A multifunctional near-infrared fluorescence intraoperative navigation system and navigation method

Abstract

The present invention discloses a multifunctional near-infrared fluorescence intraoperative navigation system and navigation method, which relates to the field of surgical navigation technology, and the specific steps are: determining the surgical field; adjusting the inclination angle of the excitation light source and the white light source according to the surgical field, and determining the range of the light spot; obtaining the fluorescence signal emitted by the contrast agent, and converting it into a fluorescent image; projecting the fluorescent image to the surgical site in real time; obtaining the distance and degree of concavity of the target tissue from the imaging system, and correcting the excitation light source; obtaining the projected image of the surgical site, and adjusting the emission parameters of the projection laser light source according to the light intensity. The present invention integrates various light sources and imaging devices into an integrated operating panel, which improves the integration of the system, and can adjust the position and hover at will, which is conducive to the operation.

Description

Technical Field

[0001] The present invention relates to the field of surgical navigation technology, and more particularly to a multifunctional near-infrared fluorescence intraoperative navigation system and a navigation method. Background Art

[0002] Near-infrared fluorescence imaging technology can mark target tissues under the action of contrast agents. Due to its excellent spatiotemporal resolution, its application scenarios are becoming increasingly extensive. Currently, the existing fluorescence imaging systems on the market all use a separation of the excitation light source and the infrared camera, which has a low degree of integration, a single function and a large footprint. In addition, the incident angle of the excitation light and the distance between the excitation light and the imaging part have a great influence on the imaging effect. However, the operator can only calibrate the position of the excitation light source and the camera manually during surgery, which is time-consuming and labor-intensive, but not easy to perform precise operations, and is therefore not conducive to surgical operations.

[0003] Therefore, how to provide a multifunctional near-infrared fluorescence intraoperative navigation system and navigation method is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0004] In view of this, the present invention provides a multifunctional near-infrared fluorescence intraoperative navigation system and navigation method to overcome the above-mentioned defects.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A multifunctional near-infrared fluorescence intraoperative navigation method, the specific steps are:

[0007] Determine the surgical field;

[0008] According to the surgical field, adjust the tilt angle of the excitation light source and the white light source to determine the range of the light spot;

[0009] Acquire the fluorescence signal emitted by the contrast agent and convert it into a fluorescence image;

[0010] Project fluorescent images onto the surgical site in real time;

[0011] Obtain the distance and concavity of the target tissue from the imaging system, and calibrate the excitation light source;

[0012] Acquire a projection image of the surgical site and adjust the emission parameters of the projection laser according to the light intensity.

[0013] Optionally, methods for adjusting the tilt angle include mechanical control and program control.

[0014] Optionally, the steps for determining the spot range of the white light source are:

[0015] Control the power and switch of each light-emitting unit of the white light source according to the application scenario;

[0016] Determine the spot size of the white light source according to the surgical field;

[0017] The inclination angle of each light emitting unit of the white light source is adjusted according to the size of the light spot.

[0018] Optional, fluorescence image acquisition steps:

[0019] The excitation light excites the contrast agent to produce a fluorescent signal;

[0020] The fluorescence signal is converted into a picture or video through the built-in reconstruction algorithm to convert the gray value and position information of each pixel received by the pixel and display it on the user interface.

[0021] Optionally, the specific steps of calibrating the excitation light source are:

[0022] Acquire the distance between the target tissue and the imaging system and the data of the concavity and convexity of the target tissue;

[0023] The parameters of the light emitting unit of the excitation light source are adjusted according to the acquired data.

[0024] Optionally, the emission parameters of the projection laser are adjusted by acquiring image information of different parts in the projection image.

