Retinal image acquisition system, method, medium, product and device

Abstract

The present invention belongs to the technical field of optical coherence tomography. A system, method, medium, product and equipment for collecting animal retinal images are proposed. An optical coupler is connected to a spectrometer and a light source through optical fibers, a control terminal is connected to a spectrometer and a camera for communication, and an optical coupler is connected to a sample arm and a reference arm through optical fibers. An animal carrying platform is connected to a multi-axis linkage platform. The light emitted by the optical coupler forms a scanning light through the sample arm. After the fixed point position is determined, when the fixed point and the retinal pupil are adjusted to coincide, the retinal image is collected. The problem that the retinal optic nerve head position is difficult to locate and the complete retinal image can only be collected by repeatedly adjusting the animal position is solved. The optic nerve head position can be found quickly, ensuring the integrity of the collected retinal image.

Description

Technical Field

[0001] The present invention relates to the technical field of optical coherence tomography, and in particular to a retinal image acquisition system, method, medium, product and equipment. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Optical coherence tomography is a three-dimensional tomography method based on the principle of low-coherence light interference. It obtains the cross-section and three-dimensional image of the sample tissue by measuring the reflected light or backscattered light of the sample tissue. It has the advantages of high resolution, non-contact, non-invasive, and high sensitivity. It has been widely used in the diagnosis of ophthalmology, cardiovascular and cerebrovascular diseases, and dermatology.

[0004] Experimental animals (hereinafter referred to as animals) are widely used in various research fields of life sciences, such as anatomical experiments, epigenetic experiments, tumor transplantation experiments and genetic experiments. In the process of using the OCT system to collect animal retinal images, the position of the animal's optic nerve head is not easy to find, and in the debugging process, it is often necessary to rely on the human eye to judge whether all the fixed points are located in the pupil. This judgment method often has large errors and can easily cause the collected retinal OCT images to be missing. The inability to automatically and quickly locate the position of the optic nerve head and the inability to adjust the fixed point to coincide with the center of the pupil will increase the difficulty of the experiment and the experimental operation time, and the complete retinal OCT image will not be collected, which will cause great trouble to data processing and data analysis.

[0005] In view of the above problems, some methods for finding the position of the optic nerve head and adjusting it have been proposed. For example, Yi Wei et al. proposed a method, system and product for automatically finding the retinal optic nerve head by OCT (Chinese Patent No. ZL201610224206.1), which finds the position of the optic nerve head by the status of the positions of multiple large blood vessels. The adjustment method of this method is relatively complicated, and the requirements for the experimental operator are high, and there is no way to guarantee that a complete retinal OCT image is collected when the data is officially collected. Moreover, during the process of collecting animal retinal OCT image data, the animal is in an anesthetized state. Long-term anesthesia will cause harm to the animal and affect its physiological state, resulting in inaccurate data being collected. Summary of the invention

[0006] In order to solve the problem that it is difficult to locate the position of the retinal optic nerve head and that a complete retinal image can only be acquired by repeatedly adjusting the position of the animal, the present invention provides an animal retinal image acquisition system, method, medium, product and equipment, which determine the initial posture of the animal's eyes according to the physiological structure characteristics of the animal, and quickly find the position of the optic nerve head by adjusting the fixed point and the pupil of the animal's eye to coincide, thereby ensuring the integrity of the acquired retinal image.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides an animal retinal image acquisition system.

[0009] An animal retinal image acquisition system, comprising: a multi-axis linkage platform, a light source, an optical coupler, a spectrometer, a control terminal, a camera, a sample arm and a reference arm;

[0010] The optical coupler is connected to the spectrometer and the light source through optical fibers, the control terminal is connected to the spectrometer and the camera for communication, and the optical coupler is connected to the sample arm and the reference arm through optical fibers.

[0011] The multi-axis linkage platform is connected to an animal carrying platform. The light emitted by the optical coupler forms a scanning light through the sample arm. After the fixed point position is determined, when the fixed point and the pupil of the animal's eye are adjusted to coincide, the retinal image is collected.

[0012] As a further limitation of the first aspect of the present invention, the sample arm includes a first collimator, a scanning galvanometer, a first focusing lens and a second focusing lens arranged in sequence along the optical path, the first focusing lens and the second focusing lens forming system, through the The refraction of the system converts the scanning beam of the scanning galvanometer into a scanning beam that always passes through the fixed point; the reference arm includes a second collimator and a reflector that are positioned opposite to each other, and the second collimator is connected to the optical coupler through an optical fiber.

[0013] As a further limitation of the first aspect of the present invention, the animal carrying platform can be translated in three mutually perpendicular directions and rotated around three mutually perpendicular axes driven by the multi-axis linkage platform.

[0014] In a second aspect, the present invention provides an animal retinal image acquisition control method.

[0015] A method for controlling the acquisition of animal retinal images, using the animal retinal image acquisition system described in the first aspect of the present invention, comprises the following steps:

[0016] Before acquiring the image of the retina through the data acquisition scanning protocol, the scanning light is controlled by the scanning galvanometer to scan along a single scanning line to preview the retinal cross-sectional image in real time, and the single scanning line is the preview light;

[0017] Set the direction parallel to the preview light to the world coordinate system Axis direction, the preview light incident from the sample arm is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, set the center position of the base of the multi-axis linkage platform as the origin of the world coordinate system;

[0018] Taking the pupil position coordinates of the animal as the origin, define the line connecting the two eye corners as the pupil coordinate system of the animal Axis, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system of the animal axis, The axes are perpendicular to Axis and axis;

[0019] Make the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel;

[0020] According to the coordinates of the fixed point in the world coordinate system and the coordinates of the pupil of the animal, the position coordinates of the fixed point and the position coordinates of the pupil of the animal are adjusted to coincide with each other;

[0021] The single preview light scanning is switched to multiple preview light scanning, and the position of the animal's pupil is adjusted according to the missing state of the retinal image to obtain the entire retinal image.

