WO2019220555A1 - Dispositif d'imagerie - Google Patents

Dispositif d'imagerie Download PDF

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Publication number
WO2019220555A1
WO2019220555A1 PCT/JP2018/018879 JP2018018879W WO2019220555A1 WO 2019220555 A1 WO2019220555 A1 WO 2019220555A1 JP 2018018879 W JP2018018879 W JP 2018018879W WO 2019220555 A1 WO2019220555 A1 WO 2019220555A1
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WO
WIPO (PCT)
Prior art keywords
unit
illumination
imaging
camera
image
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Application number
PCT/JP2018/018879
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English (en)
Japanese (ja)
Inventor
博之 北本
石川　亮宏
Original Assignee
株式会社島津製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社島津製作所 filed Critical 株式会社島津製作所
Priority to PCT/JP2018/018879 priority Critical patent/WO2019220555A1/fr
Publication of WO2019220555A1 publication Critical patent/WO2019220555A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/20—Surgical microscopes characterised by non-optical aspects
    • A61B90/25—Supports therefor

Definitions

  • the present invention relates to an imaging apparatus for irradiating a fluorescent dye administered into the body of a subject with excitation light and photographing fluorescence generated from the fluorescent dye.
  • indocyanine green which is a fluorescent dye
  • ICG indocyanine green
  • injector or the like is injected into the subject's body by an injector or the like and administered to the affected area.
  • indocyanine green is irradiated with near-infrared light having a wavelength of about 600 to 850 nm (nanometer) as excitation light
  • indocyanine green emits near-infrared fluorescence having a wavelength of about 750 to 900 nm.
  • This fluorescence is photographed by an imaging device capable of detecting near infrared light, and the image is displayed on a display unit such as a liquid crystal display panel. According to this near-infrared fluorescence imaging, it is possible to observe lymph nodes and the like existing at a depth of about 20 mm from the body surface.
  • 5-aminolevulinic acid 5-ALA / 5-Aminolevulinic Acid
  • 5-ALA 5-aminolevulinic acid
  • PpIX ProtoporphyrinIX / Protoporphyrin Nine
  • PpIX which is a metabolite of 5-ALA
  • visible light having a wavelength of about 410 nm
  • red visible light having a wavelength of about 630 nm is emitted from PpIX as fluorescence.
  • Patent Document 1 discloses an intensity distribution image of near-infrared fluorescence obtained by irradiating an indocyanine green excitation light to a living organ to which indocyanine green is administered, and before indocyanine green administration. Compared with the cancer lesion distribution image obtained by applying X-ray, nuclear magnetic resonance or ultrasound to the subject's organs, it is detected by the intensity distribution image of near-infrared fluorescence, but the cancer lesion distribution image Discloses a data collection method for collecting data of a region that is not detected as secondary lesion region data of cancer.
  • Patent Document 2 using an illumination / photographing unit in which a camera, an infrared light source, and a visible light source are integrated, irradiation of infrared light and visible light to a subject, photographing with a camera, An imaging apparatus including an illumination / photographing unit that performs the above is disclosed. And this illumination and imaging
  • FIG. 8 is a schematic plan view showing an example of a support mechanism of the illumination / imaging unit 12 in such an imaging apparatus
  • FIG. 9 is a schematic side view thereof.
  • the illumination / imaging unit 12 is for performing illumination of excitation light and imaging of a fluorescent image, and irradiates the subject with excitation light for exciting the fluorescent dye administered to the subject.
  • An excitation light source that captures the fluorescence generated from the fluorescent dye when irradiated with the excitation light, and obtains a fluorescence image.
  • the illumination / photographing unit 12 is supported by a pan head unit 41, a pan head support unit 42, and an arm member 32.
  • a rotation mechanism 62 that rotates the illumination / photographing unit 12 around the pan axis in the X direction is disposed.
  • a rotation mechanism 63 that rotates the camera platform 41 about the tilt axis in the Y direction is disposed between the camera platform 41 and the camera platform support 42.
  • the illumination / photographing unit 12 is rotated about two axes orthogonal to each other by the action of the rotation mechanisms 62 and 63.
  • a rotation mechanism 64 that rotates the head support 42 around the X axis, and a rotation that rotates the head support 42 around the Z axis.
  • a moving mechanism 65 is provided between the head support 42 and the arm member 32.
  • FIG. 10 and FIG. 11 are schematic diagrams showing how a fluorescent image is taken using the imaging apparatus described above.
