Multi-modal fusion three-dimensional imaging device and three-dimensional imaging method

Abstract

The invention belongs to the technical field of biological living body imaging, and provides a multi-modal fusion three-dimensional imaging device, which comprises a first box body provided with a main camera shooting unit, an auxiliary camera shooting unit, a 3D camera shooting unit and a first light source; the second box body is arranged in the first box body; a movable first top plate is arranged on the base; the objective table is arranged in the second box body, the first top plate is located between the main camera shooting unit and the objective table, the objective table and the 3D camera shooting unit can rotate relatively, the 3D camera shooting unit and the auxiliary camera shooting unit are obliquely arranged relative to the objective table, and the first light source is used for providing a needed light source for bioluminescence imaging; the main camera shooting unit and the auxiliary camera shooting unit are used for shooting multi-angle two-dimensional bioluminescence images, the 3D camera shooting unit is used for scanning and shooting three-dimensional model contour data, the X-ray mechanism is used for shooting two-dimensional X-ray skeleton images of a measured living body, and registration is carried out through images of multiple modes, so that an accurate three-dimensional model of the measured living body is obtained.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of bio-imaging technology, and particularly relates to a multi-modal fusion three-dimensional imaging device and a three-dimensional imaging method. BACKGROUND

[0002] The visible light bio-imaging technology mainly adopts bioluminescence and fluorescence technologies. The bioluminescence is to mark cells or DNA with luciferase genes, and the fluorescence technology is to mark with fluorescence reporter groups (GFP, RFP, Cyt and dyes, etc.). A very sensitive optical detection instrument is used to enable researchers to directly monitor the cell activity and gene behavior in the living organism. Through this system, the growth and metastasis of tumors in the living animal, the development process of infectious diseases, the expression of specific genes and other biological processes can be observed.

[0003] In the prior art, a two-dimensional imaging method or a three-dimensional signal simulated by a single camera (or a double camera) is usually adopted. The conventional fluorescence bio-imaging is a two-dimensional signal, and cannot represent the size and depth position information. The three-dimensional signal simulated by the single camera or the double camera is often not real enough, and has a gap with the actual measured biological body, and cannot achieve the relative accurate positions of each part of the measured biological body. Therefore, as a person skilled in the art, it is necessary to solve the defects in the prior art. SUMMARY

[0004] The present application provides a multi-modal fusion three-dimensional imaging device, which solves the problem that the existing bio-imaging technology in the background art cannot represent the size and depth position information, so as to achieve the relative accurate positions of each part of the measured biological body. As another aspect of the present application, a three-dimensional imaging method is also provided.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions: A multi-modal fusion three-dimensional imaging device, comprising: A first box body having a sealed first containing cavity; a main camera unit, an auxiliary camera unit, a 3D camera unit and a first light source are arranged on the first box body; A second box body having a second containing cavity, which is arranged in the first containing cavity of the first box body; the second box body is provided with a movable first top plate; A stage is arranged in the second box body, the first top plate is located between the main camera unit and the stage, and the stage and the 3D camera unit can rotate relative to each other; the main camera unit, the auxiliary camera unit and the 3D camera unit are arranged on one side of the loading surface of the stage; The first central axis of the shooting path of the 3D camera unit and the plane where the object table is located is provided with a first included angle, the second central axis of the shooting path of the auxiliary camera unit and the plane where the object table is located is provided with a second included angle, and the third central axis of the shooting path of the main camera unit and the plane where the object table is located is provided with a third included angle; and the irradiation light of the first light source covers part or all of the object surface of the object table. The X-ray mechanism comprises an X-ray light source arranged on one side of the object table and an X-ray area array photosensitive screen arranged on the first top plate, the X-ray area array photosensitive screen is arranged close to one side of the object table, and the object table is located between the X-ray area array photosensitive screen and the X-ray light source.

[0006] In some embodiments, the auxiliary camera unit comprises a first camera, a second camera and a third camera, and the first camera, the second camera and the third camera are spaced and distributed circumferentially relative to the object table.

[0007] In some embodiments, the object table further comprises an object base, the object table is rotationally arranged on the object base, and the object base is provided with a first light-transmitting window corresponding to the position of the object table.

[0008] In some embodiments, a first lifting mechanism arranged in the second box body is further included, the first lifting mechanism is provided with a first lifting block, and the object base is arranged on the first lifting block.

[0009] In some embodiments, the second box body further comprises a second base and a second side wall which is liftable relative to the second base, and the second base, the second side wall and the first top plate constitute a closed second containing cavity.

[0010] In some embodiments, a second support arranged outside the second box body is further included, the second support is provided with a second lifting block which is relatively movable, and the second side wall is arranged on the second lifting block.

[0011] In some embodiments, the second base is provided with a second sub-side wall fixedly connected thereto, the second sub-side wall is provided with a preset height, and the second side wall is sleeved outside the second sub-side wall.

[0012] In some embodiments, the second sub-side wall is provided with a first flanging structure, the second side wall is provided with a second flanging structure, and the first flanging structure and the second flanging structure can abut.

[0013] In some embodiments, a first rotating mechanism is further included, the first rotating mechanism comprises a first rotating ring seat which is rotatable relative to the object base, and the object table is arranged on the first rotating ring seat.

[0014] In some embodiments, a first gear wheel is arranged to rotate on the object carrier base, and a first gear ring is arranged to be fixed on the first rotating ring base, and the first gear wheel is engaged with the first gear ring.