[0022] As a further limitation of the second aspect of the present invention, the preview light is located at the center of the entire retinal image collected, and the data collection scanning light range is centered on the preview light and extends equally to both sides.

[0023] As a further limitation of the second aspect of the present invention, the determination of the coordinates of the fixed point in the world coordinate system includes:

[0024] Scan according to the preview light, place a spot observation plate horizontally, and let the preview light be displayed on the spot observation plate. Place the spot observation plate below the outgoing light of the sample arm. When the spot observation plate is moved toward the fixed point, the length of the preview light will gradually shorten.

[0025] The camera coordinate system is constructed with the camera lens position as the origin of the camera coordinate system, and the direction perpendicular to the lens is defined as axis, perpendicular to the bottom of the camera and perpendicular to The direction of the axis is axis, The axes are perpendicular to Axis and axis;

[0026] When the preview light is displayed as a light spot on the scale paper and this light spot is at the minimum state, the position of this light spot is the position coordinate of the fixed point. The position coordinate of the fixed point in the camera coordinate system is determined as , , .

[0027] As a further limitation of the second aspect of the present invention, according to the coordinates of the fixed point in the world coordinate system and the coordinate position of the pupil of the animal, adjusting the position coordinates of the fixed point and the position coordinates of the pupil of the animal to coincide with each other includes:

[0028] The coordinates of the origin of the camera coordinate system in the world coordinate system are: , , , the coordinates of the animal's pupil in the camera coordinate system are: , , , then the position coordinates of the animal's pupil in the world coordinate system are: , , , the coordinates of the fixed point in the world coordinate system are: , , ;

[0029] After obtaining the coordinates of the fixed point in the world coordinate system and the coordinate position of the animal's pupil, the position coordinates of the fixed point and the position coordinates of the animal's pupil are adjusted to coincide with each other by controlling the multi-axis linkage platform.

[0030] As a further limitation of the second aspect of the present invention, after the light entering the sample arm passes through the scanning galvanometer, the scanning galvanometer controls the scanning light to hit different positions of the retina along different directions, thereby acquiring the entire retinal image. The light that acquires the retinal image is called a data acquisition scanning light, and the range covered by the multiple preview lights must be greater than or equal to the range of the data acquisition scanning light.

[0031] As a further limitation of the second aspect of the present invention, the retinal cross-sectional images obtained by scanning multiple preview rays are spliced ​​into a retinal frontal projection image, and are displayed in real time in a preview window of a control terminal. When an obvious missing area appears in the retinal frontal projection image, it indicates that the position of the fixed point does not completely coincide with the center position of the animal's pupil.

[0032] When there is no obvious missing area in the retinal frontal projection, the multi-axis linkage platform is controlled to make the animal move along the world coordinate system. axis, Axis or Axis direction adjustment results in an obvious absence of retinal frontal projection;

[0033] When there is an obvious missing state in the retinal frontal projection image, an adjustment is made to adjust the position coordinates of the fixed point to coincide with the position coordinates of the animal's pupil.

[0034] As a further limitation of the second aspect of the present invention, adjusting the position coordinates of the fixed point and the position coordinates of the pupil of the animal to coincide with each other includes:

[0035] calculate Distance deviation in the axis direction ;

[0036] calculate Distance deviation in the axis direction as well as Distance deviation in the axis direction ;

[0037] adjust Distance in the axis direction Until the image missing state disappears;

[0038] Control the multi-axis linkage platform Axis movement ,exist Axis movement , so that the fixed point coincides with the center of the animal's pupil.

[0039] As a further limitation of the second aspect of the present invention, calculating Distance deviation in the axis direction ,include:

[0040] In the world coordinate system, along Axis movement , the number of pixels moved in the shadow area of ​​the preview window is , get the distance represented by each pixel value in the world coordinate system: ;

[0041] In the preview window, The total number of pixels in the axis direction is , the actual area width scanned by multiple preview rays in the animal pupil plane for: ;

[0042] By controlling the input voltage of the scanning galvanometer , get the swing angle of the scanning galvanometer : ,in, is the scanning galvanometer input voltage Swing angle with scanning galvanometer The proportionality coefficient of

[0043] The swing angle is The scanning galvanometer scans the light, passing through After the system is completed, it reaches the fixed point. When passing through the fixed point, the scanning angle of the scanning light : ,in, for The focal length of the first focusing lens of the system, is the focal length of the second focusing lens;

[0044] The swing angle of the light passing through the fixed point , and the size of the actual scan area , get the value in the world coordinate system The distance between the fixed point and the pupil in the axial direction : .

[0045] As a further limitation of the second aspect of the present invention, calculating Distance deviation in the axis direction as well as Distance deviation in the axis direction ,include:

[0046] The pupil edge is in the shape of an arc. According to the boundary of the missing edge of the image, the arc is fitted and the pixel coordinates of the center of the arc in the preview window are calculated ( ), the actual distance in the world coordinate system represented by each pixel value is ;

[0047] Based on the pixel coordinates of the center of the preview window ( ) and the fitted pixel coordinates of the circle center ( ), respectively calculate the difference in the world coordinate system Axis and The distance between the fixed point and the pupil center in the axial direction: , .

[0048] As a further limitation of the second aspect of the present invention, adjusting Distance in the axis direction Until the image missing state disappears, including:

[0049] Get the world coordinate system The distance between the fixed point and the pupil in the axial direction Then, first follow The positive direction of the axis controls the movement of the multi-axis linkage platform If the image missing state disappears, it means After the axis direction adjustment is completed, if the image missing state does not disappear but becomes larger, move in the opposite direction. If the image missing state disappears, it means The axis direction adjustment is completed.

[0050] In a third aspect, the present invention provides an animal retinal image acquisition and control system.

