CN108498079A - Recognition methods and the equipment of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node - Google Patents
Recognition methods and the equipment of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node Download PDFInfo
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- CN108498079A CN108498079A CN201810433562.3A CN201810433562A CN108498079A CN 108498079 A CN108498079 A CN 108498079A CN 201810433562 A CN201810433562 A CN 201810433562A CN 108498079 A CN108498079 A CN 108498079A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0071—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by measuring fluorescence emission
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4887—Locating particular structures in or on the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4887—Locating particular structures in or on the body
- A61B5/489—Blood vessels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
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Abstract
The present invention relates to fluorescence identifying field, the recognition methods of specifically a kind of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node includes the following steps：Step 1：The reception of fluorescence signal, the blood vessel containing fluorescent contrast agent send out fluorescence under the excitation of the 1st excitation wavelength light source, and fluorescence enters fluorescence identifying equipment；Step 2：Fluorescence signal is transferred to image processing unit and handled by the display of visible light signal, fluorescence identifying equipment, and image digital signal after treatment is incident upon on fluorescent contrast agent position；Step 3：Blood vessel identifies, blood vessel containing fluorescent contrast agent is under the excitation of the n-th excitation wavelength light source, repeat the process of step 1 and step 2, until observing blood vessel, the number repeated is 0~n 1 time, and n is the number of different excitation light sources, n >=2, the method of the present invention identifies that blood vessel is convenient and efficient, easy to operate, and the blood-vessel image identified is clear, and fluorescence identifying equipment of the invention has the function of adjusting blood vessel and actual vessel deviation.
Description
Technical field
The present invention relates to fluorescence identifying field, more particularly to a kind of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node
Recognition methods and equipment.
Background technology
The blood vessel of human body through artery-capillary-vein in addition to communicating, between artery and artery, vein and vein it
Between in addition artery and vein between, can all be in direct communication with one another, formed vascular anastomosis.In carrying out vasculolymphatic anastomosis operation,
Operation usually requires very carefully, carefully to remove lymphatic vessel, can not damage its coating and enter blood vessel therein.
Being injected during lymphatic vessel venous anastomosis, in blood vessel has fluorescent contrast agent, and fluorescent contrast agent passes through blood generation
It thanks in lymphatic vessel and lymph node, when carrying out containing fluorescent contrast agent since lymphatic vessel or blood vessel are cut off in surgical procedure
Blood or lymph can pollute the surface of a wound, since fluorescent material is very sensitive, micro fluorescent material just will produce very bright
Bright image causes lymphatic vessel, lymph node and blood vessel not to be imaged effectively, and such case is known as fluorescence pollution, to without legal
The position of position blood vessel, lymphatic vessel and lymph node, it is cleaning blood to cause the interruption of operation, the mode being usually taken, but in this way
The time of operation can be extended, unfavorable to patient, effect is nor highly desirable.
Invention content
In order to solve the above technical problems, the invention discloses a kind of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph nodes
Recognition methods, it includes the following steps：
Step 1：The reception of fluorescence signal, the blood vessel containing fluorescent contrast agent send out glimmering under the excitation of the 1st excitation wavelength light source
Light after fluorescence enters the camera lens of fluorescence identifying equipment, is reflected into machine vision camera on infrared cutoff filter plate, and machine regards
Feel that camera receives fluorescence signal and is converted into image digital signal；
Step 2：The display of visible light signal, machine vision camera is by the image digital signal after conversion from fluorescence identifying equipment
It is transferred to image processing unit to be handled, image digital signal after treatment is transmitted to the projection dress of fluorescence identifying equipment
It sets, projection arrangement will treated that image digital signal is converted into visible light signal is incident upon on fluorescent contrast agent position；
Step 3：Blood vessel identifies that the blood vessel containing fluorescent contrast agent repeats step 1 under the excitation of the n-th excitation wavelength light source
With the process of step 2, until observing blood vessel, the number repeated is 0~n-1 time, n for different excitation light sources number, n >=
2。
Further, the wavelength difference of the wavelength of the n-th excitation wavelength light source and the 1st excitation wavelength light source is 20-
150nm。
Further, the 1st excitation wavelength is the maximum absorption wavelength of fluorescent contrast agent.
Further, the step of it further includes the steps that instrument calibration, the instrument calibration is before instrument first time use
Carry out, the step of instrument calibration includes the measurement of shifting deviation coefficient and the measurement for distorting deviation factor, shifting deviation coefficient and
Distortion deviation factor is stored in after measuring in processing unit, and without being calibrated when instrument use next time, processing unit is automatic
Translation and distortion processing is carried out to image digital signal；
The measurement of the shifting deviation coefficient includes the following steps：
Step 1：3 or 4 fixed point P are chosen on the test template for be labeled with X-Y coordinate, and record each fixed point
Coordinate P（X, y）；
Step 2：Fluorescent contrast agent is injected at fixed point P（X, y）On, the test template for being labeled with X-Y coordinate is placed on
At shell camera lens 40cm, excitation light source excites the fluorescent contrast agent on each fixed point P to send out fluorescence respectively；
Step 3：The coordinate Q for the phosphor dot that record projection device goes out（X+c, y+d）, respectively by the coordinate of P points and Q points
Input picture processing unit, image processing unit carry out translation processing to the image of phosphor dot, wait for the projected image of phosphor dot with
When fixed point overlaps, shifting deviation coefficient value j is obtained（C, d）And it is stored in image processing unit；
Step 4：J value of the test template at shell camera lens 30cm, 20cm is calculated with same method.