[0015] In some embodiments, a plurality of groups of first support bases are arranged to be distributed circumferentially on the object carrier base, each of the first support bases comprises at least two first support wheels, the two first support wheels are respectively arranged on the inner ring side and the outer ring side of the first rotating ring base, the inner ring side and the outer ring side of the first rotating base are respectively provided with a first rotating sliding groove, the two first support wheels are respectively arranged in the corresponding first rotating sliding groove, and the first rotating ring base is arranged to be slidable relative to the first support wheels.

[0016] In some embodiments, a translation support base is arranged on the inner side of the first box body, the translation support base is provided with a first translation sliding block arranged to move linearly back and forth, and the first top plate is arranged on the first translation sliding block.

[0017] In some embodiments, a first translation guide rail, a first translation lead screw, and a first translation nut arranged on the first translation lead screw are arranged on the translation support base, the first translation guide rail is arranged to be parallel to the first translation lead screw, the first translation sliding block is arranged on the first translation guide rail, the first lead screw is arranged to rotate on the translation support base, and the first translation sliding block and the first translation nut are fixedly connected.

[0018] In some embodiments, the first camera is provided with a lens part, and the lens part is arranged in the first box body.

[0019] In some embodiments, the first camera further comprises a filter part, the filter part comprises a first base, a filter wheel arranged to rotate in the first base, and a plurality of filters arranged on the filter wheel, the first camera and the lens part are respectively arranged on two sides of the first base, and the first base is fixed on the side wall of the first box body.

[0020] In some embodiments, the first camera, the second camera, the third camera, and the main camera unit are of the same structure.

[0021] In some embodiments, a first support and a first support base are arranged on the inner wall of the first box body, the first support is fixedly arranged on the inner wall of the first box body, the first support base is arranged to rotate on the plurality of supports, and the 3D camera unit is arranged on the first support base.

[0022] In some embodiments, a third box is further arranged outside the first box, the first box is arranged in the third box, the first box is provided with a first opening which can be opened and closed, the third box is provided with a second opening which can be opened and closed, and the first opening and the second opening are in position correspondence.

[0023] In some embodiments, the application further provides a three-dimensional imaging method applied to the multi-modal fusion three-dimensional imaging device in the above-mentioned various embodiments, comprising: S1, rotating the object table to obtain three-dimensional model contour data of the photographed organism by scanning through the 3D camera unit; S2, obtaining a plurality of angle bioluminescence signal maps of the photographed organism through the main camera unit and the auxiliary camera unit, and converting and correcting the plurality of angle bioluminescence signal maps into a three-dimensional bioluminescence signal map, and matching the three-dimensional bioluminescence signal map with the three-dimensional model contour data; S3, obtaining a two-dimensional skeleton image of the photographed organism through the X-ray mechanism, matching the two-dimensional skeleton image with the three-dimensional model contour data, and generating a three-dimensional X-ray skeleton image; S4, integrating the three-dimensional model contour data, the three-dimensional bioluminescence signal map and the three-dimensional X-ray skeleton image to obtain a three-dimensional model of the photographed organism.

[0024] Compared with the prior art, the application has the following beneficial effects: The application sets the first box and the second box, the second box is arranged inside the first box, the object table is arranged in the second box, a movable first top plate is arranged on the second box, the second box is sealed through the movement of the first top plate, the X-ray image of the X-ray mechanism is obtained in the closed environment of the second box to obtain a two-dimensional X-ray skeleton image of the measured organism, the object table is exposed under the field of view of the main camera unit through the movement of the first top plate, the multi-angle bioluminescence signal image is photographed through the auxiliary camera unit arranged in cooperation, the three-dimensional bioluminescence image is formed, the 3D camera unit is arranged in relative rotation with the object table, the three-dimensional model contour data of the measured organism is obtained, the two-dimensional X-ray skeleton image and the three-dimensional model contour data are matched to obtain the three-dimensional X-ray skeleton image, the three-dimensional X-ray skeleton image, the three-dimensional model contour data and the three-dimensional bioluminescence image are integrated to obtain the three-dimensional living body model of the measured organism, the characterization information and the internal depth information of the measured organism are more accurate, and the three-dimensional living body model is more real.

[0025] Additional aspects and advantages of the application will be described in the following description, which will become apparent from the description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1Structure schematic view of a multi-modal fusion three-dimensional imaging device without a third box of the present application; Figure 2 First schematic view of the internal structure of a first box and a second box of a multi-modal fusion three-dimensional imaging device of the present application; Figure 3 Second schematic view of the internal structure of a first box and a second box of a multi-modal fusion three-dimensional imaging device of the present application; Figure 4 First schematic view of a second box in an open state of the present application; Figure 5 Second schematic view of a second box in a closed state of the present application; Figure 6 Perspective view of a second box from a lower side of the present application; Figure 7 Structure explosion view of an object table and a transmission structure thereof of the present application; Figure 8 Perspective view of another side of the internal structure of a second box of the present application; Figure 9 Sectional view of a transmission structure of an object table of the present application; Figure 10 Structure installation schematic view of a 3D camera unit of the present application; Figure 11 Sectional view of a second box of the present application; Figure 12 Figure 11 Method view at A in the middle of the present application; Figure 13 Figure 11 Enlarged view at B in the middle of the present application; Figure 14 Figure 11 Enlarged view at C in the middle of the present application; Figure 15 Projection schematic view of a main camera unit and an auxiliary camera unit in a plane of an object table of the present application; Figure 16 Schematic view of a first camera being arranged obliquely relative to an object table of the present application; Figure 17 Schematic view of a 3D camera unit being arranged obliquely relative to an object table of the present application; Figure 18 Structure schematic view of a first camera of the present application; Figure 19 Structure schematic view of the present application with a third box; Figure 20 Illumination schematic view of a first kind of distribution of a first light source of the present application; Figure 21 ​​​This is an illumination diagram of the second structure of the first light source distribution according to the present invention; Figure 22 This is a schematic diagram of the third structure of the first light source distribution according to the present invention. Detailed Implementation

[0027] The present application will be further described in detail below with reference to the accompanying drawings. In the description of the embodiments, unless otherwise stated, the terms "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the present application must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present application.