[0051] An animal retinal image acquisition control system, using the animal retinal image acquisition system according to the first aspect of the present invention, comprises:

[0052] A preview light definition unit is configured to: before acquiring a retinal image through a data acquisition scanning protocol, control a scanning light to scan along a single scanning line through a scanning galvanometer to preview a retinal cross-sectional image in real time, wherein the single scanning line is a preview light;

[0053] The world coordinate system setting unit is configured to: set the direction parallel to the preview light as the direction of the world coordinate system Axis direction, the preview light incident from the sample arm is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, set the center position of the base of the multi-axis linkage platform as the origin of the world coordinate system;

[0054] The animal pupil coordinate system setting unit is configured to: take the animal pupil position coordinate as the origin, define the line connecting the two eye corners as the animal pupil coordinate system Axis, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system axis, The axes are perpendicular to Axis and axis;

[0055] The coordinate system registration unit is configured to: Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel;

[0056] The position adjustment unit is configured to: adjust the position coordinates of the fixed point and the position coordinates of the animal's pupil to coincide with each other according to the coordinates of the fixed point in the world coordinate system and the coordinate position of the animal's pupil;

[0057] The retinal image acquisition unit is configured to switch from scanning with a single preview light beam to scanning with multiple preview light beams, and adjust the position of the animal's pupil according to the missing state of the retinal image to obtain the entire retinal image.

[0058] In a fourth aspect, the present invention provides a computer device, comprising: a processor and a computer-readable storage medium;

[0059] a processor adapted to execute a computer program;

[0060] A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the animal retinal image acquisition control method as described in the second aspect of the present invention is implemented.

[0061] In a fifth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor and executing the animal retinal image acquisition control method as described in the second aspect of the present invention.

[0062] In a sixth aspect, the present invention provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the animal retinal image acquisition control method as described in the second aspect of the present invention.

[0063] Compared with the prior art, the present invention has the following beneficial effects:

[0064] 1. The present invention innovatively proposes an animal retinal image acquisition strategy, which solves the problem that the retinal optic nerve head is difficult to locate and that the position of the animal needs to be repeatedly adjusted to acquire a complete retinal image. The initial posture of the animal's eyes is specified according to the physiological structure characteristics of the animal, and then the fixed point is adjusted to coincide with the animal's pupil, so that the position of the optic nerve head can be quickly found, while ensuring the integrity of the acquired retinal image.

[0065] 2. Through the multi-axis linkage automatic adjustment platform, the animal's pupil position coordinates can be quickly adjusted to coincide with the fixed point coordinates, and the position of the optic nerve head can be accurately found, saving debugging time.

[0066] 3. By automatically adjusting the posture of the animal pupil coordinate system, the axes of the animal eye coordinate system are kept parallel to the axes of the world coordinate system, and the line between the corners of the eyes is kept coincident with the light of a single preview scanning protocol. When the fixed point happens to enter the pupil, the optic nerve head is also located at the center of the single preview scanning protocol light, thereby achieving rapid positioning of the optic nerve head and reducing operation time.

[0067] 4. Scan the shadow position of the retinal front projection image spliced ​​together according to the scanning protocol of multiple preview rays, and accurately adjust the animal's pupil position, thereby ensuring that a complete retinal image can be collected during the formal collection and ensuring the quality of the collected image.

[0068] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0070] Figure 1 A schematic diagram of an animal retinal image acquisition system provided in Example 1 of the present invention;

[0071] Figure 2 A schematic diagram of a single preview light and a data acquisition scanning light range provided in Embodiment 2 of the present invention;

[0072] Figure 3 A schematic diagram of fixed point calibration provided in Example 2 of the present invention;

[0073] Figure 4 A schematic diagram of an animal pupil coordinate system provided in Example 2 of the present invention;

[0074] Figure 5A schematic diagram of a grating type preview light provided in Embodiment 2 of the present invention;

[0075] Figure 6 Schematic diagram of fixed point position offset provided in Example 2 of the present invention Figure 1 ;

[0076] Figure 7 Schematic diagram of fixed point position offset provided in Example 2 of the present invention Figure 2 ;

[0077] Figure 8 A schematic diagram of a missing area arc provided in Example 2 of the present invention, wherein: Figure 8 (a) is a schematic diagram of the fixed point position above the pupil. Figure 8 (b) is a schematic diagram showing that the fixed point is located below the pupil;

[0078] Fig. 9 A flow chart of the fine-tuning phase provided in Example 2 of the present invention;

[0079] Fig.10 A schematic diagram of an animal retinal image acquisition and control system provided in Example 3 of the present invention;

[0080] Fig.11 A schematic diagram of a computer device provided in Embodiment 4 of the present invention;

[0081] Among them, 1. multi-axis linkage platform; 2. light source; 3. optical coupler; 4. spectrometer; 5. control terminal; 6. camera; 7. sample arm; 8. reference arm; 9. first collimator; 10. scanning galvanometer; 11. first focusing lens; 12. second focusing lens; 13. animal; 14. animal carrying platform; 15. second collimator; 16. reflector; 17. light spot observation plate. DETAILED DESCRIPTION

[0082] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0083] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0084] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0085] Embodiment 1:

[0086] In this implementation, an animal retinal image acquisition system is proposed, such as Figure 1As shown, it includes: a multi-axis linkage platform 1, a light source 2, an optical coupler 3, a spectrometer 4, a control terminal 5, a camera 6, a sample arm 7 and a reference arm 8;

[0087] The optical coupler 3 is connected to the spectrometer 4 and the light source 2 through optical fibers, the control terminal 5 is connected to the spectrometer 4 and the camera 6 for communication, and the optical coupler 3 is connected to the sample arm 7 and the reference arm 8 through optical fibers.

[0088] The multi-axis linkage platform 1 is connected to an animal carrying platform 14. The light emitted by the optical coupler 3 forms a scanning light through the sample arm 7. After the fixed point position is determined, when the fixed point and the pupil of the animal 13 are adjusted to coincide, the retinal image is collected.