The measurement of the distortion deviation factor includes the following steps：
Step 1：The optional 2 fixed points in 3 or 4 fixed points, record slope k value, the intercept b of the line of fixed point
Value；
Step 2：The test template for being labeled with X-Y coordinate is placed at shell camera lens 40cm, in 2 fixed points
Inject fluorescent contrast agent, excitation light source excites 2 fixed points, image processing unit by the shifting deviation coefficient value j of preservation,
After the image of translation processing phosphor dot, 2 phosphor dots are projected on test template by projection arrangement, record 2 phosphor dot lines
Slope k+m values, intercept b+n values；
Step 3：Image processing unit carries out distortion processing to the image of phosphor dot line, wait for phosphor dot line image and 2
When the line coincident of fixed point, distortion deviation factor value e is obtained（M, n）And it is stored in image processing unit；
Step 4：Distortion deviation factor value e of the test template at shell camera lens 30cm, 20cm is obtained with same method.
Further, after the step 2, the size or adjustment machine of also adjustable 1st excitation wavelength light source intensity
The size of device vision camera aperture carries out the operation of step 3, until observing blood vessel later.
Further, the excitation light source of the fluorescence identifying equipment is multiple-wavelength laser.
Further, the fluorescence identifying equipment is dual laser, and one of which wavelength is 785nm, another wave
A length of 660nm.
Further, the excitation light source of the fluorescence identifying equipment is the xenon lamp with colour wheel disk, wherein on colour wheel disk
It is provided with colour wheel disk optical filter.
Further, the multiwave optical filter is 610 ± 5nm, 630 ± 5nm, 660 ± 5nm, 720 ± 5nm, 750
Two kinds or two or more in ± 5nm, 780 ± 5nm, 810 ± 5nm.
Further, a kind of fluorescence identifying equipment, it includes shell, shell camera lens, excitation light source, infrared cutoff filtering
Piece, optical filter, machine vision camera and projection arrangement, the shell are each for carry that fluorescent visual device includes
Component；
The excitation light source, for exciting fluorescent contrast agent to send out fluorescence, it is preferred that excitation light source is laser diode（785±
10nm）Or it is LED（Light Emitting Diode, light emitting diode）；
The infrared cutoff filter plate, after by fluorescent contrast agent by the excitation of excitation light source, the near infrared light that inspires
The light reflection of wave band simultaneously will be seen that the part of light penetrates, it is preferred that infrared cutoff filter plate reflects the infrared light of 800-850nm；
The centre wavelength of the optical filter is 830 ± 2mm；
The machine vision camera, for capturing fluorescence signal and the infrared light in fluorescence being converted to image information；
The projection arrangement, for treated that image information projects fluorescent contrast agent by image processing unit；
In the outer surface of shell, the shell is built-in to be equipped with infrared cutoff filtering for the shell camera lens and excitation light source difference device
Piece, machine vision camera and projection arrangement, the infrared cutoff filter plate are arranged between machine vision camera and projection arrangement,
And machine vision camera and projection arrangement are symmetrical as the plane of symmetry using plane where infrared cutoff filter plate, the machine vision camera
Axis perpendicular to the axis of projection arrangement, two axial lines intersect at phase same point on infrared cutoff filter plate, the machine vision
Camera includes camera lens and charge coupled cell, the projection arrangement and shell camera lens coaxial line, and is set inside projection arrangement
It is equipped with light source and projection lens, the distance of any point to charge coupled cell is equal to the point to light source on infrared cutoff filter plate
Distance, be provided with optical filter on the camera lens.
Further, further, camera lens and projection lens are tight shot, and camera lens and projection lens
The focal length of head is identical.
Further, the centre wavelength of the optical filter is 830 ± 2mm.
Further, the machine vision camera is CCD camera.
Further, the shape of the shell is cylinder.
It is convenient and efficient using the recognition methods of blood vessel of the present invention, lymphatic vessel and lymph node, it is easy to operate, it can be polluted in fluorescence
Identify blood vessel, lymphatic vessel and lymph node in environment, fluorescence identifying equipment of the invention is by the intravascular fluorescent contrast agent of human skin
The sightless fluorescence signal sent out is converted into visible visible light signal, and the blood vessel and actual vessel that there is adjustment to identify are inclined
The effect of difference.