[0028] like Figures 1-3 As shown, a multimodal fusion three-dimensional imaging device provided by the present invention mainly includes a first housing 100 and a second housing 201. The first housing 100 has a sealed first receiving cavity, and the second housing 201 is located inside the first receiving cavity of the first housing 100. The first housing 100 is provided with a main camera unit 101, an auxiliary camera unit, a 3D camera unit 103, and a first light source.

[0029] Specifically, the main camera unit 101 is used to capture preview images for overall scene confirmation and alignment. In this embodiment, the main camera unit 101 is positioned on top of the first housing 100, opposite to the platform 301. This means that the photograph captured by the main camera unit 101 is a top-down view of the organism being tested on the platform 301 from the top of the first housing 100. As the preferred implementation, the third central axis 1010 of the shooting path of the main camera unit 101 is perpendicular to the platform, such as... Figure 16 As shown. Optionally, the third included angle can also be 85°, 86°, 87°, 88°, 89°, 91°, 92°, 93°, 94° or 95°, etc. The purpose of the main camera unit 101 is to capture the bioluminescence signal image of the tested organism from the perspective of the top of the first box 100. The size of the third included angle can be adjusted according to actual needs, and can also be an angle other than those mentioned above. No further examples will be given here.

[0030] The auxiliary camera unit is tilted relative to the stage 301, and a second included angle 1020 is formed between the second central axis 10201 of the shooting path of the auxiliary camera unit and the plane where the stage 301 is located. Figure 16 The diagram shows the first camera 1021 tilted relative to the stage 301. The auxiliary camera unit is mainly used to capture preview images and to capture multi-angle bioluminescent signal images from the side.

[0031] The auxiliary camera unit and the main camera unit 101 are used for bioluminescence imaging, such as fluorescence labeling signals, and since bioluminescence imaging also needs to take pictures of the profile of the measured biological object, the relative position of the light-emitting point relative to the profile of the measured biological object is confirmed. At the same time, the 3D camera unit 103 is used to take pictures of the profile of the measured biological object, so a first light source needs to be provided, which is used to provide illumination.

[0032] Specifically, in this embodiment, the first light source includes an illumination light source 1091 and a fluorescence imaging excitation light source 1092, as shown in Figure 20 The fluorescence imaging excitation light source 1092 and the illumination light source 1091 are arranged on the same side, the illumination light source 1091 is used to provide illumination when taking pictures of the profile of the measured biological object, and the fluorescence imaging excitation light source 1092 is used to provide an excitation light source when taking pictures of the biochemical luminescence signal image. The first light source is used to provide the type of light source required for taking pictures, and the irradiation light of the first light source covers part or all of the object table 301, thereby achieving the irradiation of the measured biological object placed on the object table 301. The first light source can be arranged on the top of the first box body 100, close to the side of the main camera unit 101. In this embodiment, the first light source includes but is not limited to LED light or red light, blue light, orange light, or white light, etc., which can be pre-set according to the experimental luminescence requirements.

[0033] Alternatively, as shown in Figure 22 The first light source can only be one of the illumination light source 1091 or the fluorescence imaging excitation light source 1092, at this time, the first light source and the main camera unit 101 are arranged on the same side; when taking pictures of biological fluorescence emission imaging, illumination and laser light source effects can be provided, and when taking pictures of the 3D camera unit 103, illumination can be provided. At this time, the first light source needs to select the light source according to fluorescence imaging, such as red light, blue light, or purple light, etc.

[0034] Alternatively, as shown in Figure 21 The fluorescence imaging excitation light source 1092 can be arranged separately below the object table 301, at this time, the illumination light 1091 is arranged on the same side as the main camera unit 101; when the fluorescence imaging excitation light source 1092 is arranged below the object table 301, at this time, the object table 301 is a light-transmitting structure, such as an acrylic plate or a glass plate or a plate-shaped object with a plurality of arrayed light-transmitting small hole structures, etc. In this embodiment, the shooting coverage range of the auxiliary camera unit and the shooting coverage range of the main camera unit 101 can cover the object table 301, thereby taking complete bioluminescence images. The 3D camera unit 103 is arranged in relative rotation with the object table 301, wherein a first included angle 1030 is provided between the central light of the first central axis 10301 of the 3D camera unit 103 and the plane where the object table 301 is located, as shown in Figure 17The 3D camera unit 103 is set to be relatively inclined, so that the 3D camera unit 103 is set to be relatively inclined. In this embodiment, the three-dimensional surface profile data of the measured organism is obtained by rotating the stage 301. For example, the stage 301 is rotated counterclockwise by 180 degrees, and then rotated clockwise by 180 degrees after being reset. Alternatively, the stage 301 is directly rotated by 360 degrees. The 3D camera unit 103 mainly emits laser for ranging. By rotating the stage 301, the surface reflection of the measured organism is photographed from multiple angles. The structure light data in multiple directions is point cloud registered and data processed, so as to generate a complete three-dimensional model profile data. In this embodiment, the 3D camera unit 103 is a 3D structured light camera. The structured light technology is adopted. A specific pattern (such as a stripe or a dot matrix) is projected onto the surface of the object. The deformed pattern is captured by the camera. The three-dimensional information of the surface of the object is calculated. The accuracy is high in close-range measurement. The accuracy is up to millimeter within 1 meter. In actual application, a 3D line laser camera can also be selected. The 3D line laser camera is based on the depth measurement principle of laser triangulation. It projects a laser line onto the surface of the object. The deformed condition of the laser line is captured by the camera from a certain angle. Then the depth information of the object is calculated. The complete 3D point cloud is generated by moving the object or the camera. It is prior art, and will not be described in detail here.