[0089] In this implementation, preferably, the sample arm 7 includes a first collimator 9, a scanning galvanometer 10, a first focusing lens 11 and a second focusing lens 12 arranged in sequence along the optical path, and the first focusing lens 11 and the second focusing lens 12 form System (the The system is composed of two focusing lenses, the first focusing lens and the second focusing lens. The position relationship of the components is related to the four focal lengths of the two focusing lenses, so it is called system), after the The refraction of the system converts the scanning beam of the scanning galvanometer 10 into a scanning beam that always passes through the fixed point; the reference arm 8 includes a second collimator 15 and a reflector 16 that are positioned opposite to each other, and the second collimator 15 is connected to the optical coupler 3 through an optical fiber.

[0090] In this implementation, preferably, the animal carrying platform 14 can be driven by the multi-axis linkage platform 1 to perform translation in at least three directions (this implementation preferably selects translation in three mutually perpendicular directions) and rotation around three mutually perpendicular axes, and the animal carrying platform 14 can rotate around an axis on the multi-axis linkage platform 1 that is perpendicular to the animal carrying platform 14.

[0091] The specific use process of the above system includes:

[0092] The anesthetized animal 13 is fixed on the animal carrying platform 14. Driven by the multi-axis linkage platform 1, the animal carrying platform 14 enables the animal 13 to translate along three axes in different directions and to rotate along an axis perpendicular to the horizontal plane of the animal carrying platform 14.

[0093] The light emitted from the light source 2 enters the optical coupler 3. After being split by the optical coupler 3, part of the light enters the reference arm 8, and the other part is split into the sample arm 7. The refraction of the system can transform the scanning beam of the scanning galvanometer 10 into a scanning beam that always passes through a fixed point. When this fixed point coincides with the pupil of the eye, it can ensure that the scanning light can always scan the entire retina during image acquisition, thereby obtaining a complete retinal OCT image.

[0094] Embodiment 2:

[0095] In this implementation, a method for controlling the acquisition of animal retinal images is provided, which specifically includes the following processes:

[0096] S1: System calibration.

[0097] S1.1: Definition of preview scan protocol and data acquisition scan protocol and the relationship between them.

[0098] After the light entering the sample arm 7 passes through the scanning galvanometer 10, the scanning galvanometer 10 controls the light to hit different positions of the retina in different directions to realize the collection of the entire retinal image. The light scanning method for collecting the retinal image is called the data collection scanning protocol (the corresponding light is called the data collection scanning light). However, before acquiring the image of the retina through the data collection scanning protocol, it is first necessary to control the scanning light to scan along a single scanning line through the scanning galvanometer 10, so that the retinal cross-sectional image can be previewed in real time, and then the retina is adjusted to the appropriate position. This initial single scanning line is specified as the light of the preview scanning protocol (the corresponding is called the preview light). In order to ensure that the position of the preview image scanned by the light of the preview protocol is at the center of the entire retinal image collected, it is specified that the light range of the data collection scanning light is centered on the preview light and extends equally to both sides, forming the following Figure 2 The data acquisition scan range is shown.

[0099] S1.2: Definition of world coordinate system.

[0100] Based on the preview light, set the direction of the world coordinate system, and define the direction parallel to the preview light as the direction of the world coordinate system. Axis direction, the direction of the incident light from the sample arm 7 is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, and set the base center position of the multi-axis linkage platform 1 as the origin of the world coordinate system.

[0101] S1.3: Definition of camera coordinate system.

[0102] Calibrate camera 6, define the camera coordinate system, take the lens position of camera 6 as the origin of the camera coordinate system, and define the direction perpendicular to the lens as axis, perpendicular to the bottom of camera 6 and perpendicular to The direction of the axis is axis, Axis perpendicular to Axis and Axis, and define the coordinates of the origin of the camera coordinate system in the world coordinate system as , , .

[0103] S1.4: Calibration of fixed point positions.

[0104] After the entire retinal image acquisition system is debugged and before data collection begins, the fixed point coordinates need to be calibrated by the camera 6. First, the scanning galvanometer 10 is controlled to scan according to the preview light, and a spot observation plate is placed horizontally, such as Figure 3 As shown, let the preview light be displayed on the spot observation plate 17, and place the spot observation plate 17 below the light emitted by the sample arm 7. When the spot observation plate 17 is moved toward the fixed point, the length of the preview light will gradually shorten until the preview light is displayed as a light spot on the scale paper, and when this light spot is at the minimum state, the position of this light spot is the position coordinate of the fixed point. The position coordinate of the fixed point in the camera coordinate system is calibrated by the camera 6 as , , .

[0105] S2: System debugging.

[0106] S2.1: Identification of the pupil position of animal 13 and establishment of the pupil coordinate system.

[0107] The camera 6 identifies and calibrates the position of the animal 13's eyes through feature extraction and edge recognition algorithms, and calibrates the position coordinates of the two eye corners of the animal 13 in the camera coordinate system, as well as the center position coordinates of the upper eyelid margin and the center position coordinates of the lower eyelid margin. Figure 4 As shown, the coordinate positions of the two eye corners are connected, and the coordinate of the middle point is calibrated as the coordinate position of the pupil in the camera coordinate system. The pupil position coordinate is used as the origin to define the pupil coordinate system of animal 13; the line connecting the two eye corners is defined as the pupil coordinate system of animal 13 Direction, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system of the animal 13 Direction, perpendicular to Directions and The axis of direction is Axis, and define the coordinates of the pupil of animal 13 in the camera coordinate system as , , .

[0108] S2.2: Eye posture adjustment of animal 13.

[0109] Adjust the multi-axis linkage platform 1. First, make the animal coordinate system Axis and world coordinate system Then adjust the multi-axis linkage platform 1 so that the animal coordinate system Axis and world coordinate system The axes remain parallel, and the pupil coordinates of animal 13 are The axis is also related to the world coordinate system The axes remain parallel, and the purpose of this adjustment is to make the fixed point coincide with the pupil so that the preview light can scan the optic nerve head.

[0110] S2.3: Coarse adjustment stage: The pupil of the animal 13 is adjusted to coincide with the fixed point according to the coordinate position, so that the retinal image of the animal 13 can be obtained in the preview mode.

