CN116807411A - Motion compensation assisted OCT system, method and working method - Google Patents
Motion compensation assisted OCT system, method and working method Download PDFInfo
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Abstract
The invention relates to a motion compensation auxiliary optical coherence tomography system, a method and a working method, which can reduce motion artifact, improve imaging quality, avoid image blurring caused by physiological motion such as respiration and the like, and obtain a clear image accurately reflecting the true condition of a focus. An optical distance sensor is used as a visual servo system of the robot, an OCT imaging probe is fixed and clamped at the tail end of a 7-joint cooperative mechanical arm, the optical distance sensor is integrally arranged at the tail end of the probe, and the position of a laser point is identified based on the principle of triangulation; calculating the accurate distance from the probe to the sample, and controlling the position of the probe in real time to compensate the axial movement of the sample; and establishing a TCP/IP-based communication channel between the host and the robot controller, and establishing a motion compensation control loop. The system has the advantages of simple structure, convenient operation and high stability, and is suitable for various clinical and scientific research application fields.
Description
Technical Field
The invention relates to the technical field of biomedical engineering, in particular to a motion compensation auxiliary OCT system and a method, and also relates to a working principle and a method of the motion compensation auxiliary OCT system.
Background
Optical coherence tomography (Optical coherence tomography, OCT) is a high resolution, non-invasive, noninvasive, optical three-dimensional imaging technique. OCT is well suited for human skin imaging. It obtains two-dimensional tomographic images and three-dimensional structural images of tissue micrometer-scale (1-15 μm) resolution of about 2mm depth below the skin surface based on the low-coherence light interference principle. Many skin diseases affect only a few millimeters of the skin surface, OCT imaging can distinguish between abnormal and normal tissues in the body, which makes OCT a useful diagnostic tool for diagnosing skin diseases such as early stage skin cancer.
However, in clinical practice, OCT scanning is point-by-point, the entire scanning process takes some time, and the imaging depth is small. Thus, when the skin is imaged clinically, unintentional movements of the patient, such as breathing and heartbeat, and unavoidable physiological tremors of the operator's hand, can cause image movement artifacts, affect image quality, and even cause OCT signals to be lost, making it very difficult to obtain stable and continuous OCT images.
Limitations of the hand-held OCT probes that are now commonly used clinically include: 1. because of the shielding of the probe, the operator cannot clearly observe the imaging region, and it is difficult to accurately align the scanning region, resulting in unstable imaging and poor image quality. 2. Fatigue and discomfort: in order to accurately evaluate the risk and development of skin diseases of a patient, a doctor operator needs to continuously work for more than a few hours to complete OCT scanning and checking on the skin of the patient, and the operation is inconvenient, laborious and long, is easy to fatigue and causes discomfort. 3. The hand tremble is difficult to control, the hand of an operator inevitably trembles in the process, and the direct perception of the distance from the probe to the skin surface is lack in non-contact imaging, so that the distance from the probe to the skin tissue surface is difficult to keep stable, and image motion artifacts cause image blurring and signal loss, which is unfavorable for clinical diagnosis. The existing handheld OCT equipment has low image quality caused by the technical problems, influences the accurate judgment of doctors on skin diseases, and limits the wide application of the handheld OCT equipment in clinical application.
Disclosure of Invention
In order to overcome the defects of the prior art, the technical problem to be solved by the invention is to provide a motion compensation auxiliary OCT system which can avoid image blurring caused by movement, greatly improve imaging quality, obtain accurate clear images reflecting the true condition of a focus and is more beneficial to the diagnosis of diseases by doctors.
The technical scheme of the invention is as follows: such motion compensation assisted OCT system, comprising: the system comprises a specified spectral domain OCT system (11), a probe (2), a 7-joint cooperative mechanical arm (10), an optical distance sensor (1) and a host (5);
the optical distance sensor is used as a visual servo system of the robot, the probe is fixed and clamped at the tail end of the 7-joint cooperative mechanical arm, the optical distance sensor is integrally arranged at the tail end of the probe, and the optical distance sensor comprises: a laser pen (12) for emitting red point laser and a miniature high-frame rate CCD camera (13), wherein the CCD camera collects RGB color images of an imaging area and laser points at the same time and transmits the RGB color images to a host in real time; the host machine completes the image processing, identifies the position of the laser spot, and obtains the position information of the laser spot on the surface of the sample (3); according to the identification positioning result, based on the principle of triangulation, calculating the accurate distance from the probe to the sample, sending a control instruction to the mechanical arm by the host, and enabling the mechanical arm to clamp the probe to axially move along with the surface of the sample by the mechanical arm controller (4) so as to compensate the axial movement of the sample; and establishing a TCP/IP-based communication channel between the host and the robot controller, and establishing a motion compensation control loop.
