An auto-projection focusing fluorescence imaging intraoperative navigation system and method

Abstract

This invention discloses an automatic projection focusing intraoperative navigation system for fluorescence imaging, relating to the field of fluorescence imaging navigation technology. A focusing drive unit drives a near-infrared camera lens assembly and a projection module for optical focusing. The near-infrared camera lens assembly receives fluorescence signals and forms a focal plane image. The projection module projects the processed fluorescence signal onto the tissue surface in real time. A transmission calibration module is coupled to the focusing drive unit for synchronous focusing, ensuring that the projection position of the fluorescence signal on the tissue surface matches the imaging position. This invention achieves synchronous focusing of the near-infrared camera and projection module through a unified linkage focusing mechanism and introduces adjustable calibration coefficients based on their respective optical characteristics. This solves the problems of difficulty in matching the imaging focal plane and the projection focal plane, cumbersome focusing operations, and repeated intraoperative calibration in existing systems. It improves the spatial consistency between intraoperative fluorescence imaging and projection, optimizing surgical navigation efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of fluorescence imaging navigation technology, and more specifically to an automatic projection focusing fluorescence imaging intraoperative navigation system. Background Technology

[0002] Near-infrared fluorescence imaging (NIIR) exhibits significant advantages in intraoperative navigation due to its deeper tissue penetration, higher spatial resolution, and extremely low tissue autofluorescence. This technology enables various clinical applications, including tumor margin identification, sentinel lymph node localization, deep vascular structure visualization, and important neural pathway indication, providing surgeons with real-time, contactless, and visualized surgical assistance information, significantly improving precise resection capabilities and intraoperative safety. However, current NIIR navigation systems generally have low integration levels, with imaging and projection modules often designed independently, failing to achieve coupled focusing between optical paths. When focusing is required intraoperatively due to organ undulations or changes in surgical distance, the camera, excitation light source, and projector often need separate adjustments, leading to difficulty in matching the imaging focal plane with the projection focal plane. Furthermore, the lack of a unified, interconnected focusing structure necessitates frequent spatial calibration between the projection position and fluorescence imaging, resulting in cumbersome and repetitive intraoperative operations and impacting real-time navigation performance.

[0003] Therefore, in view of the shortcomings of the existing technology, how to provide an automatic projection focusing fluorescent imaging intraoperative navigation system is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides an automatic projection focusing intraoperative navigation system for fluorescence imaging. Through a unified linkage focusing mechanism, it achieves synchronous focusing of the near-infrared camera and the projection module, and introduces adjustable calibration coefficients based on their respective optical characteristics. This solves the problems of difficulty in matching the imaging focal plane and the projection focal plane, cumbersome focusing operations, and repeated intraoperative calibration in existing systems. It enables rapid and precise focal length adjustment when tissue distance changes, improves the spatial consistency between intraoperative fluorescence imaging and projection, and optimizes surgical navigation efficiency and accuracy.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an automatic projection focusing fluorescent imaging intraoperative navigation system, comprising: a focusing drive unit, a near-infrared camera lens group, a projection module and a transmission calibration module; The focusing drive unit is used to drive the near-infrared camera lens group and the projection module to perform optical focusing; The near-infrared camera lens group is used to receive fluorescence signals and form a focal plane image; The projection module is used to project the processed fluorescence signal onto the tissue surface in real time. The transmission calibration module is coupled to the focusing drive unit for synchronous focusing, so that the projection position of the fluorescence signal on the tissue surface is consistent with the imaging position.

[0006] Preferably, the near-infrared camera lens group, the projection module, and the transmission calibration module are relatively fixed and all cooperate with the main focusing shaft transmission, and achieve focusing displacement or rotation in conjunction with the main focusing shaft.

[0007] Preferably, the focusing drive unit adopts a rotary threaded knob, a gear-driven knob, or a motor-driven coaxial rotating shaft to enable the projector and camera to focus simultaneously.

[0008] Preferably, the near-infrared camera lens group is connected to the main focusing axis through a linkage mechanism, and the near-infrared camera lens group rotates with the main focusing axis to generate focusing displacement or rotation.

[0009] Preferably, the projection module is connected to the focusing drive unit through a differential transmission mechanism, and the projection module rotates or shifts with the main focusing shaft.

[0010] Preferably, the transmission calibration module has a built-in calibration coefficient, which is used to adjust the differential transmission ratio according to the differences in optical parameters between the near-infrared camera lens group and the projection module.