[0111] It is known that the coordinates of camera 6 in the world coordinate system are ( , , ), the coordinates of the pupil of animal 13 in the camera coordinate system are ( , , ), then the position coordinates of the pupil of animal 13 in the world coordinate system are , , . Similarly, the coordinates of the fixed point in the world coordinate system are: , , After obtaining the coordinates of the fixed point in the world coordinate system and the coordinate position of the pupil of the animal 13, the position coordinates of the fixed point and the position coordinates of the pupil of the animal 13 are adjusted to coincide with each other by controlling the multi-axis linkage platform 1. At this time, the retinal cross-sectional image of the animal 13 can be seen in the preview mode.

[0112] S2.4: Fine-tuning stage: According to the missing state of the retinal image, the pupil position of the animal 13 is adjusted to achieve complete acquisition of the retinal image. The overall flow chart is as follows Figure 5 shown.

[0113] After the fixed point is adjusted to coincide with the pupil position according to the coordinate position, the light scanning protocol is switched from the single preview light scanning protocol to the multiple preview light scanning protocol. The range included in the multiple preview light scanning protocol must be greater than or equal to the scanning range of the data acquisition scanning protocol. Figure 6 As shown, a single preview ray is transformed into multiple parallel preview rays, and the intervals between the multiple preview rays are equally wide.

[0114] The retinal cross-sectional images obtained by multiple preview rays are spliced ​​into a retinal frontal projection image, and displayed in real time in the preview window of the control terminal 5. When there is an obvious missing area in the retinal frontal projection image, it means that after the adjustment in the coarse adjustment stage, the position of the fixed point does not completely coincide with the pupil center of the animal 13, so that the system scans the pupil area during the image acquisition process, resulting in obvious missing areas in the retinal frontal projection image. This will cause the problem of not being able to acquire a complete retinal OCT image during the formal data acquisition process.

[0115] When there is no missing in the retinal frontal projection image, there are two situations. The first is that after the coarse adjustment stage, the position of the fixed point has completely coincided with the center position of the pupil of animal 13. The second is that after the coarse adjustment stage, the position of the fixed point does not completely coincide with the center position of the pupil of animal 13, but the scanning light does not scan the pupil area, such as Figure 7 shown.

[0116] Although the second case can collect a complete retinal image during the formal data collection process, the position of the fixed point does not completely coincide with the center of the pupil of the animal 13, and a retinal OCT image with poor image quality will be collected. Since it is impossible to judge which of the above two situations is when there is no missing state by relying solely on the front projection image of the retina in the preview window, when there is no missing state, the multi-axis linkage platform 1 is directly adjusted to make the animal 13 move along the world coordinate system. axis, Axis or Axis adjustment results in an apparent absence of the retinal frontal projection image.

[0117] When the retinal frontal projection image is obviously missing, there are two main cases. The first case is that the fixed point is above the pupil, and the second case is that the fixed point is below the pupil. In both cases, the scanning light scans out the pupil area of ​​animal 13. The schematic diagrams of the two cases are shown in Figure 1. Figure 8 (a) and Figure 8 As shown in (b) in .

[0118] When there is a significant loss in the retinal frontal projection image, the adjustment process is as follows:

[0119] (1) Calculation Distance deviation in the axis direction .

[0120] First, in the world coordinate system, along The axis moves a certain distance, At this time, measure the number of pixels moved in the shadow area of ​​the preview window , and then deduce the distance represented by each pixel value in the world coordinate system:

[0121] (1);

[0122] It is known that in the preview window, The total number of pixels in the axis direction is , and then infer the actual width of the area scanned by multiple scanning protocols in the pupil plane of animal 13 :

[0123] (2);

[0124] By controlling the input voltage of the scanning galvanometer , and then the swing angle of the scanning galvanometer can be controlled :

[0125] (3);

[0126] in, is the scanning galvanometer input voltage Swing angle with scanning galvanometer The proportionality factor.

[0127] The swing angle is The scanning galvanometer scans the light, passing through After the system reaches the fixed point, it can be deduced that when passing through the fixed point, the scanning angle of the scanning light :

[0128] (4);

[0129] in, for The focal length of the first lens in the system, is the focal length of the second lens.

[0130] The swing angle of the light passing through the fixed point , and the size of the actual scan area , and then infer that in the world coordinate system The distance between the fixed point and the pupil in the axial direction :

[0131] (5);

[0132] Therefore, the world coordinate system is obtained The distance between the fixed point and the pupil in the axial direction .

[0133] (2) Calculation Axis and Distance deviation on axis and .

[0134] Since the pupil edge is arc-shaped, the arc is fitted according to the boundary of the missing edge of the image. The schematic diagram is as follows Fig. 9 As shown. Calculate the pixel coordinates of the center of the arc in the preview window ( ), it is known that the actual distance in the world coordinate system represented by each pixel value is . Based on the pixel coordinates of the center of the preview window ( ) and the fitted pixel coordinates of the circle center ( ), respectively calculate the difference in the world coordinate system Axis and The distance between the fixed point and the pupil center in the axial direction:

[0135] (6);

[0136] (7);

[0137] Through the above steps, we get the world coordinate system The distance between the fixed point and the pupil in the axial direction And in the world coordinate system Axis and The distance between the fixed point and the pupil center in the axial direction and .

[0138] (3) Adjustment Distance in the axis direction .

[0139] Get the distance between the fixed point and the pupil in the Z-axis direction of the world coordinate system Later, due to In the axis direction, the fixed point may be below the pupil or above the pupil. First, follow The positive direction of the axis controls the movement of the multi-axis linkage platform 1 If the image missing state disappears, it means The axis direction adjustment is completed. If the image missing state does not disappear, but becomes larger, move in the opposite direction. If the image missing state disappears, it means The axis direction adjustment is completed.

[0140] (4) Adjustment Axis and Distance in the axis direction and .

[0141] Get the world coordinate system Axis and The distance between the fixed point and the pupil center in the axial direction and After that, control the multi-axis linkage platform 1 Axis and Move in the axis direction and The distance is such that the fixed point is precisely coincident with the pupil center position of the animal 13 and a complete retinal image can be acquired during the formal acquisition scanning process.