  • the main body of the imaging apparatus When taking a fluorescent image using such an imaging apparatus, the main body of the imaging apparatus is placed in an empty space in the operating room, the arm member 32 is extended from this position toward the operating table, and the illumination / imaging unit 12 is In the upper part of the operative field in the subject M. At this time, the optical axis of the illumination / photographing unit 12 faces the vertical direction, and the fluorescent image 100 is displayed on the monitor.
  • the fluorescent image 100 displayed on the monitor is such that the body axis direction of the subject M is in the vertical direction as shown by the arrows in FIG. It becomes the arranged image.
  • the change in the body axis direction of the subject M in the fluorescent image 100 displayed on the monitor described above needs to be performed while the fluorescent image is being captured.
  • a fluorescent image is used not only for the confirmation of the image but also for measuring the intensity of the fluorescence.
  • the arrangement of the pan head unit 41, the pan head support unit 42, and the arm member 32 is shown in FIG.
  • the movement of the illumination / imaging unit 12 not only temporarily prevents a fluorescent image from being captured, but also the distance between the illumination / imaging unit 12 and the subject M varies. This also causes a problem that the intensity of fluorescence in the fluorescence image is changed.
  • the present invention has been made to solve the above-described problems, and an object thereof is to provide an imaging apparatus capable of easily changing the display direction of a fluorescent image.
  • the invention according to claim 1 is an imaging apparatus that irradiates a fluorescent dye that has entered the body of a subject with excitation light and images the fluorescence emitted from the fluorescent dye, and includes a wheel and moves.
  • a possible trolley an excitation light source that irradiates the subject with excitation light for exciting the fluorescent dye administered to the subject, and generated from the fluorescent dye by being irradiated with the excitation light
  • a camera that captures the captured fluorescence to obtain a fluorescence image, and a plurality of arm members that are swingably connected to each other by an indirect portion, a pan / tilt portion that supports the illumination / photographing portion
  • An arm mechanism that connects the carriage and the pan head unit, the pan head unit supporting the illumination / photographing unit rotatably about three axes orthogonal to each other.
  • the pan / tilt head portion and an end portion on the opposite side to the excitation light emitting portion in the illumination / imaging portion are connected, and the illumination / lighting portion is connected.
  • a rotation mechanism that rotates the imaging unit with respect to the pan head unit about the optical axis of the camera is provided.
  • the pan head supports the illumination / imaging unit so as to be rotatable about three axes orthogonal to each other, the fluorescence / image is obtained by rotating the illumination / imaging unit.
  • the display direction can be easily changed.
  • the illumination / photographing unit is moved around the optical axis of the camera by the rotation mechanism that connects the pan head unit and the end of the illumination / photographing unit opposite to the excitation light emitting unit. Since it rotates as a center, it is not necessary to arrange
  • FIG. 1 is a perspective view showing an imaging apparatus 1 according to the present invention together with a display apparatus 2.
  • FIG. 2 is a schematic diagram of an illumination / photographing unit 12.
  • FIG. 2 is a schematic diagram of a camera 21 in an illumination / photographing unit 12.
  • FIG. 2 is a schematic plan view of a support mechanism of an illumination / photographing unit 12.
  • FIG. 4 is a schematic side view of a support mechanism of an illumination / photographing unit 12.
  • FIG. 3 is a schematic diagram showing a configuration of a rotation mechanism 61.
  • FIG. It is a block diagram which shows the main control systems of the imaging device 1 which concerns on this invention.
  • 3 is a schematic plan view showing an example of a support mechanism of the illumination / photographing unit 12.
  • FIG. 1 is a perspective view showing an imaging apparatus 1 according to the present invention together with a display apparatus 2.
  • the display device 2 has a configuration in which a display unit 52 configured by a large liquid crystal display panel or the like is supported by a support unit 51.
  • the imaging apparatus 1 irradiates indocyanine green as a fluorescent dye injected into the body of a subject with excitation light, images fluorescence of near-infrared light emitted from the indocyanine green, and This is for displaying a near-infrared image as a fluorescent image on the display device 2 together with a color image that is a visible image of the subject.
  • the imaging apparatus 1 includes a carriage 11 having four wheels 13, an arm mechanism 30 disposed near the front of the carriage 11 in the traveling direction on the upper surface of the carriage 11, and a support bracket 43 attached to the arm mechanism 30.
  • the illumination / photographing unit 12 and the monitor 15 are disposed via the pan head unit 41 and the pan head support unit 42.
  • a handle 14 used when moving the carriage 11 is attached to the rear of the carriage 11 in the traveling direction.
  • a recess 16 for mounting an operation unit used for remote operation of the imaging apparatus 1 is formed on the upper surface of the carriage 11.
