A multimodal fusion three-dimensional imaging device

Abstract

This invention belongs to the field of biological in vivo imaging technology, and provides a multimodal fusion three-dimensional imaging device, including a first housing with a main camera unit, an auxiliary camera unit, a 3D camera unit, and a first light source; a stage, disposed within the first housing, which can rotate relative to the 3D camera unit, and both the 3D camera unit and the auxiliary camera unit are tilted relative to the stage; the first light source provides the light source required for bioluminescence imaging and illumination for capturing the outline of the organism being tested; the main camera unit and the auxiliary camera unit are used to capture multi-angle two-dimensional bioluminescence images, and the 3D camera unit is used to scan and capture three-dimensional model outline data; by registering the multimodal images captured by the 3D camera unit, the main camera unit, and the auxiliary camera unit, a precise three-dimensional model of the organism being tested is obtained.

Description

Technical Field

[0001] This invention belongs to the field of biological in vivo imaging technology, and specifically refers to a multimodal fusion three-dimensional imaging device. Background Technology

[0002] Visible light in vivo imaging technology primarily employs two techniques: bioluminescence and fluorescence. Bioluminescence uses luciferase genes to label cells or DNA, while fluorescence uses fluorescent reporter groups (GFP, RFP, Cyt, and dyes, etc.) for labeling. Using a highly sensitive optical detection instrument, researchers can directly monitor cellular activity and gene behavior within living organisms. This system allows for the observation of biological processes in living animals, such as tumor growth and metastasis, the development of infectious diseases, and the expression of specific genes.

[0003] In existing technologies, two-dimensional imaging methods or three-dimensional signals simulated by a single (or dual) camera are typically used. However, conventional fluorescent live organisms produce two-dimensional signals, which cannot characterize the three-dimensional specifications (size), depth, and positional information of the organism. Furthermore, the three-dimensional signals simulated by a single or dual camera are often not realistic enough and differ from the actual organism being tested, failing to achieve the relatively precise location of various parts of the organism. Therefore, it is necessary for those skilled in the art to address the aforementioned deficiencies in the existing technologies. Utility Model Content

[0004] This invention provides a multimodal fusion three-dimensional imaging device that solves the problems in the existing live imaging technology mentioned above, such as the inability to characterize the three-dimensional specifications (size) and depth position information of the model, thereby achieving the relative and accurate position of each part of the organism being tested.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: The first housing has a sealed first receiving cavity; the first housing is equipped with a main camera unit, an auxiliary camera unit, a 3D camera unit, and a first light source; A platform is disposed inside the first box, and the platform is provided with a loading surface. The 3D camera unit is disposed on one side of the loading surface of the stage. The stage and the 3D camera unit can rotate relative to each other. The shooting path of the 3D camera unit is located at a first central axis and the plane on which the stage is located has a first angle. The auxiliary camera unit and the platform can rotate relative to each other, and the second central axis of the shooting path of the auxiliary camera unit has a second included angle with the plane where the platform is located; The main camera unit is disposed on one side of the loading surface of the platform, and the third central axis of the shooting path of the main camera unit has a third angle with the plane of the platform. The first light source is disposed inside the first housing, and the illumination light from the first light source covers part or all of the loading surface of the platform.

[0006] In some embodiments, a second housing with a second receiving cavity is also included, the stage being disposed within the second receiving cavity of the second housing, and the second housing being disposed within the first receiving cavity of the first housing; the second housing is provided with a movable first top plate, the first top plate being located between the main camera unit and the stage; The X-ray mechanism includes an X-ray source disposed on one side of the stage and an X-ray array photosensitive screen disposed on the first top plate. The X-ray array photosensitive screen is disposed close to the stage, and the stage is located between the X-ray array photosensitive screen and the X-ray source.

[0007] In some embodiments, the auxiliary camera unit includes a first camera, a second camera, and a third camera, which are circumferentially distributed at intervals relative to the stage.

[0008] In some embodiments, the stage further includes a base on which the stage is rotatably mounted, and the base has a first light-transmitting window corresponding to the position of the stage.

[0009] In some embodiments, a first lifting mechanism is also provided inside the second housing, the first lifting mechanism is provided with a first lifting block, and the cargo base is provided on the first lifting block.

[0010] In some embodiments, the second housing further includes a second base and a second sidewall that is movable relative to the second base, the second base, the second sidewall, and the first top plate forming a sealed second receiving cavity.

[0011] In some embodiments, a second bracket is also provided on the outside of the second housing, the second bracket is provided with a relatively movable second lifting block, and the second sidewall is provided on the second lifting block.

