Rapid focusing and positioning adjusting structure of tumor fluorescence imaging equipment

Abstract

The invention relates to the field of medical equipment, and discloses a rapid focusing and positioning adjusting structure of tumor fluorescence imaging equipment, which comprises a supporting assembly as a structure landing main body, used for providing a basic landing stable sliding table assembly, mounted in the supporting assembly and used for placing a sample for imaging and shooting; the multiple displacement assemblies are installed at the top end of the supporting assembly and used for providing transverse angle adjustment; the inclination angle assembly is mounted at the top of the displacement assembly and used for providing longitudinal angle adjustment; and the multi-position shooting assembly is mounted at the bottom of the inclination angle assembly and is used for providing axial angle adjustment. Through linkage of the automatic focusing system, the image splicing system and the structure adjusting system, it is ensured that images are always kept clear in the imaging process at different angles, image splicing is synchronously optimized when the focal length is adjusted, and splicing errors caused by multi-angle collection in traditional imaging equipment are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a rapid focusing and positioning adjustment structure for tumor fluorescence imaging devices. Background Art

[0002] A tumor fluorescence imaging device is a medical imaging device used for tumor detection and positioning. By utilizing fluorescence imaging technology, it assists doctors in accurately identifying tumor tissues during surgery or diagnosis. This device has extensive applications in mouse experiments. Since mice are commonly used in cancer research, especially in experiments on tumor growth, metastasis, and evaluation of treatment effects, the tumor fluorescence imaging device provides a very important tool for researchers. The device can label tumor cells in a mouse body by injecting specific fluorescent markers (such as fluorescent probes or fluorescent dyes), enabling the tumor to emit fluorescence under laser irradiation at a specific wavelength, thereby observing characteristics such as the location, size, and shape of the tumor in real time and non-invasively.

[0003] In the prior art, traditional imaging systems often rely on manual adjustment of the focal length and shooting angle, which makes the imaging process susceptible to human operation. Fine adjustment of the focal length usually cannot maintain consistency during multi-angle shooting, resulting in blurred or out-of-focus images at different angles. This inconsistency is particularly prominent in medical imaging that requires high-precision images.

[0004] Furthermore, existing image stitching systems usually lack coordination with the focal length adjustment system. During multi-angle shooting, the focal length differences between different angles will affect the stitching effect, causing errors in image alignment and fusion. During the stitching process, changes in the focal length may lead to misalignment of the image edges, thereby affecting the quality of the final image. This problem is relatively common in traditional stitching techniques, especially when data needs to be collected from multiple angles, and the stitching errors will gradually accumulate, reducing the accuracy of imaging.

[0005] In addition, when traditional devices perform multi-angle image reconstruction, they lack an automated focal length adjustment system and often rely on manual presetting or manual operation, which not only increases the operation difficulty but also reduces the efficiency of image acquisition. During multi-angle acquisition and image stitching, inaccurate manual operation will result in inconsistent focusing, making the stitching effect unable to reach the best. This "manual intervention" mode is not only inefficient but also may generate errors, especially when facing complex samples or multi-angle image acquisition, and the effect is unstable. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides a rapid focusing and positioning adjustment structure for tumor fluorescence imaging devices, which solves the problems of blurred images, inconsistent focal lengths, and stitching errors in the multi-angle shooting process of traditional tumor fluorescence imaging devices.

[0007] To achieve the above object, the present invention is realized through the following technical solutions: A rapid focusing and positioning adjustment structure for a tumor fluorescence imaging device, comprising:

[0008] A support component, which serves as the main body for the structure to land and is used to provide basic landing stability;

[0009] A sliding table component, installed inside the support component, and is used to place samples for imaging shooting;

[0010] There are multiple displacement components, which are installed at the top of the support component and are used to provide lateral angle adjustment;

[0011] An inclination component, installed on the top of the displacement component, and is used to provide longitudinal angle adjustment;

[0012] A multi-position shooting component, installed at the bottom of the inclination component, and is used to provide axial angle adjustment;

[0013] The multi-position shooting component includes a positioning rail, the positioning rail is fixedly connected to the bottom of the inclination component, a toothed ring is arranged on the inner wall of the positioning rail, a locking block is slidably connected to the inner wall of the positioning rail, a synchronous wheel is rotatably connected to the inner wall of the locking block, the synchronous wheel is used to synchronously rotate the second main gears rotatably connected to the outer wall of the locking block on both sides, the bottom of the locking block is fixedly connected to a cooperation block, a camera body is installed at the bottom of the cooperation block, a plurality of rotating wheels are rotatably connected to the top of the cooperation block, a motor is fixedly connected to the inner wall of the rotating wheel, one of the synchronous wheels is rotatably connected to the output end of the motor, and a synchronous belt is sleeved on the outer walls of the two synchronous wheels;

[0014] A storage component, installed on one side of the positioning rail, and is used to store the cables of the camera body.