[0035] Alternatively, the stage 301 can be set as a fixed structure, and the 3D camera unit 103 can be set as a rotating structure. It should be noted that the 3D camera unit 103 performs circular motion in a horizontal plane during rotation. The horizontal plane is parallel to the plane in which the stage 301 is located. The above purpose can also be achieved.

[0036] The X-ray mechanism includes an X-ray light source 401 and an X-ray area array photosensitive screen 402, as shown in Figure 11 and Figure 12As shown, the X-ray mechanism is used to shoot the two-dimensional X-ray skeleton image of the measured organism. Since the X-ray is radioactive, the second box body 201 is composed of a plate member containing a lead layer sandwich. Since the object table 301 is arranged inside the second box body 201, when the X-ray skeleton image shooting is completed and the main camera unit 1021 or the auxiliary camera unit shooting is needed, the object table 301 needs to be exposed to the shooting field of view of the main camera unit 101, the auxiliary camera unit and the 3D camera unit 103. Therefore, the second box body 201 is provided with a first top plate 2011, the first top plate 2011 can move horizontally, the X-ray area array photosensitive screen 402 is arranged on the first top plate 2011, and the object table 301 is between the X-ray area array photosensitive screen 402 and the X-ray source 401. When the X-ray skeleton image shooting is needed, the first top plate 2011 needs to be moved to the top of the object table 301 to form a closed second box body 201. When the X-ray skeleton image shooting is completed, the first top plate 2011 is moved away to expose the object table 201, so that the 3D camera unit 103, the main camera unit 101 and the auxiliary camera unit can be used for bioluminescence imaging shooting.

[0037] In the embodiment, by using the above structure, the X-ray mechanism, the 3D camera unit 103 and the bioluminescence imaging mechanism of the main camera unit 101 and the auxiliary camera unit are combined, the two-dimensional X-ray skeleton image and the three-dimensional model contour data are integrated, the three-dimensional X-ray skeleton image is obtained, the multi-angle two-dimensional bioluminescence images generated by bioluminescence shooting are integrated, spatial conversion and correction are performed, the three-dimensional bioluminescence signal image is obtained, the three-dimensional bioluminescence signal image, the three-dimensional model contour data and the three-dimensional X-ray skeleton image are registered and integrated, and a more accurate and more real three-dimensional living body image is obtained, which meets the needs of various high-precision experimental researches.

[0038] In one embodiment, as shown in Figure 1 and Figure 2 As shown, the auxiliary camera unit includes a first camera 1021, a second camera 1022 and a third camera 1023, and the first camera 1021, the second camera 1022 and the third camera 1023 are circumferentially distributed relative to the object table 301. Specifically, as shown in Figure 15 In the embodiment, the first camera 1021 is located on the first box body 100 in the forward direction of the experimental personnel placing the measured organism, the second camera 1022 and the third camera 1023 are arranged on the left and right sides of the experimental personnel respectively, the second camera 1022 is located inside the first box body 100 in the left direction of the experimental personnel placing the measured organism and is located outside the second box body 100, the third camera 1023 is arranged on the first box body 201, and the second camera 1022 and the first camera 1021 are arranged at an interval of 90 degrees, and the third camera 1023 and the first camera 1021 are also arranged at an interval of 90 degrees, as shown in Figure 15As shown.

[0039] In this embodiment, by setting up three cameras—a first camera 1021, a second camera 1022, and a third camera 1023—at different locations, simultaneous imaging of the tested organism is achieved without signal delay. The bioluminescence signal images captured from each angle are more accurate, and when multiple bioluminescence signal images are synthesized, the synthesized image is even more precise. As the optimal implementation method, such as... Figure 15 As shown, the angle between the first camera 1021 and the second camera 1022 is 90 degrees, and the angle between the second camera 1022 and the third camera 1023 is also 90 degrees. Optionally, the angle between the first camera 1021 and the second camera 1022 can also be 80 degrees, 100 degrees, 110 degrees, or 105 degrees, etc., and the angle between the second camera 1022 and the third camera 1023 can also be 80 degrees, 70 degrees, 100 degrees, 95 degrees, 105 degrees, or 110 degrees, etc. It is understood that the angle between the cameras is not limited by this utility model, and they can be axially distributed relative to the stage 301.

[0040] Optionally, the number of cameras in the auxiliary camera unit is not limited by the present invention and can be preset according to experimental requirements. For example, the number of cameras in the auxiliary camera unit can be 4, 5, 2, or other numbers.

[0041] Optionally, when the signal delay is not considered, the number of cameras in the auxiliary camera unit can also be one. By rotating the stage, bioluminescent signal images can be captured from multiple angles.