Description of the drawings
Fig. 1 is the recognition methods stream of a kind of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node in the embodiment of the present invention 1
Cheng Tu；
Fig. 2 is the recognition methods flow of another glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node in the embodiment of the present invention 1
Figure；
Fig. 3 is the structural schematic diagram of fluorescence identifying equipment of the present invention；
Fig. 4 is the fluorescence identifying equipment front view of excitation light source of the present invention with colour wheel disk；
Fig. 5 is the fluorescence spectrum principle schematic that fluorescence Polluted area is irradiated using the excitation light source of 785nm；
Fig. 6 is the fluorescence spectrum principle schematic that fluorescence Polluted area is irradiated using the excitation light source of 660nm；
Legend：1. shell；2. shell camera lens；3. excitation light source；4. infrared cutoff filter plate；5. optical filter；6. machine vision phase
Machine；7. projection arrangement；8. colour wheel disk；9. colour wheel disk optical filter；61. camera lens；62. charge coupled cell；71. light source；72.
Projection lens；81. wheel disc axis hole.
Specific implementation mode
It is glimmering to carry out blood vessel, lymphatic vessel and sentinel by carefully studying discovery in glimmering Control of Environment Pollution by Light by the present inventor
Light get to know it is other during, the fluorescent contrast agent injected in blood vessel is metabolized at lymphatic vessel and lymph node, is carried out with fluorescence equipment
When identification, fluorescent contrast agent is typically into fluorescence saturation state, and so-called " fluorescence saturation " refers to that the brightness of fluorescence reaches
" threshold value " of identification equipment, herein " threshold value " for camera, the as grayscale value of camera, in the state of " fluorescence saturation "
Lymphatic vessel, blood vessel and lymph node are observed, fluorescent brightness is high, gets a clear view in identification process, has the advantages that convenient for identification, but with
This is caused simultaneously in the surgical procedure of reality, once there is the surface of a wound, blood or lymph outflow in blood vessel or lymphatic vessel, due to
Contain fluorescent contrast agent in blood, the lymphatic vessel and lymph node being metabolized also contain fluorescent contrast agent, therefore in blood or lymph
When in the region that liquid is saved bit by bit with fluorescence identifying equipment identification blood vessel, lymphatic vessel and lymph node, since the region that blood is saved bit by bit is presented
All luminous phenomenons, to which the position of blood vessel, lymphatic vessel and lymph node can not be positioned.
If the inventors discovered that wanting the fluorescence knot of progress blood vessel, lymphatic vessel and sentinel in the case where blood pollutes
Know, the size for adjusting the light intensity of excitation light source or the aperture of camera has a degree of effect, by the study found that when adjusting
When the aperture of the light intensity of whole excitation light source or camera, when carrying out fluorescence identifying, blood and to be identified in blood Polluted area
The different variation of brightness is will present between blood vessel, lymphatic vessel and lymph node, to which fluorescent contrast agent is bright under fluorescence saturation
Degree is adjusted to the identifiable brightness of camera, and then positions blood vessel, lymphatic vessel and lymph node to be identified.
When carrying out the identification of blood vessel, lymphatic vessel and lymph node, the adjustment of exciting light light intensity can not start from scratch, and laser
The normal work of device needs to reach rated power, does not work less than rated power laser, and sometimes less than rated power
Fluorescence identifying could be completed under light intensity, therefore the method for adjusting light intensity requires laser device itself very high, adjustment camera light
The method of circle is applied is unfavorable for the miniaturization of fluorescence identifying equipment in the case where xenon lamp, either to laser require it is high or
The popularization and application for being all unfavorable for this technology can not be minimized, and at fluorescence Polluted area presentation the case where " fluorescence saturation "
When lower, adjust light intensity of light source, light intensity or in conjunction with both be adjusted after, still can not complete fluorescence Polluted area blood sometimes
The identification of pipe, lymphatic vessel and lymph node, for this purpose, current inventor provides a kind of new identification blood vessel, lymphatic vessel and lymph nodes
Method.
With reference to embodiment, the present invention will be further described, but is not limited to the content on specification.
The invention discloses the recognition methods of a kind of blood vessel, lymphatic vessel and lymph node, it includes the following steps：
Step 1：The reception of fluorescence signal, the blood vessel containing fluorescent contrast agent send out glimmering under the excitation of the 1st excitation wavelength light source
Light is reflected into machine vision camera after fluorescence enters the shell camera lens 2 of fluorescence identifying equipment on infrared cutoff filter plate 4
6, machine vision camera 6 receives fluorescence signal and is converted into image digital signal；
Step 2：The display of visible light signal, machine vision camera 6 is by the image digital signal after conversion from fluorescence identifying equipment
It is transferred to image processing unit to be handled, image digital signal after treatment is transmitted to the projection dress of fluorescence identifying equipment
Set 7, projection arrangement 7 will treated that image digital signal is converted into visible light signal is incident upon fluorescent contrast agent position
On；
Step 3：Blood vessel identifies that the blood vessel containing fluorescent contrast agent repeats step 1 under the excitation of the n-th excitation wavelength light source
With the process of step 2, until observing blood vessel, the number repeated is 0~n-1 time, n for different excitation light sources number, n >=
2。
The recognition methods of medium vessels of the embodiment of the present invention, lymphatic vessel and lymph node, the recognition methods can be in lymphatic vessel, leaching
It fawns on or the blood vessel etc. of different internal organs organs is applied by the angiosomes that fluorescence pollutes, but be not limited to above-mentioned field.This hair
Bright embodiment is by taking vasculolymphatic identification during lymphatic vessel venous anastomosis as an example.With reference to embodiment to the present invention do into
One step specific description is as follows：
Embodiment 1
As shown in Figure 1, present embodiment discloses the recognition methods of a kind of blood vessel, lymphatic vessel and lymph node, as follows into
Row identification：First excitation light source excite fluorescence Polluted area identify blood vessel, after switch to the n-th excitation light source until successfully identifying blood
Pipe, end operation, wherein n >=2 are specific as follows：Being contaminated by the blood in the lymphatic vessel containing indocyanine green can not be identified
Fluorescence identifying equipment with dual laser is irradiated contaminated region by region, and the wavelength of dual laser is a kind of
For 785nm, another kind is that 660nm carries out vasculolymphatic identification after selecting the contaminated region of the laser irradiation of 785nm, if can
To observe lymphatic vessel, then otherwise end operation selects the contaminated region of 660nm laser irradiation, carries out vasculolymphatic knowledge
Not.