[0011] As can be seen from the above technical solution, compared with the prior art, this invention discloses an automatic projection focusing fluorescent imaging intraoperative navigation system. Through a unified linkage focusing mechanism, it achieves synchronous focusing of the near-infrared camera and the projection module, and introduces adjustable calibration coefficients based on their respective optical characteristics. This solves the problems of difficulty in matching the imaging focal plane and the projection focal plane, cumbersome focusing operations, and repeated intraoperative calibration in existing systems. It achieves rapid and precise focal length adjustment when tissue distance changes, improves the spatial consistency between intraoperative fluorescent imaging and projection, and optimizes surgical navigation efficiency and accuracy. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of an intraoperative navigation system for automatic projection focusing fluorescence imaging provided by the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] This invention discloses an automatic projection focusing fluorescence imaging intraoperative navigation system, such as... Figure 1 As shown, it includes: a focusing drive unit, a near-infrared camera lens group, a projection module, and a transmission calibration module; The focusing drive unit is used to drive the near-infrared camera lens group and the projection module to perform optical focusing; The near-infrared camera lens group is used to receive fluorescence signals and form a focal plane image; The projection module is used to project the processed fluorescence signal onto the tissue surface in real time. The transmission calibration module is coupled to the focusing drive unit for synchronous focusing, so that the projection position of the fluorescence signal on the tissue surface is consistent with the imaging position.

[0016] Specifically, the focusing drive unit is mechanically linked with the near-infrared camera lens group and projection module to form a stable focusing structure.

[0017] Specifically, the near-infrared camera lens group, the projection module, and the transmission calibration module are relatively fixed and are all driven by the main focusing shaft, and achieve focusing displacement or rotation in conjunction with the main focusing shaft.

[0018] Specifically, when each module is engaged with the main focusing shaft drive, they can rotate in an interlocking manner, such as two meshing gears of different sizes.

[0019] Specifically, the focusing drive unit uses a rotary threaded knob, a gear-driven knob, or a motor-driven coaxial rotating shaft to enable the projector and camera to focus simultaneously.

[0020] In this embodiment of the invention, the focusing mechanisms of the camera and the projector are coupled together via a mechanical or motor structure to rotate the main focusing shaft. When the main focusing shaft rotates, the other two modules can automatically adjust accordingly. This module can also be automatically controlled. As the control source for the entire linkage focusing mechanism, it enables unified focusing of the optical modules.

[0021] Specifically, for manual operation, an adjustment mechanism consisting of two gears on a main focusing shaft can be set up. One gear is coupled to the camera's focusing ring, and the other to the projector's focusing ring. The two gears are coaxial, and a knob is located at the top of the shaft. By rotating the knob, the focusing mechanisms of the projector and camera rotate at different rates under the drive of the main focusing shaft, achieving a synchronized matching effect. This allows the projector and camera to focus simultaneously. Adjusting the different radii of the gears ensures that the projector and camera maintain the same focal length.

[0022] If a motor-driven rotating mechanism is added to this mechanism, then the real-time adjustment of the two focal lengths can be controlled remotely via software.

[0023] When the distance to the tissue or lesion changes during surgery, the surgeon rotates the main focusing knob or drives the main shaft via a motor, causing the near-infrared camera lens assembly and projection module to move synchronously.

[0024] Specifically, the near-infrared camera lens group is connected to the main focusing axis through a linkage mechanism, and the near-infrared camera lens group rotates with the main focusing axis to generate focusing displacement or rotation.

[0025] This microscope assembly is used to receive fluorescence signals from the surface or deep parts of tissues and form clear focal plane images.

[0026] Specifically, the linkage mechanism can be two gears with different speed ratios, or two different motors controlled by a signal. The linkage structure enables the focus of other modules to change when the main focusing shaft rotates, and the ratio is adjustable.

[0027] Specifically, the projection module is connected to the focusing drive unit via a differential transmission mechanism, and the projection module rotates with the main focusing axis to generate displacement or rotation. This displacement or rotation can differ from that of the camera.

[0028] Its function is to project the processed fluorescence signal onto the tissue surface in real time, enabling visible intraoperative navigation.

[0029] Specifically, the transmission calibration module is coupled to the focusing drive unit to achieve non-uniform synchronous focusing. The transmission calibration module has a built-in calibration coefficient to adjust the differential transmission ratio according to the differences in optical parameters between the near-infrared camera lens group and the projection module.

[0030] The calibration coefficient is determined based on the parameters of the projection module, the projection distance, and the camera distance.

[0031] Specifically, the transmission calibration module includes a differential transmission mechanism. Through the differential transmission mechanism and built-in calibration coefficients provided by the transmission calibration module, the projection focal plane is kept consistent with the camera focal plane, thereby achieving accurate projection of the fluorescence signal onto the tissue surface.