[0025] A multifunctional near-infrared fluorescence intraoperative navigation system, comprising an adjustable cantilever, an integrated operating panel, a light source module, an imaging module, a rangefinder, and an image processing module;

[0026] Adjustable cantilever, used to adjust the position and angle of the integrated operating panel;

[0027] Integrated operation panel: used to integrate various functional modules;

[0028] Light source module: used to provide a variety of light sources;

[0029] An imaging module, used for acquiring the fluorescence signal emitted by the contrast agent;

[0030] An image processing module receives the fluorescent signal sent by the imaging module and converts the fluorescent signal into a fluorescent image;

[0031] Rangefinder: detects the distance and degree of concavity of the target tissue from the imaging system, and makes corrections to the excitation light and projection laser.

[0032] Optionally, the imaging module includes a visible light camera: used to capture visible light images of the surgical field and for fusion of fluorescence-visible light images.

[0033] Optionally, it also includes a filter component, which is arranged at the receiving end of the imaging module to filter the excitation light.

[0034] Optionally, an infrared fill light is also included: used to align the surgical field and focus when there is no fluorescence.

[0035] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses a multifunctional near-infrared fluorescence intraoperative navigation system and navigation method, which integrates various light sources and imaging devices into an integrated operating panel, improves the integration of the system, and can adjust the position and hover at will, which is conducive to the progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 It is a structural schematic diagram of the integrated operating panel of the present invention;

[0039] Figure 3 is a flow chart of the method of the present invention;

[0040] Among them, there are an adjustable cantilever 1; an integrated operating panel 2; a white light source 3; an excitation light source 4; a projection laser light source 5; an infrared camera 6; a visible light camera 7; a rangefinder 8; and an armrest 9. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] The embodiment of the present invention discloses a multifunctional near-infrared fluorescence intraoperative navigation method, such as Figure 3 The specific steps shown are:

[0043] Step 1: Determine the surgical field;

[0044] Move the patient into the operating room and fix the surgical field according to the surgical site;

[0045] Step 2: According to the surgical field, adjust the tilt angles of the excitation light source 4 and the white light source 3 to determine the light spot range;

[0046] Specifically, the navigation system is installed in the operating room, and the inclination angles of the excitation light source 4 and the white light source 3 are adjusted manually or by using a program already set in the host computer according to the surgical field to obtain a suitable light spot, and the power of the white light source 3 is also controlled through different application modes;

[0047] The white light source 3 has a plurality of diode bulbs of specific wavelengths distributed on the integrated operation panel 2, which are formed into an array to complete shadowless illumination of an area, and the size of the irradiated area is adjusted by controlling the tilt angle. The diode bulbs are controlled by a mechanical / electric motor, and the tilt angles of each diode bulb can be synchronously corrected to achieve the control of the size of the irradiated area; at the same time, the diode bulb array is connected in series / parallel by a whole chip or each light-emitting point is controlled by a separate chip, and the power and switch of the bulb array are controlled according to different application modes;

[0048] Excitation light source 4: The laser light emitting point on the integrated operating panel 2 is composed of separate laser emitters, and their power is coupled through a circuit. It is also possible to use a total laser, light beam splitting, and optical fiber transmission to distribute a point light source into multiple emission sources.

[0049] Step 3: Obtain the fluorescence signal emitted by the contrast agent and convert it into a fluorescence image, and project the fluorescence image to the surgical site in real time;

[0050] Specifically, the excitation light excites the contrast agent to produce a fluorescent signal;

[0051] The fluorescence signal is converted into a picture or video through the built-in reconstruction algorithm to convert the gray value and position information of each pixel received by the pixel and display it on the user interface.

[0052] Among them, the fluorescence signal is obtained by an infrared camera;

[0053] Further, infrared camera signal → fluorescent image: infrared cameras have special photosensitive CCDs that can sense the 900-1700nm band. When the fluorescent signal is irradiated onto the CCD, each effective pixel of the CCD will convert the light signal into an electrical signal. The CCD control chip uses the control signal circuit in the photosensitive element to control the current generated by the photodiode, which is output by the current transmission circuit. The CCD will collect the electrical signals generated by the imaging once and output them to the amplifier. The amplified and filtered electrical signals are sent to the A / D, which converts the electrical signals, which are analog signals at this time, into digital signals. The value is proportional to the strength of the electrical signal.