[0042] Furthermore, to ensure clearer image quality, the first camera 1021, the second camera 1022, and the third camera 1023 are all tilted, with all three cameras tilting at the same angle. Figure 16 The diagram shows a tilted arrangement of the first camera 1021. The second central axis 10201 along the shooting path of the first camera 1021 forms a first angle 1020 with the plane containing the stage 301. In this embodiment, the range of the first angle 1020 is 30°-60°. As the optimal position, the first angle 1020 is 45°. Optionally, the first angle 1020 can also be 43°, 44°, 46°, 30°, or 60°, etc. The range of the first angle 1020 can be between 30° and 60°. The specific setting can be preset according to experimental requirements.

[0043] In one embodiment, such as Figures 7-9As shown, the object table 301 further includes an object base 3015, and the object table 301 is rotatably arranged on the object base 3015. The object base 3015 is provided with a first light transmission window for the X-ray to pass through, so that the X-ray can directly irradiate on the object table 301, or when the first light source is arranged below the object table 301, the object table 301 can be irradiated through the first light transmission window, thereby realizing the light source required for bioluminescence imaging.

[0044] In one embodiment, the first lifting mechanism 302 is arranged in the second box body 201, and the first lifting block 3022 is arranged on the first lifting mechanism 302. Specifically, the first lifting block 3022 can reciprocatingly move linearly in the up-down direction, so as to adjust the distance between the object table 301 and the main camera unit 101, and meet the shooting requirements of bioluminescence imaging. Figure 7 As shown, the first lifting block 3022 can reciprocatingly move linearly in the up-down direction, so as to adjust the distance between the object table 301 and the main camera unit 101, and meet the shooting requirements of bioluminescence imaging. In this embodiment, the first lifting mechanism 302 includes a first lifting guide rail arranged inside the second box body 200, and a first lifting sliding block arranged on the first lifting guide rail. Meanwhile, a first screw rod and a first nut are arranged inside the second box body 200. The axis direction of the first screw rod is consistent with the axis direction of the first guide rail. The first lifting block 3022 connects the first lifting sliding block and the first nut. Through the forward and reverse rotation of the first motor 3021, in combination with the limiting of the first lifting guide rail and the first lifting sliding block, the first nut is driven to reciprocatingly move linearly along the axis direction of the first screw rod, so as to realize the reciprocating linear movement of the first lifting block 3022, and further drive the object table 301 on the object base 3015 to adjust the height.

[0045] In this embodiment, the structure of the first screw rod and the first nut can be replaced by a synchronous belt and synchronous wheel structure, which can also realize the reciprocating linear movement of the first lifting block 3022.

[0046] Alternatively, a hydraulic push rod or a pneumatic push rod structure can be used to replace the first lifting block 3022, which is arranged at the free end of the hydraulic push rod or the pneumatic push rod. It can be understood that the lifting mode of the first lifting block 3022 is not limited by the present application, as long as the first lifting block 3022 drives the object table 301 on the object base 3015 to approach or move away from the main camera unit 101.

[0047] In one embodiment, as shown in Figures 4-6 and Figure 11 and Figure 14As shown, the second box body 200 comprises a second base 20131 and a second side wall 2012 which is liftable relative to the second base 20131, and the second base 20131, the second side wall 2012 and the first top plate 2011 form a closed second containing cavity. By arranging the liftable second side wall 2012, the auxiliary camera unit can be given a place, and the object table 301 can be fully exposed in the shooting range of the auxiliary camera unit.

[0048] Further, a second support is arranged outside the second box body 200, and a liftable second lifting block 203 is arranged on the second support, and the second side wall 2012 is arranged on the second lifting block 203. By lifting and moving the second lifting block 203, the second side wall 2012 is driven to lift and move, so as to form a closed second containing cavity or fully expose the object table 301 in the shooting range of the auxiliary camera unit. The transmission structure of the second lifting block 203 is the same as the structure principle of the first lifting block 3022, and will not be described in detail here.

[0049] Further, in order to avoid large-range lifting movement of the second side wall 2012 and reduce the volume of the entire device, as shown in Figure 6 and Figure 14 As shown, the second base 20131 is provided with a second sub-side wall 2013 which is fixedly arranged relative to the second base 20131, and the second sub-side wall 2013 is provided with a preset height, and the second side wall 2012 is movably sleeved outside the second sub-side wall 2013. In this embodiment, when the second side wall 2012 is in an initial state, i.e., when the second side wall 2012 is not lifted to form a closed second containing cavity, as shown in Figure 13 The upper side of the second side wall 2012 is flush with the upper side of the second sub-side wall 2013, so that the object table 301 is fully exposed in the shooting range of the 3D camera unit 103 and the auxiliary camera unit. By arranging the second sub-side wall 2013, the lifting stroke of the second side wall 2012 is reduced, and more space is not needed to be arranged below the second base 20131, so as to reduce the volume of the entire device.

[0050] Further, an upper edge of the second sub-side wall 2013 is provided with a first flange structure 20132, and a lower edge of the second side wall 2012 is provided with a second flange structure 20121, as shown in Figure 13 and Figure 14 When the second flange structure 20121 abuts against the first flange structure 20132, the upper edge of the second side wall 2012 abuts against the first top plate 2011, so as to form a closed second containing cavity. Meanwhile, the first flange structure 20121 and the second flange structure 20131 can also serve as a limiting structure, so as to avoid over-travel of the second side wall 2012, thereby avoiding that the second containing cavity is not completely closed.