The present embodiment is utilized in glimmering Control of Environment Pollution by Light, and the surface of a wound, therefore the liquid meeting on the surface of a wound can be flowed to based on tissue fluid
It is diluted by tissue fluid, therefore the concentration of the fluorescent contrast agent on blood vessel, lymphatic vessel and lymph node can be higher than the surface of a wound, and fluorescence is made
Shadow agent is under the excitation light source irradiation of same intensity, the concentration of fluorescence intensity and fluorescent contrast agent that fluorescent contrast agent is inspired
It is proportionate, can blood vessel, lymphatic vessel and lymph node etc. effectively be needed into the group that doctor observes using the difference of this concentration
It is made into picture, the structures such as blood vessel, lymphatic vessel and lymph node are told on the surface of a wound of fluorescence pollution.
Dual laser in the present embodiment can replace with multiple-wavelength laser as needed, using different wave length
When the region of laser illumination pollution carries out vasculolymphatic identification, until observing lymphatic vessel, identification is completed, if selecting for the first time
Optical maser wavelength can realize and observe vasculolymphatic purpose, then complete identification and do not have to again wavelength switching to carry out vasculolymphatic identification,
Otherwise, switch different optical maser wavelength successively, after each wavelength switching, vasculolymphatic identification is carried out, if it is observed that lymphatic vessel
Then complete to identify, otherwise, continue wavelength switching, until recognizing lymphatic vessel, in above-mentioned identification process, optical maser wavelength it is suitable
Sequence selection does not limit, and wavelength can be selected descending as needed, wavelength is ascending or is arbitrarily combined.
Preferably, when carrying out vasculolymphatic identification to the region being contaminated by the blood, use fluorescent contrast agent corresponding first
Maximum absorption wavelength, at this point, the absorption curve of indocyanine green is in the position of wave crest, fluorescence signal intensity is big, convenient for lymph
The identification of pipe saves the time to save the program of follow-up switched laser wavelength.
Preferably, in multiple-wavelength laser, the wavelength difference of the wavelength of the n-th laser light source and the 1st laser light source is 20-
150nm, when the wavelength of the n-th laser light source is less than 20nm with the wavelength difference of first laser light source, the n-th laser light source and first laser
When light source irradiates the region polluted by fluorescence, since the wavelength difference of laser light source is less than 20nm, indocyanine green is drenched in lymphatic vessel
The difference of fluorescent intensity is too small caused by the concentration difference of concentration in bar liquid and indocyanine green in blood, fluorescence identifying equipment
Sensitivity cannot be distinguished, similarly, when the wavelength of the n-th laser light source and the wavelength difference of first laser light source are more than 150nm, also without
Method distinguishes concentration difference of the indocyanine green in lymphatic vessel and in blood, and None- identified goes out the position where lymphatic vessel.
Preferably, as shown in Fig. 2, being identified in the following way：Selecting first laser wavelength ring is polluted in fluorescence
, can also be by adjusting the size of the aperture of machine vision camera 6 before switched laser wavelength after identifying blood vessel in border, or adjust
Otherwise if the size of whole first laser light source intensity, is switched to n-th it is observed that lymphatic vessel, completes to identify, end operation
Laser light source is identified, until observing that lymphatic vessel completes identification, n >=2, wherein by adjusting the light of machine vision camera 6
The mode of circle or light intensity can be operated after switched laser light source each time, can also be omitted.
Embodiment 2
Content in the present embodiment other content reference implementation example 1, unlike embodiment 1：
The light source used in the present embodiment is the xenon lamp with colour wheel disk 8, and multiple colour wheel disk filters are wherein provided on colour wheel disk 8
Mating plate 9, specifically, colour wheel disk optical filter 9 is 610 ± 5nm, 630 ± 5nm, 660 ± 5nm, 720 ± 5nm, 750 ± 5nm, 780
Two kinds or two or more in ± 5nm, 810 ± 5nm.
