CN105167739A - Retina positioning apparatus and positioning method based on fundus imaging system - Google Patents
Retina positioning apparatus and positioning method based on fundus imaging system Download PDFInfo
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- CN105167739A CN105167739A CN201510411345.0A CN201510411345A CN105167739A CN 105167739 A CN105167739 A CN 105167739A CN 201510411345 A CN201510411345 A CN 201510411345A CN 105167739 A CN105167739 A CN 105167739A
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Abstract
The invention relates to a retina positioning apparatus based on a fundus imaging system, wherein the retina positioning apparatus comprises a laser, a laser linkage part, a light coupling part and a sighting mark part; the laser is arranged on the laser linkage part; the laser linkage part comprises a horizontal rotating structure and a vertical rotating structure or a vertical rotating structure and a longitudinal rotating structure, and is located by a certain distance away from an imaging system; the light coupling part comprises a coupler and a mechanical mount frame, and is arranged on the front section of ocular lens or pupil of the imaging system; the coupler forms a certain angle with imaging light, and positioning sighting mark light, coupled with the imaging light, enters into eyes of a user; and the sighting mark part comprises a reflecting plate provided with a scale plate and a mounting structure, and is located by a certain distance away from the imaging system. The positioning apparatus disclosed by the invention is skilful and unique in design and simple in structure, and is capable of precisely locating retina in any region; and the positioning apparatus has the characteristics of flexible and convenient operation, high precision and the like, and is suitable for large-scale popularization and application.
Description
Technical field
The present invention relates to eyeground imaging system technical field, in particular to retina high-resolution imaging technical field, specifically refer to a kind of retina positioner based on eyeground imaging system and localization method thereof, for the accurate location of retina arbitrary region in clinical research experiment and medical diagnosis on disease.
Background technology
Human eye retina is baroque tissue, it is a kind of microstructure, the systemic disease (such as glaucoma, diabetes, hypertension etc.) of the disease that human eye itself is a lot of and whole body all can be reflected on eye ground, simultaneously, along with the extensive generation of the fundus oculi diseases such as senile degeneration of macula, retina visual cell disappearance and diabetic renal papillary necrosis, eyeground imaging system becomes a focus of research at present.Wherein the judgement of retinal images pickup area is fundus oculi disease diagnosis and the key link checked, directly have influence on the location of disease area, especially to high-resolution retina imaging system, visual field is very little, general at about 2 ~ 3 °, retina arbitrary region location is very important, therefore, be necessary that studying one can carry out pinpoint device to retina arbitrary region, the image that energy rational judgment collects is positioned at retinal area position.
Existing retina localization method is all that qualitative positioning and specific region, local are quantitatively located substantially, the methods such as outer fixation lamp, interior fixation lamp and image procossing are adopted to position, outer fixation lamp location generally refers to and connects a flexible LED at system head rest place, manually change position, carry out watching fixation lamp attentively with another eye, reach the effect of qualitative positioning; Its shortcoming manual operation, positioning precision is low.Interior fixation lamp location generally refers to an introducing sighting target in system, and by software control, change light source and realize location, its shortcoming system structure is complicated, and operation underaction, locates not comprehensive.In addition, also have the method for employing image procossing to carry out retina specific region and accurately locate, the method can only be applicable to Large visual angle and some special area (optic disc, macula lutea, blood vessel etc.) is accurately located.
In Chinese invention patent CN103971369, adopt the method for image procossing to realize retina optic disc and finally locate, the visible patent CN103971369 of particular content.Similar patent also has CN201010157031.X.Substantially less about the pinpoint patent of retina arbitrary region, domestic substantially not seeing has been.
Therefore, in the urgent need to a kind of novel retina positioner, accurately location can be realized to retina arbitrary region, and there is simple, flexible to operation, the easy realization of structure, precision high.
Summary of the invention
The object of the invention is to overcome above-mentioned shortcoming of the prior art, a kind of retina positioner based on eyeground imaging system is provided, should based on the ingenious uniqueness of retina pointing device design of eyeground imaging system, structure is simple, retina arbitrary region can be realized accurately locate, and there is flexible to operation, accurate high, be suitable for large-scale promotion application.
To achieve these goals, of the present inventionly a kind of retina positioner based on eyeground imaging system and localization method thereof is provided.
The technical solution that the present invention adopts is: a kind of retina positioner based on eyeground imaging system, comprise imaging system, described imaging system comprises eyepiece end and objective end, also comprise the laser instrument of adjustable angle, coupling light parts and sighting target parts, described coupling light parts are positioned at the eyepiece end of imaging system, the imaging line that described coupling light parts and imaging system project forms angle, described sighting target parts comprise reflecting plate, and described sighting target parts are positioned at the objective end of imaging system.
Also be provided with laser instrument linkage part, described laser instrument is arranged on laser instrument linkage part.