[0051] In one embodiment, since the 3D camera unit 103 needs to rotate the object table 301 when shooting, a first rotating mechanism is arranged on the object base 3015 to realize the 360° omnidirectional rotation of the object table 301. As shown in FIG. 8, specifically, the first rotating mechanism includes a first rotating ring seat 3012 rotating relative to the object base 3015, and the object table 301 is arranged on the first rotating ring seat 3012. The rotation of the first rotating ring seat 3012 drives the rotation of the object table 301. Figures 7-9

[0052] Further, the first rotating mechanism further includes a first gear 3013 rotatingly arranged on the object base 3015, and a first gear ring 3011 fixedly arranged on the first rotating ring seat 3012, and the first gear 3013 and the first gear ring 3011 are in meshing transmission. Specifically, a first rotating motor 3014 is arranged on the object base 3015, and the first gear 3013 is arranged on the output shaft of the first rotating motor 3014. The forward and reverse rotation of the first rotating motor 3014 drives the forward and reverse rotation of the object table 301 relative to the object base 3015.

[0053] Further, the first rotating mechanism further includes a plurality of groups of first support seats distributed in an axial direction, and the plurality of first support seats are distributed in a circular structure on the object base 3015. The first support seat includes at least two first support wheels 3017, and the two first support wheels 3017 are respectively located on the inner and outer sides of the first rotating ring seat 3012. The two first support wheels 3017 are arranged on a first support base 3016, and the first rotating grooves are arranged on the inner and outer sides of the first rotating ring seat 3012. The two first support wheels 3017 are respectively located in the first rotating grooves on the inner and outer sides of the first rotating ring seat 3012. The first rotating ring seat 3012 can slide relative to the first support wheel 3017. In this embodiment, the first support seat is 4 groups. Alternatively, the first support seat can be 3 groups or 5 groups or other groups, as long as it can realize the movable support of the first rotating ring seat 3012. The first support wheel 3017 of each group of first support seats has a minimum of two, which is 4 in this embodiment, and is respectively located on the inner and outer sides of the first rotating ring seat 3012 in two groups.

[0054] Further, in order to reduce the frictional resistance in the rotation process of the first rotating ring seat 3012, the first support wheel 3017 is rotatingly arranged relative to the object base 3015, that is, the sliding friction between the first rotating ring seat 3012 and the first support wheel 3017 is converted into rolling friction, thereby facilitating the rotation of the object table 301.

[0055] ​In this embodiment, the first rotating ring seat 3012 and the first gear ring 3011 are directly matched in size and are both ring-shaped mechanisms. Correspondingly, the stage 301 is set in a disc shape to maximize light transmission and avoid obstruction of the light transmitted or irradiated by the stage 301.

[0056] In one embodiment, such as Figures 4-6 As shown, in order to realize the reciprocating linear movement of the first top plate 2011, a translational support base 202 is also provided inside the first housing 100. The translational support base 202 is fixedly set relative to the first housing 100. A first translational slider 2022 that reciprocates linearly is provided on the translational support base 202, and the first top plate 2011 is located on the first translational slider 2022.

[0057] Furthermore, it also includes a first translation screw 2024, a first translation nut, and a first translation guide rail 2021 disposed on the translation support base 202. The axial direction of the first translation screw 2024 is consistent with the axial length direction of the first translation guide rail 2021. The first translation nut is movably sleeved on the first translation screw 2024 and is connected to the first translation slider 2022. A second motor 2023 is provided at one end of the first translation screw 2024. The second motor 2023 is fixedly disposed on the translation support base 202, and the output shaft of the second motor 2023 is connected to the first translation screw 2024. The second motor 2023 drives the first translation screw 2024 to rotate forward and backward, thereby driving the first translation nut and the first translation slider 2022 to move reciprocally in a linear fashion, and thus driving the first top plate 2011 to move reciprocally in a linear fashion.

[0058] In this embodiment, the first top plate 2011 is provided with a third flange structure 20111, such as... Figure 12 As shown, the third flange structure 20111 can further shield and seal the joint between the second side wall 2012 and the first top plate 2011, thereby effectively shielding X-rays during X-ray imaging and preventing long-term exposure to X-rays from affecting the health of the experimental personnel.

[0059] In one embodiment, such as Figure 18 As shown, the first camera 1021 is provided with a lens part 10212, which is located inside the first housing 100. Since the first housing 100 is the place for capturing bioluminescent signal images, the first housing 100 is a dark box structure to avoid the influence of external light sources on the shooting.

[0060] In one embodiment, in order to meet the experimental requirements of multiple light source illumination photography, the first camera 1021 further comprises a filter part, which includes a first base 10213, a filter wheel rotatably arranged in the first base 10213, and a plurality of filters arranged on the filter wheel. The shooting part 10211 and the lens part 10212 of the first camera 1021 are respectively located on both sides of the first base 10213, and the first base 10213 is fixed on the side wall of the first box 100. In this embodiment, the first camera 1021 and the third camera 1023 are arranged on the side wall of the first box 100, and the shooting parts 10211 of the first camera 1021 and the third camera 1023 are located outside the first box 100. The second camera 1022 is fixedly arranged inside the first box 100 by a support.

[0061] In this embodiment, the specific structure of the filter switching is disclosed in the patent with the publication number CN221860271U, which will not be described in detail here.

[0062] In one embodiment, since the main camera unit 101 and the auxiliary camera unit are both bioluminescence imaging, the structures of the first camera 1021, the second camera 1022, the third camera 1023, and the main camera unit 101 are the same, which will not be described in detail here.

[0063] In one embodiment, the main camera unit 101 and the auxiliary camera unit can both perform automatic focusing operation, and the specific structure is disclosed in the patent with the publication number CN217907729U, which will not be described in detail here.