[0054] The digital signal at this time will also be output to the digital signal processor DSP. In the DSP, these image data are subjected to a series of corrections and post-processing, and finally converted into a data file containing time axis information, pixel gray value, and pixel position information, and reconstructed into a grayscale image by the reconstruction program and presented on the user interface.

[0055] Step 4: Obtain the distance between the target tissue and the imaging system, the degree of concavity and convexity, and calibrate the excitation light source 4;

[0056] Specifically, the distance between the target tissue and the imaging system is obtained by the rangefinder 8, and the projection image of the target tissue is calculated and optimized to obtain the emission parameters of the auxiliary light source of the excitation light source.

[0057] According to the emission parameters of the auxiliary light source, the excitation light source 4 is driven to emit excitation light and auxiliary laser, and the auxiliary laser and the excitation light power are correlated;

[0058] The infrared camera captures the fluorescence signal of the target tissue and the diffuse reflection light signal of the auxiliary laser, and transmits them to the image processing module;

[0059] The image processing module reconstructs the fluorescence image based on the collected fluorescence signal, and calculates the laser illumination according to the diffuse reflection light signal of the auxiliary laser and controls the laser power regulation module to make real-time adjustments to ensure that the laser illumination remains unchanged.

[0060] Step 5: Obtain a projection image of the surgical site and adjust the emission parameters of the projection laser according to the light intensity.

[0061] Specifically, since the target tissue is uneven and different areas of the target tissue have different colors or light absorption conditions, for example, the liver is black and requires stronger light for the surgeon to see clearly, the light intensity needs to be corrected.

[0062] The acquisition camera continuously monitors the quality of the projected image and makes corrections to the projected light intensity to ensure that the operator can always obtain the ideal visualization signal.

[0063] A multifunctional near-infrared fluorescence intraoperative navigation system, the structure of which is as follows Figure 1-Figure 2 As shown, including:

[0064] The adjustable cantilever 1 is used to adjust the position and angle of the integrated operating panel 2; it is installed on the top of the operating room and can be adjusted 360 degrees and hover at any position;

[0065] Integrated operating panel 2: used to integrate various functional modules, with armrests 9, the angle of which can be adjusted manually or automatically;

[0066] Light source module: used to provide a variety of light sources, including excitation light source 4, white light source 3, projection laser light source 5, etc., and the angle can be adjusted;

[0067] an imaging module for capturing infrared fluorescence emitted by the contrast agent;

[0068] An image processing module receives the fluorescent signal sent by the imaging module and converts the fluorescent signal into a fluorescent image;

[0069] Rangefinder 8: Detects the distance between the target tissue and the imaging system, the degree of concavity, and makes corrections to the excitation light, etc.

[0070] In order to further optimize the above technical solution, the imaging module includes:

[0071] an infrared camera 6, for capturing the fluorescence signal emitted by the contrast agent and transmitting the signal to an image processing system;

[0072] Visible light camera 7: used to capture visible light images of the surgical field and to fuse fluorescence-visible light images.

[0073] In order to further optimize the above technical solution, the light source module includes an excitation light source 4, a white light source 3, a projection laser light source 5, etc., wherein:

[0074] White light source 3: There are several diode bulbs emitting at specific wavelengths distributed on the disc. They form an array to complete shadowless illumination of an area, and their tilt angle controls the size of the illuminated area. All light-emitting units are controlled by mechanical / electric motors, which can synchronously correct their tilt angles to achieve control of the size of the illuminated area. At the same time, the bulb array is controlled in series / parallel by a whole chip or each light point is controlled by a separate chip. The system will control the power and switch of the bulb array according to different application modes.

[0075] Excitation light source 4: The laser light spots on the disk can be composed of separate laser emitters, and their power can be coupled through a circuit, or a total laser can be used to divide a point light source into multiple emission sources by using light beam splitting and optical fiber transmission. At the same time, the light source can also mechanically control the angle to adjust the excitation light spot.

[0076] Projection laser light source 5: A maximum of three light points can be used to project laser light on the target area.