[0142] Embodiment 3:

[0143] like Fig.10 As shown, this implementation provides an animal retinal image acquisition control system, using the animal retinal image acquisition system described in Example 1 of the present invention, it can be understood that each control unit of the animal retinal image acquisition control system here can exist separately in a certain control module, or can be embedded in the control terminal 5 in Example 1 as a program soft module. Specifically, it includes:

[0144] The preview light definition unit is configured to: before acquiring the image of the retina through the data acquisition scanning protocol, control the scanning light to scan along a single scanning line through the scanning galvanometer 10 to preview the retinal cross-sectional image in real time, wherein the single scanning line is the preview light;

[0145] The world coordinate system setting unit is configured to: set the direction parallel to the preview light as the direction of the world coordinate system Axis direction, the preview light incident from the sample arm 7 is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, set the center position of the base of the multi-axis linkage platform 1 as the origin of the world coordinate system;

[0146] The animal pupil coordinate system setting unit is configured to: take the animal pupil position coordinate as the origin, define the line connecting the two eye corners as the animal pupil coordinate system Axis, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system axis, The axes are perpendicular to Axis and axis;

[0147] The coordinate system registration unit is configured to: Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel;

[0148] The position adjustment unit is configured to: adjust the position coordinates of the fixed point and the position coordinates of the animal's pupil to coincide with each other according to the coordinates of the fixed point in the world coordinate system and the coordinate position of the animal's pupil;

[0149] The retinal image acquisition unit is configured to switch from scanning with a single preview light beam to scanning with multiple preview light beams, and adjust the position of the animal's pupil according to the missing state of the retinal image to obtain the entire retinal image.

[0150] It is understandable that the above-mentioned units can be separately or completely combined into one or several other units to constitute, or one (some) of the units can be further divided into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of one unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, the system may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0151] According to another embodiment of the present application, the system described in this embodiment can be constructed, and the method of Example 1 of the present application can be implemented by running a computer program (including program code) capable of executing the steps involved in the corresponding method described in Example 1 on a general-purpose computing device such as a computer, which includes processing elements and storage elements such as a central processing unit (CPU), random access memory (RAM), and read-only memory (ROM). The computer program can be recorded on, for example, a computer-readable recording medium, and loaded into the above-mentioned computing device through the computer-readable recording medium and run therein.

[0152] Embodiment 4:

[0153] like Fig.11As shown, this implementation provides a computer device, which includes a processor 1001, a communication interface 1002, and a computer-readable storage medium 1003. The processor 1001, the communication interface 1002, and the computer-readable storage medium 1003 may be connected via a bus or other means.

[0154] Among them, the communication interface 1002 is used to receive and send data, the computer-readable storage medium 1003 can be stored in the memory of the electronic device, the computer-readable storage medium 1003 is used to store a computer program, the computer program includes program instructions, and the processor 1001 is used to execute the program instructions stored in the computer-readable storage medium 1003.

[0155] The processor 1001 (or CPU (Central Processing Unit)) is the computing core and control core of the electronic device, which is suitable for implementing one or more instructions, and specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions.

[0156] It can be understood that the computer device here can be replaced by the control terminal 5 in Example 1.

[0157] The processor 1001 is configured to execute the following process:

[0158] Before acquiring the image of the retina through the data acquisition scanning protocol, the scanning light is controlled by the scanning galvanometer 10 to scan along a single scanning line to preview the retinal cross-sectional image in real time, and the single scanning line is the preview light;

[0159] Set the direction parallel to the preview light to the world coordinate system Axis direction, the preview light incident from the sample arm 7 is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, set the center position of the base of the multi-axis linkage platform 1 as the origin of the world coordinate system;

[0160] Taking the pupil position coordinates of the animal as the origin, define the line connecting the two eye corners as the pupil coordinate system of the animal Axis, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system axis, The axes are perpendicular to Axis and axis;

[0161] Make the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel;

[0162] According to the coordinates of the fixed point in the world coordinate system and the coordinates of the pupil of the animal, the position coordinates of the fixed point and the position coordinates of the pupil of the animal are adjusted to coincide with each other;

[0163] The single preview light scanning is switched to multiple preview light scanning, and the position of the animal's pupil is adjusted according to the missing state of the retinal image to obtain the entire retinal image.

[0164] The detailed process is described in Example 2 and will not be repeated here.

[0165] Embodiment 5:

[0166] This implementation provides a computer-readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the electronic device and, of course, extended storage media supported by the electronic device. The computer-readable storage medium provides a storage space that stores the processing system of the electronic device.

[0167] It can be understood that the computer-readable storage medium here can exist independently in a certain control module, or can be embedded in the control terminal 5 in Example 1.

[0168] In addition, the storage space also stores one or more instructions suitable for being loaded and executed by the processor, and these instructions may be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here may be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory; optionally, it may also be at least one computer-readable storage medium located away from the aforementioned processor.

[0169] In one embodiment, the computer-readable storage medium stores one or more instructions; the processor loads and executes the one or more instructions stored in the computer-readable storage medium to implement the following process:

[0170] Before acquiring the image of the retina through the data acquisition scanning protocol, the scanning light is controlled by the scanning galvanometer 10 to scan along a single scanning line to preview the retinal cross-sectional image in real time, and the single scanning line is the preview light;

[0171] Set the direction parallel to the preview light to the world coordinate system Axis direction, the preview light incident from the sample arm 7 is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, set the center position of the base of the multi-axis linkage platform 1 as the origin of the world coordinate system;

[0172] Taking the pupil position coordinates of the animal as the origin, define the line connecting the two eye corners as the pupil coordinate system of the animal Axis, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system axis, The axes are perpendicular to Axis and axis;

[0173] Make the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel;

[0174] According to the coordinates of the fixed point in the world coordinate system and the coordinates of the pupil of the animal, the position coordinates of the fixed point and the position coordinates of the pupil of the animal are adjusted to coincide with each other;

[0175] The single preview light scanning is switched to multiple preview light scanning, and the position of the animal's pupil is adjusted according to the missing state of the retinal image to obtain the entire retinal image.