The invention uses an optical distance sensor as a visual servo system of a robot, a probe is fixed and clamped at the tail end of a 7-joint cooperative mechanical arm, the optical distance sensor is integrally arranged at the tail end of the probe, and the optical distance sensor comprises: a laser pen for emitting red point laser, a miniature high-frame rate CCD camera, wherein the CCD camera collects RGB color images of an imaging area and laser points at the same time and transmits the RGB color images to a host in real time; the host machine completes the image processing, recognizes the position of the laser spot, establishes a TCP/IP-based communication channel between the host machine and the robot controller, and establishes a motion compensation control loop. Based on the triangulation principle, the distance between the current probe and the surface of the skin sample is calculated in real time according to the position of the laser point on the surface of the sample, and a calculated control instruction is sent to a robot controller to control and guide the robot to clamp the OCT probe to move in the direction perpendicular to the surface of the sample, so that axial motion compensation is realized.
There is also provided a motion compensated assisted OCT method comprising the steps of:
(I) An optical distance sensor is used as a visual servo system of the robot, a probe is fixed and clamped at the tail end of the 7-joint cooperative mechanical arm, and the optical distance sensor is integrally arranged at the tail end of the probe;
(II) the CCD camera collects RGB color images of the imaging area and the laser points at the same time, and transmits the RGB color images to the host computer in real time;
(III) finishing image processing by a host computer, identifying the position of the laser point, and obtaining the position information of the laser point on the surface of the sample;
(IV) based on the principle of triangulation, calculating the accurate distance from the probe to the sample according to the identification and positioning result of the laser point, sending a control instruction to the mechanical arm by the host computer,
the mechanical arm controller enables the mechanical arm clamping probe to axially move to follow the surface of the sample so as to compensate the axial movement of the sample;
(V) establishing a TCP/IP based communication channel between the host and the robot controller,
a motion compensation control loop is established.
Also provided is a method of operation of a motion compensated assisted OCT system, comprising the steps of:
(1) Starting;
(2) The CCD camera collects RGB color images of the imaging area and the laser points at the same time;
(3) The host machine completes the image processing, identifies the position of the laser point and obtains the position information of the sample surface;
(4) When the detected laser point position changes by more than 2 pixels compared with the y-direction coordinates of the pixels of the image center point, activating a mechanical arm motion compensation function; specifically, when the laser point coordinates are less than the center point coordinates, indicating that the sample is too far from the probe, the probe is moved downward to decrease the distance, whereas the probe is moved upward to increase the distance so that the probe is always kept near the ideal position from the sample.
Drawings
Fig. 1 is a schematic diagram of the structure of a motion compensated assisted OCT system according to the present invention.
Fig. 2 is a schematic diagram of a probe of a motion compensated assisted OCT system according to the present invention.
Fig. 3 is a schematic diagram of the principle of the triangulation principle based optical sensor measuring the distance of the probe from the sample surface according to one embodiment of the present invention.
FIG. 4 is a control flow diagram of one example of a robotic-assisted motion compensation system according to one embodiment of the invention.
Figure 5 shows the surface errors of the motion compensated assisted OCT system according to the present invention not turned on and turned on.
Detailed Description
As shown in fig. 1, this motion compensation assisted OCT system includes: the system comprises a spectral domain OCT system 11, probes 2 and 7, a joint cooperative mechanical arm 10, an optical distance sensor 1 and a host 5;
the optical distance sensor is used as a visual servo system of the robot, the probe is fixed and clamped at the tail end of the 7-joint cooperative mechanical arm, the optical distance sensor is integrally arranged at the tail end of the probe, and the optical distance sensor comprises: a laser pen 12 for emitting red point laser, a miniature high frame rate CCD camera 13 for collecting RGB color images of the imaging area and the laser points at the same time and transmitting the RGB color images to a host in real time; the host machine completes the image processing, identifies the position of the laser spot, and obtains the position information of the laser spot on the surface of the sample 3; based on the principle of triangulation, calculating the accurate distance from the probe to the sample according to the laser identification positioning result, sending a control instruction to the mechanical arm by the host, and enabling the mechanical arm to clamp the probe to move axially and move along with the sample by the mechanical arm controller 4 so as to compensate the axial movement of the sample; and establishing a TCP/IP-based communication channel between the host and the robot controller, and establishing a motion compensation control loop.