[0077] In order to further optimize the above technical solution, it also includes: a filter component, which is arranged at the receiving end of the imaging module to filter the excitation light, and the filter group includes a 900nm long-pass filter.

[0078] In order to further optimize the above technical solution, an infrared fill light is also included: it can be aimed at the surgical field and focused when there is no fluorescence.

[0079] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0080] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one 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 present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multifunctional near-infrared fluorescence intraoperative navigation method, characterized in that: The specific steps are: Determine the surgical field; According to the surgical field, the tilt angles of the excitation light source (4) and the white light source (3) are adjusted to determine the range of the light spot; Methods for adjusting the tilt angle include mechanical control and program control; The steps for determining the spot range of the white light source (3) are as follows: Controlling the power and switching of each light-emitting unit of the white light source (3) according to the application scenario; Determine the size of the spot of the white light source (3) according to the surgical field; Adjusting the inclination angle of each light emitting unit of the white light source (3) according to the size of the light spot; Obtain the fluorescence signal emitted by the contrast agent, convert the gray value and position information of each pixel received by the fluorescence signal into a picture or video through the built-in reconstruction algorithm, and display it on the user interface; Project fluorescent images onto the surgical site in real time; Obtaining the distance of the target tissue from the imaging system and the degree of concavity and convexity, and calibrating the excitation light source (4); Acquire a projection image of the surgical site and adjust the emission parameters of the projection laser according to the light intensity; The specific steps of calibrating the excitation light source (4) are as follows: Acquire the distance between the target tissue and the imaging system and the data of the concavity and convexity of the target tissue; Adjusting parameters of the light-emitting unit of the excitation light source (4) according to the acquired data; By acquiring image information of different parts in the projection image, the emission parameters of the projection laser are adjusted; Specifically, the distance between the target tissue and the imaging system and the degree of concavity and convexity are obtained, and the excitation light source (4) is calibrated; The distance between the target tissue and the imaging system is obtained by a distance meter (8), and the projection image of the target tissue is optimized by calculation to obtain the emission parameters of the auxiliary light source of the excitation light source; According to the emission parameters of the auxiliary light source, the excitation light source (4) is driven to emit excitation light and auxiliary laser, and the auxiliary laser and the excitation light power are correlated; The infrared camera captures the fluorescence signal of the target tissue and the diffuse reflection light signal of the auxiliary laser, and transmits them to the image processing module; The image processing module reconstructs the fluorescence image based on the collected fluorescence signal, and calculates the laser illumination according to the diffuse reflection light signal of the auxiliary laser and controls the laser power regulation module to make real-time adjustments to ensure that the laser illumination remains unchanged.

2. A multifunctional near-infrared fluorescence intraoperative navigation system, characterized in that A multifunctional near-infrared fluorescence intraoperative navigation method according to claim 1, comprising an adjustable cantilever (1), an integrated operating panel (2), a light source module, an imaging module, a rangefinder (8), and an image processing module; An adjustable cantilever (1) for adjusting the position and angle of the integrated operating panel (2); Integrated operation panel (2): used to integrate various functional modules; Light source module: used to provide a variety of light sources; An imaging module, used for acquiring the fluorescence signal emitted by the contrast agent; An image processing module receives the fluorescent signal sent by the imaging module and converts the fluorescent signal into a fluorescent image; Rangefinder (8): detects the distance and degree of concavity of the target tissue from the imaging system, and makes corrections to the excitation light and projection laser.

3. The multifunctional near-infrared fluorescence intraoperative navigation system according to claim 2, characterized in that: The imaging module comprises a visible light camera (7) for taking a visible light image of the surgical field and for fusing fluorescence-visible light images.

4. The multifunctional near-infrared fluorescence intraoperative navigation system according to claim 2, characterized in that: It also includes a filter component, which is arranged at the receiving end of the imaging module to filter the excitation light.

5. The multifunctional near-infrared fluorescence intraoperative navigation system according to claim 2, characterized in that: It also includes an infrared fill light: used to align the surgical field and focus when there is no fluorescence.

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