When identifying lymphatic vessel in carrying out glimmering Control of Environment Pollution by Light, the light that xenon lamp is sent out passes through the optical filter of 610 ± 5nm
Afterwards, the light of residue 610 ± 5nm wave bands is radiated on the blood of lymphatic vessel and perilymphatic, at this point, seeing whether to see leaching
Hand shaft, then, rotation colour wheel disk 8 makes the light that xenon lamp is sent out pass through the optical filter of 630 ± 5nm, the later illumination of 630 ± 5nm
Lymphatic vessel Polluted area is penetrated, sees whether to see lymphatic vessel, the step of repeated rotation colour wheel disk 8, until seeing that lymphatic vessel is
Only.
Embodiment 3
The present embodiment discloses a kind of calibration method of fluorescence identifying equipment, this method blood suitable for embodiment 1 and embodiment 2
The recognition methods of pipe, lymphatic vessel and lymph node.
When fluorescence identifying equipment irradiates the lymph in Polluted area, need to being projected out lymphatic vessel from fluorescence identifying equipment
Position calibrated, in order to which the vasculolymphatic position observed is overlapped with the position where actual lymphatic vessel.
The step of being calibrated to fluorescence identifying equipment includes the measurement of shifting deviation coefficient and the survey for distorting deviation factor
Fixed, shifting deviation coefficient and distortion deviation factor are stored in after measuring in processing unit, without carrying out school when instrument use next time
Standard, processing unit automatically carry out translation and distortion processing to the image being projected out；
The determination step of shifting deviation coefficient includes：3 or 4 fixed points are selected on the test template for be labeled with X-Y coordinate
Position, such as the center point P1 of coordinate system is selected, appoint inside midpoint point P2, P3 and coordinate system of coordinate system adjacent two edges
Point of anticipating P4.Test template is two-dimensional plane coordinate system（15 × 15cm or the coordinate of 20 × 20cm specification sizes can be used
System）.Fluorescent contrast agent is injected in any points of P1-P4 respectively, the test template for being labeled with X-Y coordinate is placed on apart from shell
At camera lens 40cm, fluorescent visual device is moved to above any points of P1-P4, such as be moved to P1（X1, y1）, open and swash
Light emitting source 3, the fluorescence point coordinates that image processing unit is projected out are Q1（X1+c1, y1+d1）, respectively by the coordinate of P points and Q points
Input picture processing unit, image processing unit carry out translation processing to the image of phosphor dot, wait for the projected image of phosphor dot with
When fixed point overlaps, shifting deviation coefficient value j1 is obtained（C1, d1）, similarly obtain j2（C2, d2）, j3（C3, d3）And j4
（C4, d4）, the numerical value of j1-j4 is stored in image processing unit.
Distortion deviation factor determination step include：After carrying out translation processing to 3 or 4 fixed points of selection, it will put down
It moves deviation factor value j values and is stored in image processing unit.The optional 2 fixed points in 3 or 4 fixed points, with P1
For the line of P2, slope k value, the intercept b values of P1 and P2 lines are recorded, the test template for being labeled with X-Y coordinate is put
At shell camera lens 40cm, fluorescent contrast agent is being injected in 2 fixed points, excitation light source 3 excites 2 fixed points,
Image processing unit is by the shifting deviation coefficient value j of preservation, and after translation handles the image of phosphor dot, projection arrangement 7 is glimmering by 2
Spot projection records slope k+m1 values, the intercept b+n1 values of 2 phosphor dot lines, image processing unit pair on test template
The image of phosphor dot line carries out distortion processing, when the line coincident of the image of phosphor dot line and 2 fixed points, is turned round
Bent deviation factor value e（M, n）, similarly obtain e2（M2, n2）, e3（M3, n3）And e4（M4, n4）, the numerical value of e1-e4 is stored in
In image processing unit.
It should be noted that the shell camera lens 2 of fluorescence identifying equipment is with fixed point P's in the operating method of above-mentioned calibration
Distance carries out shifting deviation in 20cm, 30cm and 40cm and distorts the instrument calibration of deviation respectively, by 20cm, 30cm and 40cm
Distance 3 sets of calibration parameters j1-j4 and e1-e4 measuring be retained in image processing unit, image processing unit can be
External PC machine, PC machine are connect by data line with fluorescent visual device, and image processing unit can also be built in fluorescence can
In being set depending on makeup.
It will be measured respectively apart from the distance of fluorescence identifying equipment 20cm, 30cm and 40cm in the operating method of above-mentioned calibration
3 sets of calibration parameters j1-j4 and e1-e4 are retained in image processing unit, and its object is to fluorescence identifying equipment application exists
During the dermatoid curved surface of class, image processing unit is according to the different distance of skin and fluorescence identifying equipment, using difference
Calibration parameter processing image digital signal in every bit coordinate position, whole points in image digital signal are at
Treated image is formed after reason, projection arrangement by treated throw on the position where fluorescent contrast agent by image, projection
Image can be overlapped preferably with the physical location of fluorescent contrast agent.
