the enhanced image is transmitted to the projection device 43 , and the enhanced infrared image is projected onto the target object 50 in the form of visible light.
静脉显像系统40还包括滤光片46。The vein imaging system 40 also includes an optical filter 46 .
如图6所示，同轴采集红外静脉系统，红外光源41照射人体手背50，反射光线经过热镜48反射到红外摄像装置42，经过处理器44，将增强后的图片传输到投影装置43，投影装置43以可见光的形式通过透镜组47，将增强后图片覆盖在人的手背上，这样便于护士找到穿刺的静脉。As shown in Figure 6, the coaxial infrared vein collection system, the infrared light source 41 illuminates the back of the hand 50 of the human body, the reflected light is reflected to the infrared camera device 42 through the hot mirror 48, and the enhanced picture is transmitted to the projection device 43 through the processor 44, The projection device 43 passes through the lens group 47 in the form of visible light, and covers the enhanced picture on the back of the person's hand, which is convenient for the nurse to find the punctured vein.
在本发明实施方式中，采集目标对象的红外图像，其中，红外图像呈现有目标对象的静脉的画面，通过投影装置43以红外光形式投影四幅有相位差的条纹图，通过条纹图变形前后相位差值得出投影偏移位置，从而得出投影实际位置；再将红外图像按照投影实际位置以可见光形式投射红外图像，与目标对象相重合，以使目标对象的静脉的画面投影至目标对象的静脉所在位置，相当于在目标对象的静脉所在位置显示静脉的画面，用户可以直观地观察到目标对象的静脉所在位置的，方便查找目标对象的静脉，与同轴采集红外静脉系统相比较，简化了系统的整体结构，减少了热镜48以及透镜组47，减少了成本，结构上更加紧凑。In the embodiment of the present invention, the infrared image of the target object is collected, wherein the infrared image presents a picture of the vein of the target object, four fringe patterns with phase difference are projected in the form of infrared light by the projection device 43, and the front and rear phases of the fringe pattern are deformed. The difference is used to obtain the projection offset position, thereby obtaining the actual projection position; then the infrared image is projected in the form of visible light according to the actual projection position, and coincides with the target object, so that the image of the vein of the target object is projected to the vein of the target object The position is equivalent to displaying the vein picture at the position of the vein of the target object. The user can intuitively observe the position of the vein of the target object, which is convenient for finding the vein of the target object. Compared with the coaxial acquisition infrared vein system, it simplifies In the overall structure of the system, the hot mirror 48 and the lens group 47 are reduced, the cost is reduced, and the structure is more compact.
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用说明书以及附图内容所作的等效结构或者等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above is only the embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description and the contents of the drawings, or directly or indirectly used in other related technical fields, All are included in the scope of patent protection of the present invention in the same way.
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