[0176] The detailed process is described in Example 2 and will not be repeated here.

[0177] Embodiment 6:

[0178] The present implementation manner provides a computer program product or a computer program, wherein the computer program product or the computer program comprises computer instructions stored in a computer-readable storage medium.

[0179] It can be understood that the computer program product or computer program here can exist separately in a certain control module, or can be embedded in the control terminal 5 in Example 1. The processor of the electronic device reads the computer instruction from the computer readable storage medium, and the processor executes the computer instruction, so that the electronic device performs the following process:

[0180] Before acquiring the image of the retina through the data acquisition scanning protocol, the scanning light is controlled by the scanning galvanometer 10 to scan along a single scanning line to preview the retinal cross-sectional image in real time, and the single scanning line is the preview light;

[0181] Set the direction parallel to the preview light to the world coordinate system Axis direction, the preview light incident from the sample arm 7 is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, set the center position of the base of the multi-axis linkage platform 1 as the origin of the world coordinate system;

[0182] Taking the pupil position coordinates of the animal as the origin, define the line connecting the two eye corners as the pupil coordinate system of the animal Axis, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system axis, The axes are perpendicular to Axis and axis;

[0183] Make the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel;

[0184] According to the coordinates of the fixed point in the world coordinate system and the coordinates of the pupil of the animal, the position coordinates of the fixed point and the position coordinates of the pupil of the animal are adjusted to coincide with each other;

[0185] The single preview light scanning is switched to multiple preview light scanning, and the position of the animal's pupil is adjusted according to the missing state of the retinal image to obtain the entire retinal image.

[0186] The detailed process is described in Example 2 and will not be repeated here.

[0187] A person skilled in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0188] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by the computer or a data processing device such as a server, a data center, etc. that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0189] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An animal retinal image acquisition system, It is characterized in that Includes: multi-axis linkage platform, light source, optical coupler, spectrometer, control terminal, camera, sample arm and reference arm; The optical coupler is connected to the spectrometer and the light source through optical fibers, respectively; the control terminal is connected to the spectrometer and the camera for communication, respectively; and the optical coupler is connected to the sample arm and the reference arm through optical fibers, respectively; The multi-axis linkage platform is connected to an animal carrying platform, and the light emitted by the optical coupler forms a scanning light through the sample arm. After the fixed point position is determined, when the fixed point and the retinal pupil are adjusted to coincide, the retinal image is collected; The sample arm comprises a first collimator, a scanning galvanometer, a first focusing lens and a second focusing lens arranged in sequence along the optical path. The first focusing lens and the second focusing lens form system, through the The refraction of the system changes the scanning beam of the scanning galvanometer into a scanning beam that always passes through the fixed point; Before acquiring the image of the retina through the data acquisition scanning protocol, the scanning light is controlled by the scanning galvanometer to scan along a single scanning line to preview the retinal cross-sectional image in real time, and the single scanning line is the preview light; Switch from scanning with a single preview light to scanning with multiple preview lights, and adjust the position of the animal's pupil according to the missing state of the retinal image to obtain the entire retinal image; The determination of the coordinates of the fixed point in the world coordinate system includes: Scan according to the preview light, place a spot observation plate horizontally, and let the preview light be displayed on the spot observation plate. Place the spot observation plate below the outgoing light of the sample arm. When the spot observation plate is moved toward the fixed point, the length of the preview light will gradually shorten. The camera coordinate system is constructed with the camera lens position as the origin of the camera coordinate system, and the direction perpendicular to the lens is defined as axis, perpendicular to the bottom of the camera and perpendicular to The direction of the axis is axis, The axes are perpendicular to Axis and axis; When the preview light is displayed as a light spot on the scale paper and this light spot is at the minimum state, the position of this light spot is the position coordinate of the fixed point. The position coordinate of the fixed point in the camera coordinate system is determined as , , .

2. The animal retinal image acquisition system according to claim 1, characterized in that: The reference arm comprises a second collimator and a reflector which are positioned opposite to each other, and the second collimator is connected to the optical coupler via an optical fiber.

3. The animal retinal image acquisition system according to claim 1, characterized in that: The animal carrying platform can be translated in three mutually perpendicular directions and rotated around three mutually perpendicular axes driven by the multi-axis linkage platform.

4. A method for collecting and controlling animal retinal images, characterized in that: The animal retinal image acquisition system according to any one of claims 1 to 3 comprises the following process: Before acquiring the image of the retina through the data acquisition scanning protocol, the scanning light is controlled by the scanning galvanometer to scan along a single scanning line to preview the retinal cross-sectional image in real time, and the single scanning line is the preview light; Set the direction parallel to the preview light to the world coordinate system Axis direction, the preview light incident from the sample arm is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, set the center position of the base of the multi-axis linkage platform as the origin of the world coordinate system; Taking the pupil position coordinates of the animal as the origin, define the line connecting the two eye corners as the pupil coordinate system of the animal Axis, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system of the animal axis, The axes are perpendicular to Axis and axis; Make the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel; According to the coordinates of the fixed point in the world coordinate system and the coordinate position of the pupil of the animal, the position coordinates of the fixed point and the position coordinates of the pupil of the animal are adjusted to coincide with each other; The single preview light scanning is switched to multiple preview light scanning, and the position of the animal's pupil is adjusted according to the missing state of the retinal image to obtain the entire retinal image.

5. The animal retinal image acquisition control method according to claim 4, characterized in that: The preview light is located at the center of the entire retinal image collected, and the data collection scanning light range is centered on the preview light and extends equally to both sides.