Alphabetical meaning explanation：P is the fixation point for the test template for being labeled with X-Y coordinate, and Q is throwing corresponding with P points
Shadow is in the fluorescence point of test template, P（X, y）It is P points in the coordinate of X-Y coordinate, Q（X+c, y+d）It is Q points in X-Y coordinate
The coordinate of system, j（C, d）For shifting deviation coefficient, i.e., by Q（X+c, y+d）C is moved in X-axis, Y-axis moves d, makes Q points and P point weights
It closes；
K is the slope of 2 P point lines, and b is the intercept of 2 P point lines；K+m is the slope of 2 Q point lines, and b+n is 2 Q points
The intercept of line；e（M, n）To distort deviation factor, i.e., by the slope variation m of 2 Q point lines, the intercept of 2 Q point lines becomes
Change n, makes the line coincident of the line and corresponding 2 P points of 2 Q points.
Embodiment 4
As shown in figure 3, the present embodiment discloses a kind of fluorescence identifying equipment, fluorescent visual device includes in the present embodiment：Shell
1, shell camera lens 2, excitation light source 3, infrared cutoff filter plate 4, optical filter 5, machine vision camera 6 and projection arrangement 7；
Shell 1, all parts for including for carrying fluorescent visual device；
Excitation light source 3, for exciting fluorescent contrast agent to send out fluorescence；
Infrared cutoff filter plate 4, after by fluorescent contrast agent by the excitation of excitation light source, the near infrared light wave band that inspires
Light reflection and will be seen that light part penetrate；
The centre wavelength of optical filter 5 is 830 ± 2mm；
Machine vision camera 6, for capturing fluorescence signal and the infrared light in fluorescence being converted to image digital signal；
Projection arrangement 7, for treated that image information projects fluorescent contrast agent by image processing unit；
Shell camera lens 2 and excitation light source 3 are distinguished device and are arranged in shell in the outer surface of shell 1, shell camera lens 2 and excitation light source 3
On the same face of body 1,3 ring of excitation light source is located at around shell camera lens 2, it is preferred that the shape of shell 1 is cylindrical, is used
3 ring of excitation light source is located at the design around shell 1, and what the fluorescence that fluorescent contrast agent is sent out can be vertical enters fluorescent visual
In device, image information vertical can also be incident upon on the fluorescent contrast agent sent out after treatment, at this point, projected image
The adjustment that angle need not carry out angle can be overlapped with fluorescent contrast agent, in addition, shell camera lens 2 can also with excitation light source 3
It is separately positioned in the different sides of fluorescence identifying equipment according to the shape of shell or the demand used, the image warp projected at this time
It is overlapped with fluorescent contrast agent after over-angle adjustment.
Shell 1 is built-in to be equipped with infrared cutoff filter plate 4, machine vision camera 6 and projection arrangement 7, infrared cutoff filter plate 4
It is arranged between machine vision camera 6 and projection arrangement 7, machine vision camera 6 is with projection arrangement 7 with infrared cutoff filter plate 4
It is to ensure the incidence angle of fluorescence to make fluorescence be divided on infrared cutoff filter plate 4 that place plane is symmetrical arranged for the plane of symmetry
Degree is 45 °, and the infrared light in fluorescence is by being reflected into machine vision camera 6, and the visible light in fluorescence is then directly through infrared
End filter plate 4.The axis of machine vision camera 6 perpendicular to projection arrangement 7 axis, two axial lines intersect at infrared cutoff filtering
Phase same point on piece 4, machine vision camera 6 include camera lens 61 and charge coupled cell 62, projection arrangement 7 and shell camera lens
2 coaxial lines, and projection arrangement 7 is internally provided with light source 71 and projection lens 72, any point is to electricity on infrared cutoff filter plate 4
The distance of lotus coupling element 62 is equal to the point to the distance of light source 71, and the purpose using above-mentioned setting is made by image procossing list
After the image procossing of member, projected image is imaged across infrared cutoff filter plate 4 on human skin, ensures projected image and fluorescence
Contrast agent overlaps.Optical filter 5 is provided on camera lens 61.
Key in the present invention is the position relationship of machine vision camera 6, projection arrangement 7 and infrared cutoff filter plate 4,
Wherein infrared cutoff filter plate 4 can be finely adjusted to adjust the incident angle of fluorescence to calibrate projected image and fluoroscopic visualization
The coincidence of agent.
Excitation light source 3 in the present embodiment is multi-wave band laser light source, and laser light source is divided into different stalls, each gear hair
The light for going out a wave band adjusts the wavelength of excitation light source by adjusting the gear of laser light source, and infrared cutoff filter plate 4 reflects infrared
Light, machine vision camera 6 is CCD camera or is CMOS cameras, and camera lens 61 are preferably tight shot with projection lens 72,
Camera lens 61 and one kind in the selection of camera lens specification 8mm, 10mm or 12mm of projection lens 72, camera lens 61 and projection
The focal length of camera lens 72 is identical, makes camera lens 61 to the image-forming range and projection lens 72 of fluorescent contrast agent to fluorescent contrast agent
Projector distance is identical, and the image projected on fluorescent contrast agent can be overlapped preferably with fluorescent contrast agent, eye-observation image meeting
Apparent, camera lens 61 can also use zoom lens with projection lens 72, in use, camera lens 61 and projection lens 72
Autozoom adjusts the display of image, makes what image showed to be more clear.