[0012] In some embodiments, the second base is provided with a fixedly connected second sub-sidewall, the second sub-sidewall has a preset height, and the second sidewall is sleeved on the outside of the second sub-sidewall.

[0013] In some embodiments, the second sub-sidewall is provided with a first flange structure and a second flange structure, and the first flange structure and the second flange structure can abut against each other.

[0014] In some embodiments, a first rotating mechanism is also included, the first rotating mechanism including a first rotating ring seat rotatable relative to the loading base, the loading platform being disposed on the first rotating ring seat.

[0015] In some embodiments, the system further includes a first gear rotatably mounted on the base of the object and a first gear ring fixedly mounted on the first rotating ring seat, wherein the first gear meshes with the first gear ring.

[0016] In some embodiments, the system further includes multiple sets of first support seats arranged circumferentially on the base of the object. Each first support seat includes at least two first support wheels, which are respectively located on the inner and outer ring sides of the first rotating ring seat. Both the inner and outer ring sides of the first rotating ring seat are provided with first rotating grooves, and both first support wheels are located in the corresponding first rotating grooves. The first rotating ring seat can slide relative to the first support wheels.

[0017] In some embodiments, a translational support base disposed inside the first housing is also included, wherein the translational support base is provided with a first translational slider that reciprocates linearly, and the first top plate is disposed on the first translational slider.

[0018] In some embodiments, the system further includes a first translation guide rail, a first translation lead screw, and a first translation nut disposed on the translation support base. The first translation guide rail is arranged parallel to the first translation lead screw. The first translation slider is disposed on the first translation guide rail. The first lead screw is rotatably disposed on the translation support base. The first translation slider and the first translation nut are fixedly connected.

[0019] In some embodiments, the first camera has a lens portion located inside the first housing.

[0020] In some embodiments, the first camera further includes a filter section, which includes a first base, a filter wheel rotatably disposed within the first base, and a plurality of filters disposed on the filter wheel. The first camera and the lens are respectively located on both sides of the first base, and the first base is fixed to the side wall of the first housing.

[0021] In some implementations, the first camera, the second camera, the third camera, and the main camera unit have the same structure.

[0022] In some embodiments, the system further includes a first bracket and a first support disposed on the inner wall of the first housing, the first bracket being fixedly disposed on the inner wall of the first housing, the first support being rotatably disposed on the multiple brackets, and the 3D camera unit being disposed on the first support.

[0023] In some embodiments, a third box is also provided outside the first box, the first box is located inside the third box, the first box has a first opening that can be opened and closed, and the third box has a second opening that can be opened and closed, the first opening and the second opening are in corresponding positions.

[0024] Compared with the prior art, the beneficial effects of this utility model are: This application sets up a first housing and places the stage inside the first housing. Through the main camera unit and the auxiliary camera unit, it captures bioluminescence signal images from multiple angles to form a three-dimensional bioluminescence image. By setting up a 3D camera unit and rotating it relative to the stage, it acquires the three-dimensional model contour data of the organism under test. By integrating the three-dimensional model contour data and the three-dimensional bioluminescence image, a three-dimensional living model of the organism under test is obtained, making the characterization information and internal depth information of the organism under test more accurate and the three-dimensional living model more realistic.

[0025] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a multimodal fusion three-dimensional imaging device of the present invention without the third box; Figure 2 This is a first schematic diagram of the internal structure of the first and second boxes of a multimodal fusion three-dimensional imaging device according to the present invention. Figure 3 This is a second schematic diagram showing the internal structure of the first and second boxes of a multimodal fusion three-dimensional imaging device according to the present invention. Figure 4 This is a schematic diagram of the first structure of the second housing of this utility model in the open state; Figure 5 This is a schematic diagram of the second structure of the second box in a sealed state according to the present invention; Figure 6 This is a three-dimensional structural view of the second housing of this utility model from a lower perspective; Figure 7 This is an exploded view of the platform and its transmission structure of this utility model. Figure 8This is a perspective view of the interior of the second housing of this utility model from another side. Figure 9 This is a cross-sectional view of the transmission structure of the platform of this utility model; Figure 10 This is a schematic diagram of the structural installation of the 3D camera unit of this utility model; Figure 11 This is a cross-sectional view of the second housing of this utility model; Figure 12 for Figure 11 Method diagram at point A; Figure 13 for Figure 11 Enlarged view at point B in the middle; Figure 14 for Figure 11 Enlarged view at point C; Figure 15 This is a schematic diagram of the projection of the main camera unit and the auxiliary camera unit of this utility model onto the plane where the stage is located; Figure 16 A schematic diagram showing the first camera of this utility model tilted relative to the stage; Figure 17 A schematic diagram showing the 3D camera unit of this utility model tilted relative to the stage; Figure 18 This is a schematic diagram of the structure of the first camera of this utility model; Figure 19 This is a schematic diagram of the structure of this utility model with a third box; Figure 20 This is an illumination diagram of the first structure of the first light source distribution according to this utility model. Figure 21 This is an illumination diagram of the second structure of the first light source distribution according to this utility model. Figure 22 This is a schematic diagram of the third structure of the first light source distribution of this utility model. 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 Figure 1-3As shown, this utility model provides a multimodal fusion three-dimensional imaging device, mainly comprising a first housing 100, which has a sealed first receiving cavity. The first housing 100 is equipped with a main camera unit 101, an auxiliary camera unit, a 3D camera unit 103, and a first light source. A stage 301 is disposed within the first housing, and the stage has a loading surface, which is the side on which the biological object to be measured is placed. The stage 301 is rotatably disposed relative to the 3D camera unit 103.