[0064] In one embodiment, in order to meet the experimental requirements of the 3D camera unit 103, the shooting angle of the 3D camera unit 103 is adjusted, as shown in Figure 10 A first support 1032 is fixedly arranged on the inner wall of the first box 100, a first support 1031 is rotatably arranged on the first support 1032, and the 3D camera unit 103 is arranged on the first support 1031. A first arc-shaped groove 1034 is arranged on the first support 1033, a first fixed column is arranged on the first support 1031, the first fixed column is located in the first arc-shaped groove 1034, and the center of the first arc-shaped groove 1034 coincides with the rotation center of the first support 1031, so as to avoid motion interference. By arranging a nut on the first fixed column, the shooting angle of the 3D camera unit 103 can be adjusted.

[0065] In one embodiment, in order to protect the structural components such as the first camera 1021 and the third camera 1023 arranged outside the first box 100, a third box 500 is further arranged outside the first box 100, as shown in Figure 19As shown, the first box body 100 is located in the third box body 500, the first box body 100 is provided with a first opening 108 which can be opened and closed, the third box body 500 is provided with a second opening which can be opened and closed, and the first opening 108 and the second opening are positionally corresponding. Specifically, a hatch is arranged at each of the first opening 108 and the second opening, so as to open and close the first opening 108 and the second opening.

[0066] In one embodiment, the present application also provides a three-dimensional imaging method, which is applied to the multi-modal fusion three-dimensional imaging device in the above-mentioned various embodiments, and the main steps are as follows: S1, rotating the object table 301, and acquiring three-dimensional model contour data of the photographed organism by the 3D camera unit 103; for example, the object table 301 is counterclockwise rotated by 180 degrees for scanning and photographing, and then is reset, and the object table 301 is clockwise rotated for scanning and photographing; or, the object table 301 is directly counterclockwise rotated by 360 degrees or clockwise rotated by 360 degrees, so as to realize 360-degree three-dimensional model contour data of the measured organism, and the acquisition principle is as described above, which will not be repeated here.

[0067] S2, acquiring a plurality of angle bioluminescence signal graphs of the photographed organism by the main camera unit 101 and the auxiliary camera unit, and converting and correcting the plurality of angle bioluminescence signal graphs to be three-dimensional bioluminescence signal images, and matching the three-dimensional bioluminescence signal images with the three-dimensional model contour data; In the embodiment, the main camera unit 101 is arranged on the top of the first box body 100 and faces the object table 301, and the auxiliary camera unit includes a first camera 1021, a second camera 1022 and a third camera 1023, which are respectively located in different directions relative to the object table 301, such as Figure 15 As shown, the inclination angles of the first camera 1021, the second camera 1022 and the third camera 1023 are the same in the 9 o'clock direction, the 12 o'clock direction and the 3 o'clock direction of the center of the object table 301, and in the embodiment, the inclination angles are preferably 45 degrees. In addition, the relative heights of the first camera 1021, the second camera 1022 and the third camera 1023 relative to the object table 301 are the same, and by using the first camera 1021, the second camera 1022, the third camera 1023 and the main camera unit 101 to take pictures at different angles, a plurality of two-dimensional bioluminescence signal graphs are acquired, multi-angle signal information is captured, and then the plurality of two-dimensional bioluminescence signal graphs are integrated and converted, the signal graphs are spatially converted and corrected, and a three-dimensional bioluminescence signal graph is obtained.

[0068] According to the calibration data, the 3D model profile data, optical characteristics and four camera signal maps are spatially calculated and signal synthesized to generate complete 3D shape and brightness information with real signal information. The profile model is displayed in the 3D scene, the signal information is displayed, and the operations such as rotation and scaling are set, the signal false color, the brightness range size, etc. are displayed in real time, the light intensity information of the ROI region of the three-dimensional bioluminescence signal image is calculated through the 3D ROI, and the positioning display of the ROI region is realized, so as to realize the visualization operation. If the measured organism has no skeleton, the three-dimensional model of the living body is completed, and if the measured organism has a skeleton, the next step is performed, which is as follows: S3, a two-dimensional skeleton image of the photographed organism is photographed by an X-ray mechanism, the two-dimensional skeleton image is matched with the three-dimensional model profile data, and a three-dimensional X-ray skeleton image is reconstructed and generated; S4, a three-dimensional model of the photographed organism is obtained by integrating the three-dimensional model profile data, the three-dimensional bioluminescence signal image and the three-dimensional X-ray skeleton image.

[0069] It should be pointed out that the X-ray photography to form the two-dimensional plane skeleton image is a mature technology, and will not be described in detail here.

[0070] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made. These improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A multi-modal fused three-dimensional imaging apparatus, characterized by, The utility model relates to a kind of X-ray imaging device, including: First box body, with sealed first containing cavity;The first box body is equipped with main camera unit, auxiliary camera unit, 3D camera unit and first light source; Second box body, with second containing cavity, the second box body is arranged in the first containing cavity of the first box body;The second box body is equipped with movable first top plate; Stage, arranged in the second box body, the first top plate is between the main camera unit and the stage, the stage can be relatively rotated with the 3D camera unit;The main camera unit, auxiliary camera unit and the 3D camera unit are all arranged in the stage one side of the stage surface; Wherein, the first central axis of the shooting path of the 3D camera unit and the plane where the stage is located are provided with first included angle, the second central axis of the shooting path of the auxiliary camera unit and the plane where the stage is located are provided with second included angle;The third central axis of the shooting path of the main camera unit and the plane where the stage is located are provided with third included angle;The irradiation light of the first light source covers part or all of the stage surface of the stage; X-ray mechanism, including X-ray light source arranged in one side of the stage and X-ray surface array photosensitive screen arranged on the first top plate, the X-ray surface array photosensitive screen is arranged close to one side of the stage, and the stage is located between the X-ray surface array photosensitive screen and the X-ray light source.