The invention uses an optical distance sensor as a visual servo system of a robot, a probe is fixed and clamped at the tail end of a 7-joint cooperative mechanical arm, the optical distance sensor is integrally arranged at the tail end of the probe, and the optical distance sensor comprises: a laser pen for emitting red point laser, a miniature high-frame rate CCD camera, and based on the principle of triangulation, the CCD camera collects RGB color images of an imaging area and laser points at the same time and transmits the RGB color images to a host in real time; the host machine completes the image processing, identifies the position of the laser point and obtains the position information of the laser point on the sample surface; calculating the accurate distance from the probe to the sample according to the identification and positioning result, sending a control instruction to the mechanical arm by the host, and enabling the mechanical arm to clamp the probe to move along with the sample through the mechanical arm controller so as to compensate the axial movement of the sample; the system has the advantages of reasonable structure, accurate surface distance detection, high efficiency, reliable performance and low cost, and can avoid image blurring caused by movement, greatly improve imaging quality, obtain accurate clear images reflecting the true situation of a focus. Preferably, the spectral domain OCT system comprises a superluminescent diode light source 7 with a central wavelength of 1310nm, a short wave infrared spectrometer 6, a 50/50 fiber coupler 8 with a reference arm 9.
Preferably, the probe is scanned by using a micro-electromechanical system scanning galvanometer (MEMS) 14 to scan light beams, the scanning range is 4×4mm, the optical device of the probe is fixed in an aluminum shell, and the optical device is connected with the tail end of the cooperative mechanical arm through an aluminum adapter; the working distance of the probe is 28mm, and the diameter of the probe is 18 mm.
Preferably, a laser pen which emits red point laser is fixed at the end of the objective lens barrel of the probe, the laser optical axis forms an angle of 60 degrees with the OCT imaging optical axis, a small high-speed RGB camera 13 is arranged at the other side of the objective lens barrel, and the included angle of the camera optical axis and the OCT optical axis is 60 degrees, so that the optical axis of the camera, the optical axis of the laser and the optical axis of the OCT are intersected with the imaging plane of the target.
There is also provided a motion compensated assisted OCT method comprising the steps of:
(I) An optical distance sensor is used as a visual servo system of the robot, a probe is fixed and clamped at the tail end of the 7-joint cooperative mechanical arm, and the optical distance sensor is integrally arranged at the tail end of the probe;
(II) the CCD camera collects RGB color images of the imaging area and the laser points at the same time, and transmits the RGB color images to the host computer in real time;
(III) finishing image processing by a host computer, identifying the position of the laser point, and obtaining the position information of the laser point on the surface of the sample;
(IV) calculating the accurate distance from the probe to the sample according to the laser identification positioning result based on the principle of triangulation, sending a control instruction to the mechanical arm by the host, and enabling the mechanical arm to clamp the probe to axially move along with the sample by the mechanical arm controller so as to compensate the axial movement of the sample;
(V) establishing a TCP/IP based communication channel between the host and the robot controller,
a motion compensation control loop is established.
As shown in fig. 4, there is also provided a method of operating a motion compensated assisted OCT system, comprising the steps of:
(1) Starting;
(2) The CCD camera collects RGB color images of the imaging area and the laser points at the same time;
(3) The host machine completes the image processing, identifies the position of the laser point and obtains the position information of the sample surface;
(4) When the detected laser point position changes by more than 2 pixels compared with the y-direction coordinates of the pixels of the image center point, activating a mechanical arm motion compensation function; when the laser point coordinates are smaller than the center point coordinates, the distance from the sample to the probe is too far, the probe moves downwards to reduce the distance, otherwise, the probe moves upwards to increase the distance, so that the distance between the probe and the sample is always kept near the ideal position.
Specific embodiments of the present invention are described in detail below. Some embodiments of the present invention may provide a mechanical arm assisted OCT system capable of surface tracking and motion compensation based on an optical distance sensor to reduce OCT image motion artifacts and image blurring and even signal loss due to skin surface motion caused by unintentional physiological activities such as breathing and heartbeat of a patient in clinical and intra-operative skin OCT imaging.
Fig. 1 is a schematic diagram of an optical sensor based robotic assisted motion compensated OCT system including an optical distance sensor 1, a custom OCT probe 2, sample skin 3 for imaging, a robotic controller 4, a host 5, a cooperating robotic arm 10, and a spectral domain OCT system (SD-OCT) 11, according to one embodiment of the present invention.