[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 disposed on the top of the first housing 100, opposite to the platform 301, and the third central axis 1010 of the main camera unit's shooting path forms a third angle with the plane of the platform 301. In the preferred embodiment, the third central axis 1010 of the main camera unit's shooting path is perpendicular to the platform, such as... Figure 16 As shown. This can be understood as the photograph taken by the main camera unit 101 being a top-down view of the organism being tested on the stage 301 from the top of the first housing 100. 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 is to capture the bioluminescence signal image of the organism being tested from the perspective of the top of the first housing 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; further examples are not provided 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] Both the auxiliary camera unit and the main camera unit 101 are used for bioluminescence imaging, such as fluorescent labeling signals. Since bioluminescence imaging also requires capturing the outline of the organism being tested to confirm the relative position of the luminescent point to the outline of the organism, and the 3D camera unit 103 is used to capture the outline of the organism being tested, a first light source needs to be set up 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, such as... Figure 20As shown, the fluorescence imaging excitation source 1092 and the illumination source 1091 are arranged on the same side. The illumination source 1091 provides illumination when photographing the outline of the organism being tested, and the fluorescence imaging excitation source 1092 provides excitation when photographing biochemical luminescence signal images. The first light source provides the type of light source required for the photograph. The illumination light from the first light source covers part or all of the stage 301, thereby achieving comprehensive irradiation of the organism being tested placed on the stage 301. The first light source can be located on the top of the first housing 100, near the main imaging unit 101. In this embodiment, the first light source includes, but is not limited to, LED lights or red, blue, orange, or white light, which can be preset according to the experimental luminescence requirements.

[0033] Optionally, such as Figure 22 As shown, the first light source can only be either an illumination light source 1091 or a fluorescence imaging excitation light source 1092. In this case, the first light source and the main camera unit 101 are arranged on the same side. When capturing biological fluorescence emission imaging, it can provide illumination and laser light source functions. When performing 3D imaging by the camera unit 103, it can provide illumination. At this time, the first light source needs to be selected according to the fluorescence imaging, such as red light, blue light, or violet light.

[0034] Optionally, such as Figure 21 As shown, the fluorescence imaging excitation light source 1092 can be independently positioned below the stage 301. In this case, the illumination light source 1091 is positioned on the same side as the main camera unit 101. When the fluorescence imaging excitation light source 1092 is positioned below the stage 301, the stage 301 is a light-transmitting structure, such as an acrylic plate, a glass plate, or a plate-like structure with multiple arrays of light-transmitting small holes. In this embodiment, the shooting coverage area of ​​both the auxiliary camera unit and the main camera unit 101 can cover the stage 301, thereby enabling the capture of a complete bioluminescent image.

[0035] The 3D camera unit 103 is configured to rotate relative to the stage 301. The central ray of the first central axis 10301 captured by the 3D camera unit 103 forms a first angle 1030 with the plane of the stage 301. Figure 17 As shown, this allows the 3D camera unit 103 to be set at a relative tilt.

[0036] In this embodiment, the stage 301 is a rotating structure. By rotating the stage 301, the three-dimensional surface contour data of the organism under test can be acquired. For example, the stage 301 can be rotated 180 degrees counterclockwise, reset, and then rotated 180 degrees clockwise. Alternatively, the stage 301 can be rotated 360 degrees directly. The 3D camera unit 103 mainly emits lasers for ranging. By rotating the stage 301, it captures structured light reflected from the surface of the organism under test from multiple angles. The structured light data from multiple directions are used for point cloud registration and data processing to generate complete three-dimensional model contour data.