[0015] Preferably, the support component includes a bracket, the bracket is composed of multiple vertical rods spliced by bolts, and a control box is installed at the bottom of the bracket, and a synchronous focusing system is arranged inside it.

[0016] Preferably, the sliding table component includes a guide rail, the guide rail is fixedly connected to the top of the bracket, and a slider is slidably connected to the top of the guide rail for carrying samples.

[0017] Preferably, the displacement component includes multiple first motors, the first motors are fixedly connected to the top of the outer wall of the bracket, the output ends of the first motors are fixedly connected to lead screws, the lead screws are rotatably connected to the top of the bracket, and a threaded block is threadedly connected to the outer wall of the lead screw.

[0018] Preferably, the inclination angle component includes a positioning block fixedly connected to the top of the threaded block. One end of the positioning block is rotatably connected to a synchronous rod. Both sides of the outer wall of the synchronous rod are fixedly connected with first main gears. One side of the two threaded blocks close to each other is rotatably connected with driven gears. One side of the two driven gears close to each other is fixedly connected with a connecting block. The first main gear is meshed with the driven gear for driving the connected positioning rail to displace by rotating the driven gear. The top of the threaded block is fixedly connected with a second motor, and the synchronous block is fixedly connected to the output end of the second motor.

[0019] Preferably, the second main gear is meshed with the toothed ring, and the runner is slidably connected to the bottom of the positioning rail.

[0020] Preferably, the storage component includes an installation box. A rotating rod is rotatably connected to the inner wall of the installation box. Wire harness outlets are arranged at both the upper and lower ends of the installation box. Spring strips are arranged on both sides of the outer wall of the rotating rod for winding the redundant connecting wires of the camera body. One end of the outer wall of the spring strip is fixedly connected to the inner wall of the installation box.

[0021] Preferably, the synchronous focusing system includes:

[0022] An automatic focusing control module that collects sample images through the camera body and then adjusts the focal length according to the image sharpness feedback signal;

[0023] A sample positioning and angle adjustment module for adjusting the horizontal position, longitudinal inclination angle and shooting angle of the sample;

[0024] An image stitching and three-dimensional reconstruction module that generates complete image data through multi-view image stitching and generates a three-dimensional reconstruction model through depth calculation;

[0025] An image feedback control system that controls the focal length adjustment through a sharpness detection algorithm and uses a PID control algorithm to adjust the focal length of the camera in real time;

[0026] A data storage and management module for storing the collected image data and three-dimensional reconstruction model.

[0027] Preferably, the image sharpness feedback signal of the automatic focusing control module is obtained by calculating the image gradient after collecting the image. The image gradient calculation formula is:

[0028]

[0029] Among them, S(f) represents the image sharpness, is the gradient value at the position (x i , y j ) in the image. N and M are the width and height of the image respectively.

[0030] Preferably, the image stitching and 3D reconstruction module uses the SIFT feature matching algorithm for image alignment and calculates the 3D coordinates of image points by the stereo vision method. The stereo vision calculation formula is as follows:

[0031]

[0032] where X is the point coordinate in the 3D space, R and T are the rotation and translation matrices respectively, K is the internal parameter matrix of the camera, and (x1, y1) is the coordinate of the matching point in the image.

[0033] Working principle: In the process of using this structure, it is first necessary to control the focusing and positioning adjustment of the overall moving component through the internally set synchronous focusing system. During operation, the system will cooperate to always lock the sample placed on the top and maintain focusing synchronization.