The optical distance sensor consisting of the laser pen 12 and the CCD camera 13 is used to accurately sense the sample surface variation, in particular, the distance between the probe and the sample surface is calculated from the position of the laser spot identified from the RGB image captured by the CCD camera. And based on feedback from the optical distance sensor, image processing by workstation 5 (dyr tower workstation T3630) identifies the laser spot location and calculates the probe-to-surface distance. And then the calculated control command is sent to the mechanical arm controller to control the multi-degree-of-freedom cooperative mechanical arm 10 to move the probe 2 so as to compensate the axial movement of the sample. The sample surface may be the surface 3 of the patient's skin, or subcutaneous tissue.
The spectral domain OCT system (SD-OCT) comprises a super-radiation diode light source 7 with a center wavelength of 1310nm (cable Lei Bo S5FC1021S: single-mode fiber coupling desk-top SLD light source center wavelength of 1310nm, optical power of 12.5W, 85nm bandwidth), a short-wave infrared spectrometer 6 (C1300-1298/245-76-SG 2K (Wasatch Photonics Inc): maximum imaging speed of 76kHz, pixel number of 2048, center wavelength of 1298nm, wavelength range of 245 nm), and a 50/50 optical fiber coupler 8 (cable Lei Bo: TM105R5F 2A).
In the example of fig. 2, the custom Micro OCT probe is scanned using a microelectromechanical system (MEMS) scanning galvanometer 14 (A7B1.1 (Mirrorcle Technologies, inc.) biaxial scanning mirror diameter: 3.6 mm). OCT scan range 4 x 4mm the optics of the OCT probe is fixed in an aluminum housing, connected to the cooperating arm tip by an aluminum adapter. The probe working distance is 28mm and the probe diameter is smaller, 18 mm, which makes it easier to apply to narrow working spaces without interfering with any surgical procedure, making it more clinically versatile.
Fig. 3 shows a schematic diagram of the principle of triangulation-based optical sensor measuring the distance of the probe from the sample surface according to one embodiment of the present invention. An ultra-compact (diameter 4 mm) laser pen 12 capable of emitting red point-shaped laser is fixed at the tail end of the object lens barrel of the OCT probe 2, and the laser optical axis forms an angle of 60 degrees with the OCT imaging optical axis. Similarly, a small high-speed RGB camera 13 is mounted on the other side of the objective lens barrel. The included angle between the optical axis of the camera and the optical axis of the OCT is 60 degrees. Due to the precise design, the optical axis of the camera, the optical axis of the laser, and the optical axis of the OCT all intersect the imaging plane of the target.
Z in FIG. 3 2 The plane is the target imaging plane, Z 1 And Z 3 The sample surface being too close to the probe and too far away from the probe, respectively. The lines a, b, c represent how laser light reflected from different distance surfaces enters the camera sensor. When the distance between the probe and the surface of the object to be measured changes, the position of the laser spot detected on the sensor also changes. From these positions, the distance between the probe and the surface of the object under test can be inferred in reverse. And for laser point identification, acquiring the pixel position of the center of the laser point by adopting HSV color space threshold processing and morphological processing methods.
FIG. 4 illustrates an example control flow diagram of a robotic-assisted motion compensation system according to one embodiment of this disclosure. This is a very simple closed loop control method, when the detected laser spot position changes by more than 2 pixels compared with the y-direction coordinates (240) of the pixels of the image center point, the motion compensation function is activated, the mechanical arm moves with a fixed step length (0.1 mm), and after each step length movement, the next movement direction is judged through the feedback of the optical position sensor, so as to form closed loop control. When the laser point coordinates are smaller than the center point coordinates, the probe moves downward to reduce the distance between the probe and the sample, otherwise, the probe moves upward to increase the distance. I.e. the robotic arm will drive the probe to reduce the variation once the variation value reaches the threshold value.
Surface tracking and motion compensation tests are performed on one example. The skin surface motion caused by respiratory motion was simulated with a balloon that was inflated and deflated at a rhythm (16 times a second). The probe is directed vertically at the target surface, which is moved up and down from the initial position. The optical sensor monitors the movement and feeds back to the host computer, the host computer calculates the surface position, and sends a movement instruction to the cooperative mechanical arm, and the mechanical arm clamps the probe to move along with the surface to adjust the distance between the probe and the surface, and the distance is kept constant, namely the working distance (28 mm) of the probe. As in fig. 5, the error in the change in distance between the target surface position and the probe is recorded over time. The effect of the compensation is evident by comparing the surface error values between the compensation on and the compensation off. The results using the surface tracking and motion compensation system are significantly improved. Such a system can be widely applied to clinical skin OCT imaging and can improve the accuracy of clinical diagnosis.