6. The animal retinal image acquisition control method according to claim 4, characterized in that: According to the coordinates of the fixed point in the world coordinate system and the coordinate position of the animal's pupil, the position coordinates of the fixed point and the position coordinates of the animal's pupil are adjusted to coincide with each other, including: The coordinates of the origin of the camera coordinate system in the world coordinate system are: , , , the coordinates of the animal's pupil in the camera coordinate system are: , , , then the position coordinates of the animal's pupil in the world coordinate system are: , , , the coordinates of the fixed point in the world coordinate system are: , , ; After obtaining the coordinates of the fixed point in the world coordinate system and the coordinate position of the animal's pupil, the position coordinates of the fixed point and the position coordinates of the animal's pupil are adjusted to coincide with each other by controlling the multi-axis linkage platform.

7. The animal retinal image acquisition control method according to claim 4, characterized in that: After the light entering the sample arm passes through the scanning galvanometer, the scanning galvanometer controls the scanning light to hit different positions of the retina along different directions to realize the collection of the entire retinal image. The light that collects the retinal image is called the data collection scanning light. The range covered by the multiple preview lights must be greater than or equal to the range of the data collection scanning light.

8. The animal retinal image acquisition control method according to claim 7, characterized in that: The retinal cross-sectional images obtained by scanning multiple preview rays are stitched together into a retinal frontal projection image, and displayed in real time in the preview window of the control terminal. When an obvious missing area appears in the retinal frontal projection image, it means that the position of the fixed point does not completely coincide with the center of the animal's pupil; When there is no obvious missing area in the retinal frontal projection, the multi-axis linkage platform is controlled to make the animal move along the world coordinate system. axis, Axis or Axis direction adjustment results in an obvious absence of retinal frontal projection; When there is an obvious missing state in the retinal frontal projection image, an adjustment is made to adjust the position coordinates of the fixed point to coincide with the position coordinates of the animal's pupil.

9. The animal retinal image acquisition control method according to claim 8, characterized in that: Adjustments are made to adjust the position coordinates of the fixed point to coincide with the position coordinates of the pupil of the animal, including: calculate Distance deviation in the axis direction ; calculate Distance deviation in the axis direction as well as Distance deviation in the axis direction ; adjust Distance in the axis direction Until the image missing state disappears; Control the multi-axis linkage platform Axis movement ,exist Axis movement , so that the fixed point coincides with the center of the animal's pupil.

10. The animal retinal image acquisition control method according to claim 9, characterized in that: calculate Distance deviation in the axis direction ,include: In the world coordinate system, along Axis movement , the number of pixels moved in the shadow area of ​​the preview window is , get the distance represented by each pixel value in the world coordinate system: ; In the preview window, The total number of pixels in the axis direction is , the actual area width scanned by multiple preview rays in the animal pupil plane for: ; By controlling the input voltage of the scanning galvanometer , get the swing angle of the scanning galvanometer : ,in, is the scanning galvanometer input voltage Swing angle with scanning galvanometer The proportionality coefficient of The swing angle is The scanning galvanometer scans the light, passing through After the system is completed, it reaches the fixed point. When passing through the fixed point, the scanning angle of the scanning light : ,in, for The focal length of the first focusing lens of the system, is the focal length of the second focusing lens; The swing angle of the light passing through the fixed point , and the size of the actual scan area , get the value in the world coordinate system The distance between the fixed point and the pupil in the axial direction : .

11. The animal retinal image acquisition control method according to claim 9, characterized in that: calculate Distance deviation in the axis direction as well as Distance deviation in the axis direction ,include: The pupil edge is in the shape of an arc. According to the boundary of the missing edge of the image, the arc is fitted and the pixel coordinates of the center of the arc in the preview window are calculated ( ), the actual distance in the world coordinate system represented by each pixel value is ; Based on the pixel coordinates of the center of the preview window ( ) and the fitted pixel coordinates of the circle center ( ), respectively calculate the difference in the world coordinate system Axis and The distance between the fixed point and the pupil center in the axial direction: , .

12. The animal retinal image acquisition control method according to claim 9, characterized in that: adjust Distance in the axis direction Until the image missing state disappears, including: Get the world coordinate system The distance between the fixed point and the pupil in the axial direction Then, first follow The positive direction of the axis controls the movement of the multi-axis linkage platform If the image missing state disappears, it means After the axis direction adjustment is completed, if the image missing state does not disappear but becomes larger, move in the opposite direction. If the image missing state disappears, it means The axis direction adjustment is completed.

13. An animal retinal image acquisition and control system, characterized in that: The animal retinal image acquisition system according to any one of claims 1 to 3 comprises: A preview light definition unit is configured to: before acquiring a retinal image through a data acquisition scanning protocol, control a scanning light to scan along a single scanning line through a scanning galvanometer to preview a retinal cross-sectional image in real time, wherein the single scanning line is a preview light; The world coordinate system setting unit is configured to: set the direction parallel to the preview light as the direction of the world coordinate system Axis direction, the preview light incident from the sample arm is Axis direction, perpendicular to Axis and The axis coordinates are Axis direction, set the center position of the base of the multi-axis linkage platform as the origin of the world coordinate system; The animal pupil coordinate system setting unit is configured to: take the animal pupil position coordinate as the origin, define the line connecting the two eye corners as the animal pupil coordinate system Axis, connect the coordinates of the upper and lower eyelid margin centers, and define the direction of this line as the pupil coordinate system axis, The axes are perpendicular to Axis and axis; The coordinate system registration unit is configured to: Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel, making the animal coordinate system Axis and world coordinate system The axes remain parallel; The position adjustment unit is configured to: adjust the position coordinates of the fixed point and the position coordinates of the animal's pupil to coincide with each other according to the coordinates of the fixed point in the world coordinate system and the coordinate position of the animal's pupil; The retinal image acquisition unit is configured to switch from scanning with a single preview light beam to scanning with multiple preview light beams, and adjust the position of the animal's pupil according to the missing state of the retinal image to obtain the entire retinal image.

14. A computer device, characterized in that: include: A processor and a computer readable storage medium; a processor adapted to execute a computer program; A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, the animal retinal image acquisition control method according to any one of claims 4 to 12 is implemented.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing the animal retinal image acquisition control method according to any one of claims 4 to 12.

16. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the animal retinal image acquisition control method as claimed in any one of claims 4 to 12 is implemented.

Images