[0034] During the whole fluorescence imaging shooting process, first drive the rotation under the limitation of the control output power, and synchronously drive the connected [components] and [components] to move horizontally through the threads on the outer wall, so as to determine the arrangement length of the samples. After the adjustment is completed at the corresponding positions, control the acquisition of multiple top-down fluorescence imaging photos of the samples at multiple angles respectively. After the acquisition is completed, it will automatically enter the longitudinal tilt shooting, that is, drive the multiple connected [components] to drive the whole to tilt longitudinally through the internal drive, and cooperate with the system to synchronously focus and collect the longitudinal fluorescence photos of the samples during the process. During the synchronous progress of the above process, under the control of the system, it can realize multi-angle movement of the inner wall under the internal drive. Specifically, that is, drive the two [components] driven by the synchronous belt to rotate, and then through the meshing connection between [components], so as to realize the shooting at a uniform speed and accurate orientation position. The above multiple movement angles act synchronously, and finally generate a three-dimensional sample fluorescence tumor imaging through the stitching of the system fluorescence photos.

[0035] The present invention provides a rapid focusing and positioning adjustment structure for a tumor fluorescence imaging device. It has the following

[0036] Beneficial effects:

[0037] 1. By optimizing the device structure and integrating multiple components, the present invention reduces the floor area and realizes the simultaneous acquisition of multi-position images in a limited space. Through the compact modular layout, the sample can quickly switch different shooting angles without increasing the volume of the device, improving the space utilization rate and working efficiency of the imaging system.

[0038] 2. By introducing an intelligent cable management system in the device design, the present invention reduces the entanglement and clutter of wire harnesses, avoiding the interference and risks caused by cables to the motion system in traditional devices. By reasonably arranging the cables and using a recycling system, the stability and safety during the operation of the device are ensured, avoiding failures caused by cable interference, thereby improving the long-term stability and service life of the device.

[0039] 3. By realizing the linkage of the automatic focusing system with the image stitching system and the structure adjustment system, the present invention ensures that the images always remain clear during imaging at different angles. Through the coordinated work of the image feedback and the structure adjustment system, the image stitching is synchronously optimized during the focal length adjustment, reducing the stitching errors caused by multi-angle acquisition in traditional imaging devices and obtaining a more accurate and efficient multi-angle image reconstruction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a perspective view of the present invention;

[0041] Figure 2 is a front view schematic diagram of the present invention;

[0042] Figure 3 is a schematic diagram of the connection block structure of the present invention;

[0043] Figure 4 is a schematic diagram of the cross-section of the positioning rail of the present invention;

[0044] Figure 5 is a schematic diagram of the cross-section of the cooperation block of the present invention;

[0045] Figure 6 is a schematic diagram of the cross-section of the installation box of the present invention;

[0046] Figure 7 is a schematic diagram of the system architecture of the present invention.

[0047] Wherein, 1. Support component; 101. Bracket; 102. Control box; 2. Slide table component; 201. Guide rail; 202. Slide block; 3. Displacement component; 301. First motor; 302. Lead screw; 303. Threaded block; 4. Inclination component; 401. Positioning block; 402. Synchronous rod; 403. Second motor; 404. First main gear; 405. Driven gear; 407. Connection block; 5. Multi-position shooting component; 501. Positioning rail; 502. Locking block; 503. Second main gear; 504. Tooth ring; 505. Cooperation block; 506. Camera body; 507. Synchronous pulley; 508. Runner; 509. Motor; 6. Storage component; 601. Installation box; 602. Spring; 603. Rotating rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0049] Please refer to the attached Figure 1 , the present invention embodiment provides a rapid focusing and positioning adjustment structure for a tumor fluorescence imaging device, including: a support assembly 1, which serves as the main body for the structure to land and is used to provide stable foundation landing; including a bracket 101, the bracket 101 is composed of multiple groups of vertical rods spliced by bolts, and a control box 102 is installed at the bottom of the bracket 101, and a synchronous focusing system is arranged inside it. The second main gear 503 is meshed with the toothed ring 504, and the runner 508 is slidably connected to the bottom of the positioning rail 501.

[0050] Specifically, the support assembly 1, as the main support part of the device, is spliced by multiple vertical rods to provide a stable foundation. The bracket 101 is installed on the support assembly 1, and the control box 102 is fixed at the bottom, and the synchronous focusing system is included in the control box 102.

[0051] The cooperation of the positioning rail 501 and the runner 508 realizes precise angle adjustment. The runner 508 is meshed with the toothed ring 504 and the second main gear 503 to ensure smooth rotation and avoid deviation. The runner 508 is slidably connected to the bottom of the positioning rail 501, making the device more precise when adjusting the position.