The present invention is not limited to the preferred embodiments, but can be modified in any way according to the technical principles of the present invention, and all such modifications, equivalent variations and modifications are included in the scope of the present invention.
Claims (7)
1. The motion compensation assisted OCT system is characterized in that: it comprises the following steps: the system comprises a specified spectral domain OCT system (11), a probe (2), a 7-joint cooperative mechanical arm (10), an optical distance sensor (1) and a host (5);
the optical distance sensor is used as a visual servo system of the robot, the probe is fixed and clamped at the tail end of the 7-joint cooperative mechanical arm, the optical distance sensor is integrally arranged at the tail end of the probe, and the optical distance sensor comprises: a laser pen (12) for emitting red point laser and a miniature high-frame rate CCD camera (13), wherein the CCD camera collects RGB color images of an imaging area and laser points at the same time and transmits the RGB color images to a host in real time; the host machine completes the image processing, identifies the position of the laser point on the surface of the sample, and calculates the real-time distance from the surface of the sample (3) to the OCT probe based on the principle of triangulation; a control instruction for the mechanical arm is sent out by the host machine, and the mechanical arm controller (4) enables the mechanical arm clamping probe to axially move along with the sample so as to compensate the axial movement of the sample; and establishing a TCP/IP-based communication channel between the host and the robot controller, and establishing a motion compensation control loop.
2. The motion compensated assisted OCT system of claim 1, wherein: the specified spectral domain OCT system comprises a superluminescent diode light source (7) with a central wavelength of 1310nm, a short-wave infrared spectrometer (6) and a 50/50 optical fiber coupler (8), wherein the optical fiber coupler is provided with a reference arm (9).
3. The motion compensated assisted OCT system of claim 2, wherein: the probe uses a micro-electromechanical system scanning galvanometer (14) to scan light beams, the scanning range is 4mm by 4mm, an optical device of the probe is fixed in an aluminum shell, and the optical device is connected with the tail end of the cooperative mechanical arm through an aluminum adapter; the working distance of the probe is 28mm, and the diameter of the probe is 18 mm.
4. The motion compensated assisted OCT system of claim 3, wherein: a laser pen which emits red point-shaped laser is fixed at the tail end of an objective lens barrel of the probe, the laser optical axis forms an angle of 60 degrees with an OCT imaging optical axis, a small high-speed RGB camera (13) is arranged at the other side of the objective lens barrel, and the included angle between the camera optical axis and the OCT optical axis is 60 degrees, so that the optical axis of the camera, the optical axis of the laser and the optical axis of the OCT are intersected with an imaging plane of a target.
5. The motion compensation assisted OCT method is characterized in that: which comprises the following steps:
(I) An optical distance sensor is used as a visual servo system of the robot, a probe is fixed and clamped at the tail end of the 7-joint cooperative mechanical arm, and the optical distance sensor is integrally arranged at the tail end of the probe;
(II) the CCD camera collects RGB color images of the imaging area and the laser points at the same time, and transmits the RGB color images to the host computer in real time;
(III) finishing image processing by a host computer, identifying the position of the laser point, and obtaining the position information of the laser point on the surface of the sample;
(IV) based on the triangulation principle, calculating the real-time distance from the sample surface to the OCT probe according to the laser position of the sample surface, sending a control instruction to the mechanical arm by the host, and enabling the mechanical arm to clamp the probe to axially move along with the sample by the mechanical arm controller so as to compensate the axial movement of the sample;
(V) establishing a TCP/IP-based communication channel between the host and the robot controller, and establishing a motion compensation control loop.
6. The method of claim 4, wherein the motion compensated assisted OCT system is: which comprises the following steps:
(1) Starting;
(2) The CCD camera collects RGB color images of the imaging area and the laser points at the same time;
(3) The host machine completes the image processing, identifies the position of the laser point and obtains the position information of the sample surface;
(4) When the detected laser point position changes by more than 2 pixels compared with the y-direction coordinates of the pixels of the image center point, activating a mechanical arm motion compensation function; the method comprises the steps of carrying out a first treatment on the surface of the Specifically, when the laser point coordinates are smaller than the center point coordinates, indicating that the probe is too far from the sample, the probe is moved downward to reduce the distance, whereas the probe is moved upward to increase the distance so that the distance of the probe from the sample remains near the ideal position all the time.
7. The method of claim 6, wherein the motion compensated assisted OCT system is: in the step (3), a pixel position of the center of the laser point is obtained by adopting HSV color space threshold processing and morphological processing methods.
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