[0037] In this embodiment, the 3D camera unit 103 is a 3D structured light camera. Employing structured light technology, it projects a specific pattern (such as stripes or dots) onto the surface of an object, captures the deformation pattern using a camera, and calculates the three-dimensional information of the object's surface. It offers high accuracy in close-range measurements, achieving millimeter-level precision within a 1-meter range. In practical applications, a 3D line laser camera can also be used. Based on the depth measurement principle of laser triangulation, it projects a laser line onto the object's surface, captures the deformation of the laser line from a certain angle, and then calculates the object's depth information. By moving the object or camera, a complete 3D point cloud is generated. This is existing technology and will not be elaborated upon further.

[0038] Alternatively, the stage 301 can be configured as a fixed structure, and the 3D camera unit 103 can be configured as a rotating structure. It should be noted that during the rotation, the 3D camera unit 103 performs circular motion in a certain horizontal plane, which is parallel to the plane on which the stage 301 is located, thus achieving the above purpose.

[0039] In one embodiment, when the organism being tested has bones, the device further includes a second housing 201 and an X-ray mechanism. Specifically, the second housing 201 has a second receiving cavity, and a stage 301 is disposed within the second receiving cavity of the second housing 201. The second housing 201 is disposed within the first receiving cavity of the first housing 100. A movable first top plate 2011 is provided on the top of the second housing 201. The first top plate 2011 is located between the main camera unit 101 and the stage 301, and the direction of movement of the first top plate 2011 is parallel to the plane on which the stage 301 is located.

[0040] The X-ray mechanism includes an X-ray light source 401 and an X-ray array photosensitive screen 402, such as Figure 11 and Figure 12As shown, the X-ray mechanism is used to capture two-dimensional X-ray skeletal images of the tested organism. Since X-rays are radioactive, the panels of the second housing 201 are all composed of lead-layered panels, forming a sealed lead box structure to reduce radiation damage to personnel outside the second housing 201. Because the stage 301 is located inside the second housing 201, when the X-ray skeletal image is captured and the main camera unit 1021 or auxiliary camera unit needs to capture images, the stage 301 needs to be exposed to the field of view of the main camera unit 101, the auxiliary camera unit, and the 3D camera unit 103. Therefore, the second housing 201 has a first top plate 2011, which can move horizontally. The X-ray array photosensitive screen 402 is mounted on the first top plate 2011, and the stage 301 is positioned between the X-ray array photosensitive screen 402 and the X-ray source 401. When X-ray skeleton image capture is required, the first top plate 2011 needs to be moved directly above the stage 301 to form a closed second box 201. When the X-ray skeleton image capture is completed, the first top plate 2011 is moved away to expose the stage 201, so that bioluminescent imaging can be performed by the 3D camera unit 103, the main camera unit 101 and the auxiliary camera unit.

[0041] In this application, by adopting the above structure, the bioluminescence imaging mechanism of the X-ray mechanism, the 3D camera unit 103, the main camera unit 101, and the auxiliary camera unit is combined to integrate the two-dimensional X-ray skeleton image and the three-dimensional model contour data to obtain a three-dimensional X-ray skeleton image. Then, the multi-angle two-dimensional bioluminescence images generated by bioluminescence imaging are integrated, and spatial transformation and correction are performed to obtain a three-dimensional bioluminescence signal image. The three-dimensional bioluminescence signal image, the three-dimensional model contour data, and the three-dimensional X-ray skeleton image are registered and integrated to obtain a more accurate and realistic three-dimensional live image, which meets the needs of various high-precision experimental research.

[0042] In one embodiment, such as 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, which are circumferentially distributed relative to the stage 301. Specifically, as... Figure 15As shown, in this embodiment, the first camera 1021 is located on the first box 100 in the direction of the experimenter's view when placing the organism. The second camera 1022 and the third camera 1023 are respectively set on the left and right sides of the experimenter. The second camera 1022 is located inside the first box 100 on the left side when the experimenter places the organism, and is located outside the second box 100. The third camera 1023 is set on the first box 201, and the second camera 1022 and the first camera 1021 are set at a 90-degree interval, and the third camera 1023 and the first camera 1021 are also set at a 90-degree interval. Figure 15 As shown.

[0043] 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.

[0044] Optionally, the number of cameras in the auxiliary camera unit is not limited by this utility model 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.

[0045] 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 301, bioluminescent signal images from multiple angles can be captured, and then the bioluminescent signal images from multiple angles can be synthesized.

[0046] Furthermore, to ensure clearer image quality, the first camera 1021, the second camera 1022, and the third camera 1023 are all tilted, such as... Figure 16The diagram shows a tilted arrangement of the first camera 1021. The shooting path of the first camera 1021, located on the second central axis 10201, forms a first angle 1020 with the plane containing the stage 301. In this embodiment, the range of the first angle 1020 is 30° to 60°. As the optimal position, the first angle 1020 is 45° in this embodiment. Optionally, the first angle 1020 can also be 43°, 44°, 46°, 30°, or 60°, etc. The range of the first angle 1020 is between 30° and 60°. The specific setting can be preset according to experimental requirements.