  • the arm mechanism 30 described above is disposed on the front side in the traveling direction of the carriage 11.
  • the arm mechanism 30 includes a first arm member 31 connected to a support portion 37 disposed on a support column 36 erected on the front side in the traveling direction of the carriage 11 by a hinge portion 33.
  • the first arm member 31 can swing with respect to the carriage 11 via the support column 36 and the support portion 37 by the action of the hinge portion 33.
  • the monitor 15 described above is attached to the support column 36.
  • the second arm member 32 is connected to the upper end of the first arm member 31 by a hinge portion 34.
  • the second arm member 32 can swing with respect to the first arm member 31 by the action of the hinge portion 34.
  • the first arm member 31 and the second arm member 32 are a connecting portion between the first arm member 31 and the second arm member 32 as shown in FIG. It is possible to take a photographing posture opened by a predetermined angle around a certain hinge portion 34 and a standby posture in which the first arm member 31 and the second arm member 32 are close to each other.
  • a pan head support 42 is connected to the end of the second arm 32 opposite to the first arm 31 via rotation mechanisms 64 and 65 described later.
  • the pan / tilt head support section 42 is connected to a pan / tilt head section 41 that supports the illumination / photographing section 12.
  • the illuminating / photographing unit 12 rotates the pan / tilt head support unit 42 so that the shooting position on the front side in the traveling direction of the carriage 11 with respect to the arm mechanism 30 shown in FIG.
  • the arm mechanism 30 is moved between the standby position on the rear side in the traveling direction of the carriage 11 with respect to the arm mechanism 30 at the time of movement.
  • FIG. 2 is a schematic diagram of the illumination / photographing unit 12.
  • the illumination / photographing unit 12 includes a camera 21 having a plurality of imaging elements capable of detecting near-infrared light and visible light, which will be described later, and a visible light source 22 including six LEDs disposed on the outer peripheral portion of the camera 21. And an excitation light source 23 composed of six LEDs and a confirmation light source 24 composed of one LED.
  • the visible light source 22 emits visible light.
  • the excitation light source 23 irradiates near infrared light having a wavelength of 760 nm, which is excitation light for exciting indocyanine green.
  • the confirmation light source 24 emits near-infrared light having a wavelength of 810 nm, which approximates the wavelength of fluorescence generated from indocyanine green.
  • the wavelength of the excitation light source 23 is not limited to 760 nm as long as it can excite indocyanine green.
  • the wavelength of the light source 24 for confirmation is not limited to 810 nm, and may be longer than the wavelength emitted by indocyanine green.
  • FIG. 3 is a schematic diagram of the camera 21 in the illumination / photographing unit 12.
  • the camera 21 includes a movable lens 54 that reciprocates for focusing, a wavelength selection filter 53, a first imaging element 55 for visible light, and a second imaging element 56 for fluorescence.
  • the first image sensor 55 and the second image sensor 56 are composed of a CMOS or a CCD.
  • As the first image sensor 55 an element capable of capturing a visible light image as a color image is used.
  • Visible light and fluorescence incident on the camera 21 in the illumination / photographing unit 12 coaxially along the optical axis L of the camera 21 pass through the movable lens 54 constituting the focusing mechanism, and then enter the wavelength selection filter 53.
  • visible light and fluorescence incident coaxially visible light is reflected by the wavelength selection filter 53 and is incident on the first imaging element 55 for visible light.
  • the fluorescence passes through the wavelength selection filter 53 and enters the second imaging element 56 for fluorescence.
  • the visible light is focused on the first image sensor 55 and the fluorescence is focused on the second image sensor 56 by the action of the focusing mechanism including the movable lens 54.
  • the first image sensor 55 captures a visible image as a color image at a predetermined frame rate.
  • the second image sensor 56 captures a near-infrared image as a fluorescent image at a predetermined frame rate.
  • FIG. 4 is a schematic plan view of the support mechanism of the illumination / photographing unit 12, and FIG. 5 is a schematic side view thereof.
  • the illumination / photographing unit 12 is connected to the second arm member 32 via a support fitting 43, a pan head unit 41, and a pan head support unit 42.
  • a rotation mechanism 61 that rotates the illumination / imaging unit 12 around the roll axis in the Z direction is disposed between the illumination / imaging unit 12 and the support bracket 43.
  • a rotation mechanism 62 that rotates the illumination / imaging unit 12 around the pan axis in the X direction is disposed between the support bracket 43 and the pan head unit 41.
  • a rotating mechanism 63 is provided between the camera platform 41 and the camera platform support 42 to rotate the camera platform 41 about the tilt axis in the Y direction.