As shown in figure 4, excitation light source 3 is the xenon lamp with colour wheel disk 8, colour wheel disk 8 is equipped with wheel disc axis hole 81, and one drives
Moving axis passes through wheel disc axis hole 81, in use, excitation light source 3 is static, corresponding fluorescence identifying equipment is also stationary, drives shaft rotation
Dynamic colour wheel disk 8 rotates, and the shell camera lens 2 and excitation light source 3 of fluorescence identifying equipment are covered by color block filter 9, xenon lamp hair
The light gone out passes through different colour wheel disk optical filters 9, obtains the exciting light of different-waveband, swashs to fluorescence Polluted area to realize
Hair, switches different color block filters 9 until identifying the lymphatic vessel polluted by fluorescence.
Embodiment 5
The embodiment of the present invention provides a kind of recognition methods vasculolymphatic during the lymphatic vessel venous anastomosis of rabbit, selects 1.5-
The rabbit of 2kg weights, injects indocyanine green reagent, and indocyanine green reagent is added 1ml physiological saline according to 0.5mg indocyanine greens and matches
Set, the dosage of indocyanine green is between 0.5-2mg/kg, after 1-2 minutes, carries out vasculolymphatic overlap joint and performs the operation, in art lymphatic vessel into
When row identification, first use the region of the excitation light source irradiation fluorescence pollution of 785nm, after switch to the excitation light source of 660nm after shine
Penetrate the region of fluorescence pollution.
As shown in Figure 5 and Figure 6, wherein P point values be fluorescence identifying equipment " threshold value ", " threshold value " in embodiments of the present invention
The minimum value that fluorescent brightness is identified for fluorescence identifying equipment, 2 curves are respectively the fluorescence curve of blood and vasculolymphatic in figure
Fluorescence curve, Fig. 5 are the region that fluorescence pollution is irradiated using the excitation light source of 785nm, and Fig. 6 is the excitation light source using 660nm
Irradiate the region of fluorescence pollution.
As seen from Figure 5, blood and vasculolymphatic fluorescent brightness are on the threshold value of fluorescence identifying equipment, therefore set
It is standby that vasculolymphatic position can not be identified from blood, after reducing the wavelength of excitation light source, as shown in fig. 6, a wherein song
For the fluorescent brightness of line under threshold value, another on threshold value, therefore, can successfully identify the position where lymphatic vessel.
Obviously, the above embodiment of the invention be only to clearly illustrate example of the present invention, and not be
Restriction to embodiments of the present invention.For those of ordinary skill in the art, on the basis of the above description also
It can make other variations or changes in different ways.Here all embodiments can not be exhaustive.It is every to belong to this
Row of the obvious changes or variations that the technical solution of invention is extended out still in protection scope of the present invention.
Claims (10)
1. a kind of recognition methods of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node, it is characterised in that：It includes following step
Suddenly：
Step 1：The reception of fluorescence signal, the blood vessel containing fluorescent contrast agent send out glimmering under the excitation of the 1st excitation wavelength light source
Light, fluorescence enter the shell camera lens of fluorescence identifying equipment（2）Afterwards, in infrared cutoff filter plate（4）On be reflected into machine vision
Camera（6）, machine vision camera（6）It receives fluorescence signal and is converted into image digital signal；
Step 2：The display of visible light signal, machine vision camera（6）Image digital signal after conversion is set from fluorescence identifying
Standby to be transferred to image processing unit and handled, image digital signal after treatment is transmitted to the projection of fluorescence identifying equipment
Device（7）, projection arrangement（7）It will treated that image digital signal is converted into that visible light signal is incident upon where fluorescent contrast agent
On position；
Step 3：Blood vessel identifies that the blood vessel containing fluorescent contrast agent repeats step 1 under the excitation of the n-th excitation wavelength light source
With the process of step 2, until observing blood vessel, the number repeated is 0~n-1 time, n for different excitation light sources number, n >=
2。
2. the recognition methods of a kind of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node according to claim 1, special
Sign is：The wavelength of the n-th excitation wavelength light source and the wavelength difference of the 1st excitation wavelength light source are 20-150nm.
3. the recognition methods of a kind of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node according to claim 1 or 2,
It is characterized in that：1st excitation wavelength is the maximum absorption wavelength of fluorescent contrast agent.