[0052] Please refer to the attached Figure 1 , a sliding table assembly 2, is installed inside the support assembly 1 and is used to place samples for imaging shooting; including a guide rail 201, the guide rail 201 is fixedly connected to the top of the bracket 101, and a slider 202 is slidably connected to the top of the guide rail 201 for carrying samples.

[0053] Specifically, the sliding table assembly 2 is installed inside the support assembly 1 and is mainly used to place samples for imaging shooting. The guide rail 201 is fixedly connected to the top of the bracket 101 to ensure stability and accuracy. The slider 202 is slidably connected above the guide rail 201, and the slider 202 undertakes the task of placing samples. Through the sliding of the slider 202, the sample can move smoothly on the guide rail 201 and be adjusted to the required position for shooting. The whole design is simple but effective, and at the same time provides sufficient flexibility, enabling the device to adapt to samples of different sizes or shapes.

[0054] Please refer to the attached Figure 1 - attached Figure 2, The displacement components 3, there are multiple groups of them, which are installed at the top of the support component 1 and are used to provide lateral angle adjustment; including a plurality of first motors 301, the first motors 301 are fixedly connected to the top of the outer wall of the bracket 101, the output end of the first motor 301 is fixedly connected with a lead screw 302, the lead screw 302 is rotatably connected to the top of the bracket 101, and a threaded block 303 is threadedly connected to the outer wall of the lead screw 302.

[0055] Specifically, the displacement component 3 is installed at the top of the support component 1, mainly used to provide lateral angle adjustment. It consists of a plurality of first motors 301, and each first motor 301 is fixedly connected to the top of the outer wall of the bracket 101. The output end of the motor is connected to the lead screw 302, and the lead screw 302 is connected to the top of the bracket 101 through rotation. There is a thread on the outer wall of the lead screw 302, and the threaded block 303 is engaged with the thread of the lead screw 302. By rotating the lead screw 302, the threaded block 303 is driven to move along the guide rail 201, thereby realizing the adjustment of the lateral angle.

[0056] Please refer to the appendix Figure 3 , The inclination component 4 is installed on the top of the displacement component 3 and is used to provide longitudinal angle adjustment; including a positioning block 401, the positioning block 401 is fixedly connected to the top of the threaded block 303, one end of the positioning block 401 is rotatably connected with a synchronous rod 402, both sides of the outer wall of the synchronous rod 402 are fixedly connected with a first main gear 404, the adjacent sides of the two threaded blocks 303 are rotatably connected with a driven gear 405, the adjacent sides of the two driven gears 405 are fixedly connected with a connecting block 407, the first main gear 404 and the driven gear 405 are meshed and connected, and are used to drive the connected positioning rail 501 to displace by rotating the driven gear 405. A second motor 403 is fixedly connected to the top of the threaded block 303, and the synchronous block 402 is fixedly connected to the output end of the second motor 403.

[0057] Specifically, the inclination component 4 is installed on the top of the displacement component 3, mainly used to provide longitudinal angle adjustment. The positioning block 401 is fixed to the top of the threaded block 303 to ensure its stability. One end is rotatably connected to the synchronous rod 402, allowing the synchronous rod to drive the entire component when rotating. Both sides of the outer wall of the synchronous rod 402 are fixed with first main gears 404, which are responsible for transmitting power. The adjacent sides of the two threaded blocks 303 are respectively rotatably connected with the driven gears 405. The other side of the driven gear 405 is fixedly connected with a positioning rail 501.

[0058] The first main gear 404 and the driven gear 405 are meshed and connected, and can drive the positioning rail 501 to displace by rotating the driven gear 405. This structure ensures the precise adjustment of the longitudinal angle. Through the transmission of the gears, the component can achieve efficient and stable displacement, ensuring that the imaging system can perform precise angle adjustment longitudinally.