[0032] The differential transmission mechanism enables synchronized adjustment of magnification. Specifically, the inherent optical parameters of the near-infrared camera lens assembly and the projection module are first acquired, and calibration coefficients are determined. Based on these calibration coefficients, a differential transmission ratio is determined to match the sharp focal planes of the two components. A gear set with a corresponding gear ratio is then configured according to this differential transmission ratio. During focusing, the focusing drive unit rotates the main focusing shaft, and the differential transmission mechanism, according to the ratio, enables the projection module and the near-infrared camera lens assembly to synchronize focusing at a fixed differential magnification, achieving precise coupling of the focal planes.

[0033] Meanwhile, the focusing linkage unit has expandable functionality, enabling further linkage with the excitation light source and other auxiliary optical modules.

[0034] Specifically, the near-infrared camera lens group is a camera; the projection module is a projector.

[0035] In this embodiment of the invention, during the operation, the camera imaging focal plane and the projection focal plane can be automatically coupled, so that the projection position of the fluorescence signal on the tissue surface is consistent with the imaging position, which solves the problem of multiple optical modules needing to be focused separately and frequent calibration during the operation in the existing system.

[0036] The automatic coupling between the camera's imaging focal plane and the projection focal plane is achieved through an adjustment mechanism that allows the camera and projector to adjust their focal lengths synchronously. For example, when the knob is rotated 15 degrees, the camera's focusing ring rotates 5 degrees, while the projector's focusing ring rotates 8 degrees. This ratio enables synchronous adjustment.

[0037] This invention allows for simultaneous adjustment of the camera and projection module with a single focusing action, simplifying the operation process and improving intraoperative navigation accuracy and efficiency. Furthermore, by adjusting the calibration coefficient of the differential transmission, it can adapt to different surgical scenarios and optical module parameters, achieving modular expansion and balancing automation and adjustability. This facilitates surgeons in quickly and accurately performing tasks such as tumor resection and lymph node dissection during actual surgery.

[0038] In one specific embodiment of the present invention, during surgery, the integrated system is set up on the operating table and aligned with the surgical site. While acquiring the camera's fluorescence signal, an invisible fluorescence signal is simultaneously projected onto the surgical site using a projection system. At this time, the clarity of both the acquired and projected signals needs adjustment. Once the positions are fixed, this information can be collected by the system (handled by the transmission calibration module). After collection and calculation, a parameter is output to the differential transmission mechanism. For example, the final result might be a 1-degree focus adjustment for the camera and a 3-degree focus adjustment for the projection, thus achieving this adjustment. Simultaneously, during surgery, changes may occur in the wound area, resulting in changes to the image. When this change occurs, the information is collected again and output as signal parameters to guide the synchronous adjustment of the two modules, ensuring that the image acquired by the camera is clear, the image projected is clear, and the focus of the two systems is coupled throughout the entire surgical process.

[0039] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0040] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic projection focusing fluorescent imaging intraoperative navigation system, characterized in that, include: Focusing drive unit, near-infrared camera lens group, projection module and transmission calibration module; The focusing drive unit is used to drive the near-infrared camera lens group and the projection module to perform optical focusing; The near-infrared camera lens group is used to receive fluorescence signals and form a focal plane image; The projection module is used to project the processed fluorescence signal onto the tissue surface in real time. The transmission calibration module is coupled to the focusing drive unit for synchronous focusing, so that the projection position of the fluorescence signal on the tissue surface is consistent with the imaging position.

2. The intraoperative navigation system for automatic projection focusing fluorescence imaging according to claim 1, characterized in that, The near-infrared camera lens group, the projection module, and the transmission calibration module are relatively fixed and are all driven by the main focusing shaft, and move or rotate in conjunction with the main focusing shaft to achieve focusing displacement.

3. The intraoperative navigation system for automatic projection focusing fluorescence imaging according to claim 1, characterized in that, The focusing drive unit uses a rotary threaded knob, a gear-driven knob, or a motor-driven coaxial rotating shaft to enable the projector and camera to focus simultaneously.

4. The intraoperative navigation system for automatic projection focusing fluorescence imaging according to claim 2, characterized in that, The near-infrared camera lens assembly is connected to the main focusing axis via a linkage mechanism, and the near-infrared camera lens assembly rotates with the main focusing axis to generate focusing displacement or rotation.

5. The intraoperative navigation system for automatic projection focusing fluorescence imaging according to claim 1, characterized in that, The projection module is connected to the focusing drive unit through a differential transmission mechanism, and the projection module rotates or shifts with the main focusing shaft.

6. The intraoperative navigation system for automatic projection focusing fluorescence imaging according to claim 5, characterized in that, The transmission calibration module has a built-in calibration coefficient, which is used to adjust the differential transmission ratio according to the differences in optical parameters between the near-infrared camera lens group and the projection module.

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