4. the recognition methods of a kind of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node according to claim 1, special
Sign is：It further includes instrument calibration step, and the instrument calibration step uses preceding progress, instrument for the first time in fluorescence identifying equipment
Device calibration steps includes the measurement of shifting deviation coefficient and distorts the measurement of deviation factor, shifting deviation coefficient and distortion deviation system
Number is stored in after measuring in processing unit, and without being calibrated when instrument use next time, processing unit is automatically to image digitization
Signal carries out translation and distortion processing；
The measurement of the shifting deviation coefficient includes the following steps：
Step 1：3 or 4 fixed point P are chosen on the test template for be labeled with X-Y coordinate, and record each fixed point
Coordinate P（X, y）；
Step 2：Fluorescent contrast agent is injected at fixed point P（X, y）On, the test template for being labeled with X-Y coordinate is placed on
Apart from shell camera lens（2）At 40cm, excitation light source（3）The fluorescent contrast agent on each fixed point P is excited to send out fluorescence respectively；
Step 3：Record projection arrangement（7）The coordinate Q for the phosphor dot being projected out（X+c, y+d）, respectively by the coordinate of P points and Q points
Input picture processing unit, image processing unit carry out translation processing to the image of phosphor dot, wait for the projected image of phosphor dot with
When fixed point overlaps, shifting deviation coefficient value j is obtained（C, d）And it is stored in image processing unit；
Step 4：Test template is calculated apart from shell camera lens with same method（2）J values at 30cm, 20cm；
The measurement of the distortion deviation factor includes the following steps：
Step 1：The optional 2 fixed points in 3 or 4 fixed points, record slope k value, the intercept b of the line of fixed point
Value；
Step 2：The test template for being labeled with X-Y coordinate is placed on apart from shell camera lens（2）At 40cm, in 2 fixed points
Upper injection fluorescent contrast agent, excitation light source（3）Excite 2 fixed points, the shifting deviation system that image processing unit passes through preservation
Numerical value j, after translation handles the image of phosphor dot, projection arrangement（7）2 phosphor dots are projected on test template, record 2 is glimmering
Slope k+m values, the intercept b+n values of luminous point line；
Step 3：Image processing unit carries out distortion processing to the image of phosphor dot line, wait for phosphor dot line image and 2
When the line coincident of fixed point, distortion deviation factor value e is obtained（M, n）And it is stored in image processing unit；
Step 4：Test template is obtained apart from shell camera lens with same method（2）Distortion deviation factor value at 30cm, 20cm
e。
5. the recognition methods of a kind of glimmering Control of Environment Pollution by Light medium vessels, lymphatic vessel and lymph node according to claim 1, special
Sign is：After the step 2, the size or adjustment machine vision camera of also adjustable 1st excitation wavelength light source intensity
（6）The size of aperture carries out the operation of step 3, until observing blood vessel later.
6. a kind of fluorescence identifying equipment of recognition methods that realizing blood vessel described in claim 1, lymphatic vessel and lymph node, special
Sign is：The excitation light source of the fluorescence identifying equipment is multiple-wavelength laser.
7. fluorescence identifying equipment according to claim 6, it is characterised in that：The fluorescence identifying equipment is dual-wavelength laser
Device, one of which wavelength are 785nm, and another wavelength is 660nm.
8. a kind of recognition methods for realizing glimmering Control of Environment Pollution by Light medium vessels described in claim 1, lymphatic vessel and lymph node is glimmering
Optical recognition device, it is characterised in that：The excitation light source of the fluorescence identifying equipment is with colour wheel disk（8）Xenon lamp, it is described
Colour wheel disk（8）On be provided with colour wheel disk optical filter（9）.
9. a kind of realizing fluorescence identifying equipment according to any one of claims 8, it is characterised in that：The multiwave optical filter is 610
Two kinds or two kinds in ± 5nm, 630 ± 5nm, 660 ± 5nm, 720 ± 5nm, 750 ± 5nm, 780 ± 5nm, 810 ± 5nm with
On.
10. the fluorescence identifying equipment according to claim 6 or 8, it is characterised in that：It includes shell（1）, shell camera lens
（2）, excitation light source（3）, infrared cutoff filter plate（4）, optical filter（5）, machine vision camera（6）And projection arrangement（7）, described
Shell camera lens（2）And excitation light source（3）Device is in shell respectively（1）Outer surface, excitation light source（3）Ring is located at shell camera lens
（2）Around, the shell（1）It is built-in to be equipped with infrared cutoff filter plate（4）, machine vision camera（6）And projection arrangement（7）,
The infrared cutoff filter plate（4）It is arranged in machine vision camera（6）With projection arrangement（7）Between, and machine vision camera（6）
With projection arrangement（7）With infrared cutoff filter plate（4）Place plane is that the plane of symmetry is symmetrical, the machine vision camera（6）Axis
Line is perpendicular to projection arrangement（7）Axis, two axial lines intersect at infrared cutoff filter plate（4）Upper phase same point, the machine regard
Feel camera（6）Including camera lens（61）And charge coupled cell（62）, the projection arrangement（7）With shell camera lens（2）It is coaxial
Line, and projection arrangement（7）It is internally provided with light source（71）And projection lens（72）, infrared cutoff filter plate（4）Upper any point
To charge coupled cell（62）Distance be equal to the point to light source（71）Distance, the camera lens（61）On be provided with optical filtering
Piece（5）.
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