[0047] In one embodiment, such as Figure 7-9 As shown, the stage 301 also includes a base 3015, on which the stage 301 is rotatably mounted. A first light-transmitting window is provided on the base 3015. The first light-transmitting window is used to allow X-rays to pass through, so that X-rays can directly irradiate the stage 301. Alternatively, when the first light source is located below the stage 301, the stage 301 can be irradiated through the first light-transmitting window, thereby realizing the light source required for bioluminescence imaging.

[0048] In one embodiment, a first lifting mechanism 302 is provided inside the second housing 201, and a first lifting block 3022 is provided on the first lifting mechanism 302. A carrying base 3015 is fixedly mounted on the first lifting block 3022. Specifically, the first lifting block 3022 can be configured as follows: Figure 7 The device moves in a reciprocating linear motion in the up-down direction to adjust the distance between the stage 301 and the main camera unit 101, thus meeting the imaging requirements of bioluminescence imaging. In this embodiment, the first lifting mechanism 302 includes a first lifting guide rail disposed inside the second housing 201, a first lifting slider disposed on the first lifting guide rail, and a first lead screw and a first nut disposed inside the second housing 201. The axial direction of the first lead screw is consistent with the axial direction of the first guide rail. The first lifting block 3022 connects the first lifting slider and the first nut. Through the forward and reverse rotation of the first motor 3021, combined with the limiting of the first lifting guide rail and the first lifting slider, the first nut is driven to move in a reciprocating linear motion along the axial direction of the first lead screw, thereby realizing the reciprocating linear motion of the first lifting block 3022, and further driving the stage 301 on the base 3015 to adjust its height.

[0049] In this embodiment, the structure of the first lead screw and the first nut can be replaced by a synchronous belt and synchronous pulley structure, which can also achieve the reciprocating lifting and lowering movement of the first lifting block 3022.

[0050] Alternatively, a hydraulic or pneumatic push rod structure can be used as an alternative, with the first lifting block 3022 positioned at the free end of the hydraulic or pneumatic push rod. It is understood that the lifting method of the first lifting block 3022 is not limited by this invention; it only requires the first lifting block 3022 to move the platform 301 on the base 3015 closer to or further away from the main camera unit 101.

[0051] In one embodiment, such as Figure 4-6 as well as Figure 11 and Figure 14 As shown, the second housing 201 includes a second base 20131 and a second side wall 2012 that is adjustable relative to the second base 20131. The second base 20131, the second side wall 2012, and the first top plate 2011 form a sealed second receiving cavity. By providing the adjustable second side wall 2012, space can be made for the auxiliary camera unit, fully exposing the stage 301 within the shooting range of the auxiliary camera unit.

[0052] Furthermore, a second bracket is provided on the outside of the second housing 201, and a second lifting block 203 is provided on the second bracket. The second side wall 2012 is disposed on the second lifting block 203. By moving the second lifting block 203 up and down, the second side wall 2012 is driven to move up and down, thereby forming a sealed second receiving cavity or fully exposing the stage 301 within the shooting range of the auxiliary camera unit. The transmission structure of the second lifting block 203 is the same as that of the first lifting block 3022, and will not be described in detail here.

[0053] Furthermore, to avoid large-scale lifting and lowering movements of the second sidewall 2012, the overall size of the device should be reduced. For example... Figure 6 and Figure 14 As shown, a second sub-sidewall 2013 is provided on the second base 20131. The second sub-sidewall 2013 is fixedly disposed relative to the second base 20131. The second sub-sidewall 2013 has a preset height, and the second sidewall 2012 is movably sleeved on the outside of the second sub-sidewall 2013. In this embodiment, when the second sidewall 2012 is in the initial state, that is, when the second sidewall 2012 has not risen to form a sealed second receiving cavity, such as... Figure 13 As shown, the upper side of the second sidewall 2012 is flush with the upper side of the second sub-sidewall 2013, so that the stage 301 is fully exposed within the shooting range of the 3D camera unit 103 and the auxiliary camera unit. By setting the second sub-sidewall 2013, the lifting stroke of the second sidewall 2012 is reduced, and there is no need to set more clearance space under the second base 20131, thus reducing the overall size of the device.