[0059] Please refer to the appendix Figure 4 - Appendix Figure 5 Figure 5 , a multi-shot component 5, is installed at the bottom of the inclination component 4 and is used to provide axial angle adjustment; the multi-shot component 5 includes a positioning rail 501, the positioning rail 501 is fixedly connected to the bottom of the inclination component 4, a toothed ring 504 is provided on the inner wall of the positioning rail 501, a locking block 502 is slidably connected to the inner wall of the positioning rail 501, a synchronous pulley 507 is rotatably connected to the inner wall of the locking block 502, and the synchronous pulley 507 is used to synchronously rotate the second main gears 503 rotatably connected to the outer wall of the locking block 502 on both sides. A cooperation block 505 is fixedly connected to the bottom of the locking block 502, a camera body 506 is installed at the bottom of the cooperation block 505, a plurality of rotating wheels 508 are rotatably connected to the top of the cooperation block 505, a motor 509 is fixedly connected to the inner wall of the rotating wheel 508, and one of the synchronous pulleys 507 is rotatably connected to the output end of the motor 509. A synchronous belt is sleeved on the outer walls of the two synchronous pulleys 507;

[0060] Specifically, the multi-shot component 5 is installed at the bottom of the inclination component 4 and is mainly used to provide axial angle adjustment. The positioning rail 501 is fixedly connected to the bottom of the inclination component 4 to provide stable support for the component. A toothed ring 504 is provided on the inner wall of the positioning rail 501 and works in cooperation with other components to achieve precise adjustment. The locking block 502 is slidably connected to the inner wall of the positioning rail 501 to ensure the stability of the positioning rail 501 during adjustment. A synchronous pulley 507 is rotatably connected to the inner wall of the locking block 502 to ensure synchronous rotation on both sides.

[0061] The synchronous pulley 507 is connected to the second main gear 503 to achieve synchronous rotation on both sides. Through the cooperation of the gears, the movement of the component can be precisely controlled, making the axial angle adjustment more stable and efficient. A cooperation block 505 is fixedly connected to the bottom of the locking block 502, and a camera body 506 is installed at the bottom of the cooperation block 505, which is responsible for image acquisition.

[0062] To achieve stable rotation, a plurality of rotating wheels 508 are rotatably connected to the top of the cooperation block 505. A motor 509 is fixedly connected to the inner wall of the rotating wheel 508 to provide power for the system. The synchronous pulley 507 is rotatably connected to the output end of the motor 509, and the movement of the entire system is driven by the motor 509 to ensure the smooth rotation of the component during the image acquisition process. A synchronous belt is sleeved on the outer walls of the two synchronous pulleys 507 for synchronous transmission to ensure synchronous movement on both sides without deviation.

[0063] This design enables the device to smoothly switch between multiple angles during axial angle adjustment, while ensuring the stability and accuracy of image acquisition.

[0064] Please refer to the appendix Figure 6, The storage component 6 is installed on one side of the positioning rail 501 and is used to store the cable of the camera body 506. It includes an installation box 601. A rotating rod 603 is rotatably connected to the inner wall of the installation box 601. Wire harness outlets are provided at both the upper and lower ends of the installation box 601. On both sides of the outer wall of the rotating rod 603, hairspring 602 is provided for winding the excess connecting wires of the camera body 506. One end of the outer wall of the hairspring 602 is fixedly connected to the inner wall of the installation box 601.

[0065] Specifically, the storage component 6 is installed on one side of the positioning rail 501 and is mainly used to store the cable of the camera body 506. This component includes an installation box 601. A rotating rod 603 is rotatably connected to the inner wall of the installation box 601. The design of the rotating rod 603 enables it to rotate, facilitating the winding and storage of excess cables. Wire harness outlets are provided at both the upper and lower ends of the installation box 601, facilitating the entry and exit of the connecting cables.

[0066] On both sides of the outer wall of the rotating rod 603, hairsprings 602 are installed. The function of the hairsprings 602 is to automatically wind the excess cables onto the rotating rod 603, keeping the cables neat and preventing them from knotting. One end of the hairspring 602 is fixedly connected to the inner wall of the installation box 601. Through the tension of the spring, it ensures that the cables always remain in a wound state, avoiding the cables from becoming loose or being wound unevenly. This design not only optimizes the internal space of the device but also effectively reduces the damage of the cables and improves the service life of the device.

[0067] Please refer to the attached Figure 7 , The synchronous focusing system includes:

[0068] An autofocus control module that collects sample images through the camera body 506 and then adjusts the focal length according to the image sharpness feedback signal. The image sharpness feedback signal of the autofocus control module is obtained by calculating the image gradient after collecting the image. The image gradient calculation formula is:

[0069]

[0070] Among them, S(f) represents the image sharpness, is the gradient value at the position (x i , y j ) in the image. N and M are the width and height of the image respectively.