2. The multi-modal fused three-dimensional imaging device of claim 1, wherein, The auxiliary camera unit includes a first camera, a second camera and a third camera, which are spaced and distributed circumferentially relative to the stage. 3.The multi-modal fusion three-dimensional imaging device of claim 1, wherein, The stage also includes a stage base, and the stage is rotatably arranged on the stage base.

4. The multi-modal fused three-dimensional imaging device of claim 3, wherein, The second box also includes a second base and a second side wall that can be lifted relative to the second base, and the second base, the second side wall and the first top plate form a sealed second containing cavity. 5.The multi-modal fusion three-dimensional imaging device of claim 1, wherein, The second box also includes a second support arranged outside the second box, and the second support is provided with a second lifting block that can move relatively, and the second side wall is arranged on the second lifting block.

6. The multi-modal fused three-dimensional imaging device of claim 5, wherein, The second base is provided with a second sub-side wall fixedly connected thereto, and the second sub-side wall has a predetermined height, and the second side wall is sleeved outside the second sub-side wall. 7.The multi-modal fusion three-dimensional imaging apparatus of claim 5, wherein, The second sub-side wall is provided with a first flange structure, and the second side wall is provided with a second flange structure, and the first flange structure and the second flange structure can abut. 8.The multi-modal fusion three-dimensional imaging device of claim 7, wherein, The first rotating mechanism includes a first rotating ring seat that can rotate relative to the stage base, and the stage is arranged on the first rotating ring seat. 9.The multi-modal fusion three-dimensional imaging device of claim 3, wherein, The first rotating mechanism also includes a first gear rotatably arranged on the stage base and a first gear ring fixedly arranged on the first rotating ring seat, and the first gear is engaged with the first gear ring. 10.The multi-modal fusion three-dimensional imaging device of claim 9, wherein, ​ 11. The multi-modal fused three-dimensional imaging device of claim 9, wherein, Further comprising a plurality of groups of first support seats arranged on the circumferential direction of the object support base, the first support seat comprising at least two first support wheels, the two first support wheels being respectively arranged on the inner ring side and the outer ring side of the first rotating ring seat, the inner ring side and the outer ring side of the first rotating seat being provided with a first rotating sliding groove, and the two first support wheels being arranged in the corresponding first rotating sliding groove, and the first rotating ring seat being capable of sliding relative to the first support wheel.

12. The multi-modal fused three-dimensional imaging device of claim 5, wherein, Further comprising a translation support base arranged on the inner side of the first box body, the translation support base being provided with a first translation sliding block capable of reciprocating linearly, and the first top plate being arranged on the first translation sliding block.

13. The multi-modal fused three-dimensional imaging device of claim 12, wherein, Further comprising a first translation guide rail, a first translation lead screw and a first translation nut arranged on the translation support base, the first translation guide rail being arranged in parallel relative to the first translation lead screw, the first translation sliding block being arranged on the first translation guide rail, the first lead screw being rotationally arranged on the translation support base, and the first translation sliding block and the first translation nut being fixedly connected.

14. The multi-modal fused three-dimensional imaging device of claim 2, wherein, The first camera is provided with a lens part, and the lens part is arranged in the first box body.

15. The multi-modal fused three-dimensional imaging device of claim 14, wherein, The first camera further comprises a filter part, the filter part comprising a first base, a filter wheel rotationally arranged in the first base, and a plurality of filters arranged on the filter wheel, the first camera and the lens part being respectively arranged on two sides of the first base, and the first base being fixed to the side wall of the first box body.

16. The multi-modal fused three-dimensional imaging device of claim 15, wherein, The first camera, the second camera, the third camera and the main camera unit are of the same structure.

17. The multi-modal fused three-dimensional imaging device of claim 1, wherein, Further comprising a first support and a first support base arranged on the inner wall of the first box body, the first support being fixedly arranged on the inner wall of the first box body, and the first support base being rotationally arranged on the plurality of supports, and the 3D camera unit being arranged on the first support base.

18. The multi-modal fused three-dimensional imaging device of claim 1, wherein, Further comprising a third box body arranged on the outer side of the first box body, the first box body being arranged in the third box body, the first box body being provided with a first opening capable of being opened and closed, the third box body being provided with a second opening capable of being opened and closed, and the first opening and the second opening being positionally corresponding.

19. A three-dimensional imaging method applied to the multi-modal fusion three-dimensional imaging device of any one of claims 1-18, characterized in that, Comprise: S1, rotating the object table, and obtaining three-dimensional model contour data of the photographed biological object through the 3D camera unit; S2, obtaining a plurality of angle biological luminescence signal maps of the photographed biological object through the main camera unit and the auxiliary camera unit, and converting and correcting the plurality of angle biological luminescence signal maps to obtain a three-dimensional biological luminescence signal image, and matching the three-dimensional model contour data with the three-dimensional biological luminescence signal image; S3, obtaining a two-dimensional bone image of the photographed biological object through the X-ray mechanism, matching the two-dimensional bone image with the three-dimensional model contour data, and generating a three-dimensional X-ray bone image; S4, integrating the three-dimensional model contour data, the three-dimensional biological luminescence signal image and the three-dimensional X-ray bone image to obtain a three-dimensional model of the photographed biological object.

Images