[0054] Furthermore, a first flange structure 20132 is provided on the upper edge of the second sub-sidewall 2013, and a second flange structure 20121 is provided on the lower edge of the second sidewall 2012, as shown below. Figure 13 and Figure 14 As shown, when the second flange structure 20121 abuts against the first flange structure 20132, the upper edge of the second sidewall 2012 abuts against the first top plate 2011, thereby forming a sealed second receiving cavity. Simultaneously, the first flange structure 20121 and the second flange structure 20131 can also serve as limiting structures to prevent the second sidewall 2012 from exceeding its travel range, thus preventing the formation of a completely sealed second receiving cavity.

[0055] In one embodiment, since the stage 301 needs to be rotated when the 3D camera unit 103 is taking pictures, a first rotating mechanism is provided on the base 3015 to achieve the requirement of 360° omnidirectional rotation of the stage 301. Figure 7-9 As shown, specifically, the first rotating mechanism includes a first rotating ring seat 3012 that rotates relative to the loading base 3015, and the loading platform 301 is disposed on the first rotating ring seat 3012. The rotation of the first rotating ring seat 3012 drives the loading platform 301 to rotate.

[0056] Furthermore, the first rotating mechanism also includes a first gear 3013 rotatably mounted on the base 3015 and a first gear ring 3011 fixedly mounted on the first rotating ring seat 3012. The first gear 3013 and the first gear ring 3011 mesh and drive each other. Specifically, a first rotary motor 3014 is mounted on the base 3015, and the first gear 3013 is mounted on the output shaft of the first rotary motor 3014. The forward and reverse rotation of the first rotary motor 3014 drives the platform 301 to rotate forward and reverse relative to the base 3015.

[0057] Furthermore, the first rotating mechanism also includes multiple sets of first support seats axially distributed. These first support seats are arranged in a circular structure on the load base 3015. Each first support seat includes at least two first support wheels 3017, located on the inner and outer ring sides of the first rotating ring seat 3012, respectively. The two first support wheels 3017 are mounted on the first support base 3016. First rotating grooves are provided on both the inner and outer ring sides of the first rotating ring seat 3012, with the two first support wheels 3017 corresponding to 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 wheels 3017. In this embodiment, there are four sets of first support seats. Optionally, there can be three, five, or other sets of first support seats to provide movable support for the first rotating ring seat 3012. The lowest two of the first support wheels 3017 in each group of first support seats are located in the lower position. In this embodiment, there are four wheels, which are located in pairs on the inner and outer sides of the first rotating ring seat 3012.

[0058] Furthermore, in order to reduce the frictional resistance during the rotation of the first rotating ring seat 3012, the first support wheel 3017 is rotated relative to the loading 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 loading platform 301.

[0059] 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.

[0060] In one embodiment, such as Figure 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] In one embodiment, to meet the needs of multiple light source illumination for photographing in experiments, the first camera 1021 further includes a filter section. The filter section includes a first base 10213, a filter wheel rotatably disposed within the first base 10213, and a plurality of filters disposed on the filter wheel. The imaging 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 to the side wall of the first housing 100. In this embodiment, both the first camera 1021 and the third camera 1023 are disposed on the side wall of the first housing 100, and the imaging parts 10211 of the first camera 1021 and the third camera 1023 are located outside the first housing 100. The second camera 1022 is fixedly disposed inside the first housing 100 by a bracket.

[0065] In this embodiment, the specific structure for switching the filter is described in patent publication number CN221860271U, and will not be elaborated further here.

[0066] In one embodiment, since both the main camera unit 101 and the auxiliary camera unit are bioluminescent imaging devices, the structures of the first camera 1021, the second camera 1022, the third camera 1023, and the main camera unit 101 are the same, and will not be described in detail here.

[0067] In one embodiment, both the main camera unit 101 and the auxiliary camera unit can perform automatic focusing operations. The specific structure of the auxiliary camera unit is disclosed in the patent with publication number CN217907729U, and will not be described in detail here.

[0068] In one embodiment, the shooting angle of the 3D camera unit 103 is adjusted to meet experimental requirements, such as... Figure 10 As shown, a first bracket 1032 is fixedly installed on the inner wall of the first housing 100. A rotating first support 1031 is provided on the first bracket 1032, and the 3D camera unit 103 is mounted on the first support 1031. A first arc-shaped groove 1034 is provided on the first bracket 1033, and a first fixing post is provided on the first support 1031. The first fixing post is located within 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, thereby avoiding motion interference. The shooting angle of the 3D shooting unit 103 can be adjusted by tightening or loosening a nut on the first fixing post.

[0069] In one embodiment, to protect structural components such as the first camera 1021 and the third camera 1023 located outside the first housing 100, a third housing 500 is also provided outside the first housing 100, such as... Figure 19 As shown, the first housing 100 is located inside the third housing 500. The first housing 100 has an openable and closable first opening 108, and the third housing 500 has an openable and closable second opening. The first opening 108 and the second opening are positioned correspondingly. Specifically, hatches are provided at both the first opening 108 and the second opening, thereby enabling the opening and closing of the first opening 108 and the second opening.