[0071] A sample positioning and angle adjustment module for adjusting the horizontal position, longitudinal tilt angle, and shooting angle of the sample;

[0072] An image stitching and three-dimensional reconstruction module that generates complete image data through multi-view image stitching and generates a three-dimensional reconstruction model through depth calculation; The SIFT feature matching algorithm is used for image alignment, and the three-dimensional coordinates of image points are calculated by the stereo vision method. The stereo vision calculation formula is:

[0073]

[0074] Among them, X is the point coordinate in three-dimensional space, R and T are the rotation and translation matrices respectively, K is the internal parameter matrix of the camera, and (x1, y1) is the coordinate of the matching point in the image.

[0075] An image feedback control system controls the focal length adjustment through a sharpness detection algorithm and uses a PID control algorithm to adjust the focal length of the camera in real time;

[0076] A data storage and management module is used to store the collected image data and the three-dimensional reconstruction model.

[0077] Specifically, the autofocus control module collects images through the camera body 506 and adjusts the focal length according to the sharpness feedback signal of the images. It uses the gradient calculation of the images to evaluate the clarity of the images. Simply put, the clearer the image, the more accurate the focal length. In this way, whether it is rapid shooting or delicate adjustment, the images can remain clear. This not only reduces the interference of manual operations but also improves the imaging efficiency. It can quickly respond to the situation of blurred images and automatically adjust the focal length to ensure that each shot is accurate.

[0078] The sample positioning and angle adjustment module is responsible for adjusting the position and angle of the sample. It ensures perfect positioning of the sample in all directions through an accurate slide table and positioning rail system. The shooting angle, longitudinal tilt, and even the horizontal position can be quickly adjusted. This precise control enables the device to flexibly adjust the angle when facing complex samples and provide the best shooting perspective. The accurate positioning reduces image distortion caused by improper adjustment and also improves the adaptability of the device.

[0079] The image stitching and three-dimensional reconstruction module generates complete image data through the stitching of images taken from multiple angles and uses the stereo vision method to perform depth calculation and construct a three-dimensional model. It ensures accurate alignment of the images through SIFT feature matching. With the help of the stereo vision method, it can accurately calculate the three-dimensional coordinates of the image points and reconstruct a detailed three-dimensional model. This module is suitable for implementation scenarios that require fine imaging, can seamlessly combine image data from multiple angles, and ensure the integrity and depth of the images. Its biggest highlight is high precision, fast reconstruction speed, almost no error in image stitching, and it helps to quickly provide three-dimensional image data.

[0080] The image feedback control system adjusts the focal length by monitoring the image sharpness in real time and applying the PID control algorithm. This feedback system automatically adjusts the focal length according to the changes in the real-time image to ensure the best image can be obtained at each angle. Its function is like an automatically correcting "eye" that always keeps the image clear. Whether shooting static images or images in dynamic changes, the imaging quality will not be affected by inaccurate focal length. It keeps the device always accurate, reduces the errors of manual operations, and improves work efficiency.

[0081] The data storage and management module is responsible for securely storing image data and 3D reconstruction models. It effectively manages all the collected data and can be quickly called at any time.

[0082] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rapid focusing and positioning adjustment structure for a tumor fluorescence imaging device, characterized in that, Comprising: A support component (1), which serves as the main body for the structure to land, and is used to provide stable foundation landing; A sliding table component (2), installed inside the support component (1), and is used to place samples for imaging and shooting; A displacement component (3), with multiple groups in total, installed at the top of the support component (1), and is used to provide lateral angle adjustment; An inclination component (4), installed on the top of the displacement component (3), and is used to provide longitudinal angle adjustment; A multi-position shooting component (5), installed at the bottom of the inclination component (4), and is used to provide axial angle adjustment; The multi-position shooting component (5) includes a positioning rail (501), the positioning rail (501) is fixedly connected to the bottom of the inclination component (4), a toothed ring (504) is arranged on the inner wall of the positioning rail (501), a locking block (502) is slidably connected to the inner wall of the positioning rail (501), a synchronous pulley (507) is rotatably connected to the inner wall of the locking block (502), the synchronous pulley (507) is used to synchronously rotate the second main gears (503) rotatably connected to the outer wall of the locking block (502) on both sides, a cooperation block (505) is fixedly connected to the bottom of the locking block (502), a camera body (506) is installed at the bottom of the cooperation block (505), multiple rotating wheels (508) are rotatably connected to the top of the cooperation block (505), a motor (509) is fixedly connected to the inner wall of the rotating wheel (508), one of the synchronous pulleys (507) is rotatably connected to the output end of the motor (509), and a synchronous belt is sleeved on the outer walls of the two synchronous pulleys (507); A storage component (6), installed on one side of the positioning rail (501), and is used to store the cables of the camera body (506).

2. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 1, characterized in that, The support component (1) includes a bracket (101), the bracket (101) is composed of multiple groups of vertical rods spliced by bolts, and a control box (102) is installed at the bottom of the bracket (101), and a synchronous focusing system is arranged inside it.

3. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 1, characterized in that, The sliding table component (2) includes a guide rail (201), the guide rail (201) is fixedly connected to the top of the bracket (101), and a slider (202) is slidably connected to the top of the guide rail (201) for carrying samples.

4. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 1, characterized in that, The displacement component (3) includes multiple first motors (301), the first motors (301) are fixedly connected to the outer wall top of the bracket (101), the output end of the first motor (301) is fixedly connected to a lead screw (302), the lead screw (302) is rotatably connected to the top of the bracket (101), and a threaded block (303) is threadedly connected to the outer wall of the lead screw (302).

5. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 1, characterized in that, The inclination component (4) includes a positioning block (401), the positioning block (401) is fixedly connected to the top of the threaded block (303), one end of the positioning block (401) is rotatably connected to a synchronous rod (402), both sides of the outer wall of the synchronous rod (402) are fixedly connected with first main gears (404), the adjacent sides of the two threaded blocks (303) are rotatably connected with driven gears (405), the adjacent sides of the two driven gears (405) are fixedly connected with a connecting block (407), the first main gear (404) is meshed with the driven gear (405) for driving the connected positioning rail (501) to displace by rotating the driven gear (405), the top of the threaded block (303) is fixedly connected with a second motor (403), and the synchronous block (402) is fixedly connected to the output end of the second motor (403).

6. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 1, characterized in that, The second main gear (503) is meshed with the tooth ring (504), and the runner (508) is slidably connected to the bottom of the positioning rail (501).

7. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 1, characterized in that The storage component (6) includes an installation box (601), a rotating rod (603) is rotatably connected to the inner wall of the installation box (601), wire harness outlets are arranged at both the upper and lower ends of the installation box (601), and hairspring (602) are arranged on both sides of the outer wall of the rotating rod (603) for winding the excess connecting wires of the camera body (506), and one end of the outer wall of the hairspring (602) is fixedly connected to the inner wall of the installation box (601).

8. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 2, characterized in that, The synchronous focusing system includes: An automatic focusing control module that collects sample images through the camera body (506) and then adjusts the focal length according to the image sharpness feedback signal; A sample positioning and angle adjustment module for adjusting the horizontal position, longitudinal inclination angle and shooting angle of the sample; An image stitching and three-dimensional reconstruction module that generates complete image data through multi-view image stitching and generates a three-dimensional reconstruction model through depth calculation; An image feedback control system that controls the focal length adjustment through a sharpness detection algorithm and uses a PID control algorithm to adjust the focal length of the camera in real time; A data storage and management module for storing the collected image data and three-dimensional reconstruction model.

9. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 8, characterized in that, The image sharpness feedback signal of the automatic focusing control module is obtained by calculating the image gradient after collecting the image, and the image gradient calculation formula is: Among them, S(f) represents the image sharpness, is the gradient value at the position (x i , y j ) in the image, and N and M are the width and height of the image respectively.

10. The rapid focusing and positioning adjustment structure of the tumor fluorescence imaging device according to claim 8, characterized in that, The image stitching and three-dimensional reconstruction module uses the SIFT feature matching algorithm for image alignment and calculates the three-dimensional coordinates of image points through the stereo vision method. The stereo vision calculation formula is: Where X is the point coordinate in the three-dimensional space, R and T are the rotation and translation matrices respectively, K is the internal parameter matrix of the camera, and (x1, y1) is the coordinate of the matching point in the image.

Images