  • the illumination / photographing unit 12 rotates about three axes orthogonal to each other by the action of these rotation mechanisms 61, 62, and 63. Further, between the head support 42 and the second arm member 32, a rotation mechanism 64 that rotates the head support 42 around the X axis, and the head support 42 rotates around the Z axis. A rotating mechanism 65 is disposed.
  • the rotation mechanism 61 connects the pan head part 41 and the end part opposite to the excitation light emitting part in the illumination / imaging part 12 via the support fitting 43. doing.
  • the rotation mechanism 61 is configured to rotate the illumination / imaging unit 12 with respect to the pan head unit 41 around the optical axis L (see FIG. 3) of the camera 21 in the illumination / imaging unit 12. Yes.
  • FIG. 6 is a schematic diagram showing the configuration of the rotation mechanism 61.
  • the rotation mechanisms 62 and 63 have the same configuration as the rotation mechanism 61. However, the rotation mechanisms 61, 62, and 63 may have different configurations.
  • the rotation mechanism 61 includes a motor 74 having a speed reducer, and a worm gear 73 and a worm wheel 72 that mesh with each other.
  • the bevel gear 75 disposed on the drive shaft 77 of the motor 74 and the bevel gear 76 disposed on the shaft 78 of the worm gear 73 mesh with each other.
  • the axis 71 of the worm wheel 72 is connected to the illumination / photographing unit 12, and the axis of the axis 71 coincides with the optical axis L of the camera 21. For this reason, by driving the motor 74, the illumination / photographing unit 12 rotates around the roll axis facing the Z direction around the optical axis of the camera 21.
  • FIG. 7 is a block diagram showing a main control system of the imaging apparatus 1 according to the present invention.
  • the imaging apparatus 1 includes a CPU that executes logical operations, a ROM that stores an operation program necessary for controlling the apparatus, a RAM that temporarily stores data during control, and the like, and controls the entire apparatus. Part 80.
  • the control unit 80 is composed of a computer in which software is installed. The functions of each unit included in the control unit 80 are realized by executing software installed in the computer.
  • the control unit 80 includes a camera control unit 81 for controlling an imaging operation by the camera 21, a light source control unit 82 for controlling lighting operations of the visible light source 22, the excitation light source 23, and the confirmation light source 24, and a visible light source.
  • An image processing unit 83 for displaying a visible image captured by the first imaging element 55 for light and a fluorescent image (near-infrared image) captured by the second imaging element 56 for fluorescence on the display unit 52 in the display device 2.
  • a motor control unit 84 for controlling the driving of the motors of the rotation mechanisms 61, 62, and 63.
  • the control unit 80 is connected to the camera 21, the illumination / imaging unit 12 including the visible light source 22, the excitation light source 23, and the confirmation light source 24, and the monitor 15.
  • the control unit 80 is connected to an operation unit 85 for performing various operations.
  • the control unit 80 is connected to a motor driving unit 86 for driving the motors of the rotation mechanisms 61, 62, and 63 including the motor 74 of the rotation mechanism 61. Further, the control unit 80 is also connected to the display device 2.
  • the confirmation light source 24 in the illumination / imaging unit 12 is turned on, and an image of the irradiation region is displayed on the camera. 21.
  • the confirmation light source 24 emits near-infrared light having a wavelength of 810 nm that approximates the wavelength of fluorescence generated from indocyanine green. This near infrared light cannot be confirmed by human eyes.
  • near-infrared light having a wavelength of 810 nm is emitted from the light source for confirmation 24 and an image of this irradiation region is taken by the camera 21, when the camera 21 is operating normally, near-infrared light is emitted.
  • An image of a region irradiated with is taken by the camera 21, and the image is displayed on the display unit 52 in the display device 2. This makes it possible to easily check the operation of the camera 21.
  • indocyanine green is injected into the subject by injection.
  • near infrared rays are emitted from the excitation light source 23 in the illumination / imaging unit 12 and visible light is emitted from the visible light source 22 toward the affected part in the tissue of the subject.
  • 760 nm near infrared light acting as excitation light for indocyanine green to emit fluorescence is employed.
  • indocyanine green injected into the body of the subject generates near-infrared fluorescence having a peak at about 800 nm.
  • the vicinity of the affected part in the subject's tissue is imaged at a predetermined frame rate by the camera 21 in the illumination / imaging unit 12.
  • the camera 21 can detect near-infrared light and visible light.
  • a near-infrared image which is a fluorescent image captured by the camera 21 at a predetermined frame rate, is converted into 8-bit image data by the image processing unit 83 and displayed on the display unit 52.