[0070] In one embodiment, the present invention also provides a three-dimensional imaging method applied to the multimodal fusion three-dimensional imaging device in the above embodiments, the main steps of which are as follows: S1. Rotate the stage 301 and scan the three-dimensional model outline data of the organism to be photographed through the 3D camera unit 103. For example, the stage 301 is rotated 180 degrees counterclockwise to scan and take pictures, then reset, and the stage 301 is rotated clockwise to scan and take pictures again. Alternatively, the stage 301 can be rotated 360 degrees counterclockwise or 360 degrees clockwise to obtain the 360-degree three-dimensional model outline data of the organism to be measured. The acquisition principle is as described above and will not be elaborated on here.

[0071] S2. The main camera unit 101 and the auxiliary camera unit acquire bioluminescence signal images of the photographed organism from multiple angles and convert and correct them to form a three-dimensional bioluminescence signal image. The three-dimensional bioluminescence signal image is then matched with the three-dimensional model contour data. In this embodiment, the main camera unit 101 is disposed on the top of the first housing 100, directly facing the stage 301. The auxiliary camera units include a first camera 1021, a second camera 1022, and a third camera 1023, which are located in different directions relative to the stage 301, such as... Figure 15 As shown, the tilt shooting angles of the first camera 1021, the second camera 1022, and the third camera 1023 are the same at the 9 o'clock, 12 o'clock, and 3 o'clock directions at the rotation center of the stage 301. In this embodiment, 45 degrees is preferred. Furthermore, the relative heights of the first camera 1021, the second camera 1022, and the third camera 1023 relative to the stage 301 are the same. Using fluorescent markers, the first camera 1021, the second camera 1022, the third camera 1023, and the main camera unit 101 are used to capture images from different angles, obtaining multiple two-dimensional bioluminescent signal images. Multi-angle signal information is captured, and then the multiple two-dimensional bioluminescent signal images are integrated and converted. Spatial transformation and correction are performed on the signal images to obtain three-dimensional bioluminescent signal images.

[0072] Based on calibration data, spatial calculations and signal synthesis are performed on the 3D model contour data, optical characteristics, and signal images from four cameras to generate complete 3D shape and brightness information with real signal information. The contour model and signal information are displayed in a 3D scene, allowing for rotation and scaling. Signal pseudocolor and brightness range settings are configured and displayed in real time. The system calculates the light intensity information of the ROI region in the 3D bio-light signal image and enables the localization and display of the ROI region, thus achieving visualization.

[0073] If the organism being tested has no skeleton, the 3D model of the living organism is complete. If the organism being tested has a skeleton, proceed to the next step, as follows: S3. Take two-dimensional skeletal images of the organism being photographed using an X-ray device, match the two-dimensional skeletal images with the three-dimensional model contour data, and reconstruct and generate three-dimensional X-ray skeletal images. S4. The three-dimensional model of the photographed organism is obtained by integrating the three-dimensional model contour data, the three-dimensional bioluminescence signal image, and the three-dimensional X-ray skeletal image.

[0074] It should be noted that X-ray imaging to create two-dimensional planar skeletal images is a mature existing technology, and will not be elaborated on here.

[0075] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model. These improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A multimodal fusion three-dimensional imaging device, characterized in that, include: The first housing has a sealed first receiving cavity; the first housing is equipped with a main camera unit, an auxiliary camera unit, a 3D camera unit, and a first light source; A platform is disposed inside the first box, and the platform is provided with a loading surface. The 3D camera unit is disposed on one side of the loading surface of the stage. The stage and the 3D camera unit can rotate relative to each other. The shooting path of the 3D camera unit is located at a first central axis and the plane on which the stage is located has a first angle. The auxiliary camera unit and the platform can rotate relative to each other, and the second central axis of the shooting path of the auxiliary camera unit has a second included angle with the plane where the platform is located; The main camera unit is disposed on one side of the loading surface of the platform, and the third central axis of the shooting path of the main camera unit has a third angle with the plane of the platform. The first light source is disposed inside the first housing, and the illumination light from the first light source covers part or all of the loading surface of the platform.

2. The multimodal fusion three-dimensional imaging device according to claim 1, characterized in that, It also includes a second housing with a second receiving cavity, the stage being disposed within the second receiving cavity of the second housing, and the second housing being disposed within the first receiving cavity of the first housing; the second housing is provided with a movable first top plate, the first top plate being located between the main camera unit and the stage; The X-ray mechanism includes an X-ray source disposed on one side of the stage and an X-ray array photosensitive screen disposed on the first top plate. The X-ray array photosensitive screen is disposed close to the stage, and the stage is located between the X-ray array photosensitive screen and the X-ray source.

3. The multimodal fusion three-dimensional imaging device according to claim 2, characterized in that, The auxiliary camera unit includes a first camera, a second camera, and a third camera, which are circumferentially distributed at intervals relative to the stage.

4. The multimodal fusion three-dimensional imaging device according to claim 2, characterized in that, The platform also includes a base, and the platform is rotatably mounted on the base. The base has a first light-transmitting window corresponding to the position of the platform.

5. A multimodal fusion three-dimensional imaging device according to claim 4, characterized in that, It also includes a first lifting mechanism disposed inside the second box, the first lifting mechanism having a first lifting block, and the cargo base disposed on the first lifting block.

6. A multimodal fusion three-dimensional imaging device according to claim 2, characterized in that, The second housing also includes a second base and a second side wall that can be raised and lowered relative to the second base. The second base, the second side wall, and the first top plate constitute a sealed second receiving cavity.

7. A multimodal fusion three-dimensional imaging device according to claim 6, characterized in that, It also includes a second bracket disposed on the outside of the second housing, the second bracket being provided with a second lifting block that can move relative to it, and the second sidewall being disposed on the second lifting block.

8. A multimodal fusion three-dimensional imaging device according to claim 6, characterized in that, The second base is provided with a fixedly connected second sub-side wall, the second sub-side wall has a preset height, and the second side wall is sleeved on the outside of the second sub-side wall.

9. A multimodal fusion three-dimensional imaging device according to claim 8, characterized in that, The second sub-side wall is provided with a first flange structure and a second flange structure, and the first flange structure and the second flange structure can abut against each other.

10. A multimodal fusion three-dimensional imaging device according to claim 4, characterized in that, It also includes a first rotating mechanism, which includes a first rotating ring seat that can rotate relative to the base of the object, and the platform is disposed on the first rotating ring seat.

11. A multimodal fusion three-dimensional imaging device according to claim 10, characterized in that, It also includes a first gear rotatably mounted on the base of the object and a first gear ring fixedly mounted on the first rotating ring seat of the litigation, wherein the first gear meshes with the first gear ring.

12. A multimodal fusion three-dimensional imaging device according to claim 10, characterized in that, It also includes multiple sets of first support seats arranged circumferentially on the base of the object carrier. Each first support seat includes at least two first support wheels, which are respectively located on the inner and outer ring sides of the first rotating ring seat. Both the inner and outer ring sides of the first rotating ring seat are provided with first rotating grooves, and both first support wheels are located in the corresponding first rotating grooves. The first rotating ring seat can slide relative to the first support wheels.

13. A multimodal fusion three-dimensional imaging device according to claim 6, characterized in that, It also includes a translational support base disposed inside the first housing, wherein the translational support base is provided with a first translational slider that moves reciprocally in a linear motion, and the first top plate is disposed on the first translational slider.

14. A multimodal fusion three-dimensional imaging device according to claim 13, characterized in that, It also includes a first translation guide rail, a first translation lead screw, and a first translation nut disposed on the translation support base. The first translation guide rail is arranged parallel to the first translation lead screw. The first translation slider is disposed on the first translation guide rail. The first lead screw is rotatably disposed on the translation support base. The first translation slider and the first translation nut are fixedly connected.

15. A multimodal fusion three-dimensional imaging device according to claim 3, characterized in that, The first camera has a lens section, which is located inside the first housing.

16. A multimodal fusion three-dimensional imaging device according to claim 15, characterized in that, The first camera further includes a filter section, which includes a first base, a filter wheel rotatably disposed within the first base, and a plurality of filters disposed on the filter wheel. The first camera and the lens are respectively located on both sides of the first base, and the first base is fixed to the side wall of the first housing.

17. A multimodal fusion three-dimensional imaging device according to claim 16, characterized in that, The first camera, the second camera, the third camera, and the main camera unit have the same structure.

18. A multimodal fusion three-dimensional imaging device according to claim 2, characterized in that, It also includes a first bracket and a first support disposed on the inner wall of the first box. The first bracket is fixedly disposed on the inner wall of the first box, and the first support is rotatably disposed on the multiple brackets. The 3D camera unit is disposed on the first support.

19. A multimodal fusion three-dimensional imaging device according to claim 2, characterized in that, It also includes a third box disposed outside the first box, the first box being located inside the third box, the first box having a first opening that can be opened and closed, and the third box having a second opening that can be opened and closed, the first opening and the second opening being in corresponding positions.

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