  • a visible image captured by the camera 21 at a predetermined frame rate is converted into 24-bit image data composed of three colors of RGB by the image processing unit 83 and displayed on the display unit 52.
  • the body axis direction of the subject M displayed on the display unit 52 needs to be changed from the vertical direction to the horizontal direction, for example, as shown in FIGS.
  • the illumination / photographing unit 12 is rotated about the optical axis L of the camera 21.
  • the body axis direction of the subject M displayed on the display unit 52 can be changed to an arbitrary direction.
  • the illumination / imaging unit 12 is configured to change the body axis direction of the subject M displayed on the display unit 52 by rotating the illumination / imaging unit 12 about the optical axis L of the camera 21.
  • the pan head part 41, the pan head support part 42, and the arm member 32 there is no need to move the pan head part 41, the pan head support part 42, and the arm member 32. Therefore, it is not necessary for an operator such as a doctor or a laboratory technician to move, and it is not necessary to change the arrangement of various devices in the operating room.
  • the display unit 52 Since the body / axis direction of the subject M displayed on the display unit 52 is changed by rotating the illumination / imaging unit 12 about the optical axis L of the camera 21, the display unit 52 When the body axis direction of the displayed subject M is changed, the fluorescent image cannot be temporarily captured, and the positional relationship between the illumination / imaging unit 12 and the subject M is kept constant. Since it is possible to change the body axis direction of the subject M displayed on the display unit 52, there is no problem that the fluorescence intensity in the fluorescence image is changed.
  • the illumination / imaging unit 12 is connected to the light of the camera 21 by a rotating mechanism 61 that connects the end part of the pan / tilt unit 41 and the end opposite to the excitation light emitting unit in the illumination / imaging unit 12 via the support bracket 43. Since it is rotated around the axis L, it is not necessary to arrange a mechanism for rotating the illumination / imaging unit 12 on the outer periphery of the illumination / imaging unit 12. For this reason, it becomes possible to prevent the illumination / imaging unit 12 from becoming an obstacle to the treatment by the operator who performs the operation or the like.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)

Abstract

Selon l'invention, une unité d'éclairage/de capture d'image (12) est reliée à un deuxième élément de bras (32) par l'intermédiaire d'une pièce métallique de support (43), d'une unité de plateforme (41) de caméra et d'une unité de support (42) de plateforme de caméra. Un mécanisme de rotation (61) est disposé entre l'unité d'éclairage/de capture image (12) et la pièce métallique de support (43), destiné à faire tourner l'unité d'éclairage/de capture image (12) dans une rotation d'axe longitudinal orientée dans la direction Z. De plus, un mécanisme de rotation (62) est disposé entre la pièce métallique de support (43) et l'unité de plateforme (41) de caméra, destiné à faire tourner l'unité d'éclairage/de capture image (12) dans une rotation d'axe panoramique orientée dans la direction X. De plus, un mécanisme de déplacement (63) est disposé entre l'unité de plateforme (41) de caméra et l'unité de support (42) de plateforme de caméra, destiné à faire tourner l'unité de plateforme (41) de caméra dans une rotation d'axe d'inclinaison orientée dans la direction Y. L'unité d'éclairage/de capture d'image (12) tourne autour de trois axes orthogonaux au moyen des mécanismes de rotation (61), (62), (63).
PCT/JP2018/018879 2018-05-16 2018-05-16 Dispositif d'imagerie WO2019220555A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015092882A1 (fr) * 2013-12-18 2015-06-25 株式会社島津製作所 Appareil d'imagerie à lumière infrarouge
JP2017113343A (ja) * 2015-12-25 2017-06-29 ソニー株式会社 医療用撮像装置及び手術ナビゲーションシステム
JP2018046999A (ja) * 2016-09-21 2018-03-29 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察装置及び医療用観察システム
WO2018088113A1 (fr) * 2016-11-10 2018-05-17 ソニー株式会社 Actionneur d'entraînement d'articulation et système médical

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015092882A1 (fr) * 2013-12-18 2015-06-25 株式会社島津製作所 Appareil d'imagerie à lumière infrarouge
JP2017113343A (ja) * 2015-12-25 2017-06-29 ソニー株式会社 医療用撮像装置及び手術ナビゲーションシステム
JP2018046999A (ja) * 2016-09-21 2018-03-29 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察装置及び医療用観察システム
WO2018088113A1 (fr) * 2016-11-10 2018-05-17 ソニー株式会社 Actionneur d'entraînement d'articulation et système médical

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