Described laser instrument linkage part can comprise horizontal rotation structure and luffing structure, described horizontal rotation structure comprises feathering axis, horizontal rotary swivel base and motor, described feathering axis is in transmission connection and horizontal rotary swivel base described in controlling horizontally rotates around this feathering axis, described luffing structure comprises pitch axis, pitching seat and motor, described pitch axis is in transmission connection and pitching seat described in controlling rotates up and down around this pitch axis, and described laser instrument is arranged on described luffing structure.
Described laser instrument linkage part can comprise rolling structure, luffing structure and pedestal, described rolling structure comprises wobble shaft, rolling seat and motor, described luffing structure comprises pitch axis, pitching seat and motor, described laser instrument linkage part is pitching seat from top to bottom, rolling seat and pedestal, described pitch axis is between pitching seat and rolling seat, described wobble shaft is between rolling seat and pedestal, described laser instrument is arranged on described luffing structure, described wobble shaft is in transmission connection and rolling seat described in controlling rotates up and down around this wobble shaft, described pitch axis be in transmission connection and pitching seat described in controlling around this pitch axis left rotation and right rotation.
Described wobble shaft is vertical with the laser instrument linkage part line of centres with described sighting target center.
Described coupling light parts comprise bonder and installing rack, and described bonder is arranged on installing rack.
Described coupling light parts comprise bonder and open foraminate lens barrel, and described lens barrel is arranged on imaging system light-emitting window place, and described bonder is arranged in lens barrel.
Described bonder is mesopore reflecting mirror or spectroscope.
Described bonder is 45 degree with the imaging light angulation projected with imaging system.
Described sighting target parts also comprise fixed support, and described reflecting plate is arranged on fixed support.
Described reflecting plate is vertical to the bonder line of centres with described reflecting plate center.
Also comprise control assembly and computer, described control assembly one end connecting laser linkage part, the other end connects computer.
Based on a localization method for the retina positioner of eyeground imaging system,
(1) coordinate on retina is chosen;
(2) coordinate is set up a cartesian coordinate system or rectangular coordinate system, with described face, reflecting plate place for XOY plane, bonder center is X-axis positive direction to the line direction of human eye pupil center, bonder center is Z axis positive direction to the line direction at reflecting plate center, bonder center is initial point;
(3) set the coordinate of sighting target laser spots in XOY plane as (θ
x, θ
y), laser instrument 1 centre coordinate is L (x
l, y
l, z
l), human eye 6 center coordinate of eye pupil E (x
e, 0,0), reflecting plate 41 centre coordinate is S (0,0, z
s), wherein θ
xfor X-direction angle is at the projected angle in ZOX face, θ
yfor Y direction angle is at the projected angle in ZOY face;
(4) calculating laser facula in the position at reflecting plate place is:
x
S＝(z
S+x
E)tan(θ
x)
y
S＝(z
S+x
E)tan(θ
y)
The azimuth and the angle of pitch that calculate laser instrument linkage part are further:
(5) by the azimuth of laser instrument linkage part that calculates and the angle of pitch, flow to motor, by step motor control two-dimensional rotary, make laser instrument point to correct sighting target position, realize retinal area and accurately locate.
The invention has the beneficial effects as follows: the invention provides a kind of retina positioner based on eyeground imaging system and localization method thereof, the retina positioner based on eyeground imaging system of the present invention comprises laser instrument, laser instrument linkage part, coupling light parts and sighting target parts; Described laser instrument is arranged on laser instrument linkage part, described laser instrument linkage part is by step motor control, input any retina coordinate, pass through computed in software, by step motor control two-dimensional rotary, make laser instrument point to correct sighting target position, human eye watches laser facula on sighting target attentively by bonder, realizes retinal area and accurately locates.Design ingenious uniqueness, structure is simple, automatically locates, can realize retina arbitrary region and accurately locate, and have flexible to operation, accurate high, be suitable for large-scale promotion application.
Accompanying drawing explanation
Fig. 1 is the structural representation of a specific embodiment of the present invention.
Fig. 2 is the structural representation of one of the adoptable structure of laser instrument linkage part of the specific embodiment shown in Fig. 1.
Fig. 3 is the structural representation of the adoptable structure two of laser instrument linkage part of the specific embodiment shown in Fig. 1.
Fig. 4 is the structural representation of one of the adoptable structure of coupling light parts of the specific embodiment shown in Fig. 1.
Fig. 5 is the structural representation of the adoptable structure two of coupling light parts of the specific embodiment shown in Fig. 1.
Fig. 6 is the structural representation of the sighting target parts of the specific embodiment shown in Fig. 1.
Fig. 7 is relation principle schematic diagram between the laser spot position of the specific embodiment shown in Fig. 1 and orientation angle.
Fig. 8 is the specific embodiment retina Principal of Fix Calculation schematic diagram shown in Fig. 1.
Detailed description of the invention
In order to more clearly understand technology contents of the present invention, describe in detail especially exemplified by following examples.Wherein identical parts adopt identical Reference numeral.
Shown in Figure 1, the retina positioner based on eyeground imaging system of the present invention comprises laser instrument 1, laser instrument linkage part 2, coupling light parts 3 and sighting target parts 4; Described laser instrument 1 is arranged on laser instrument linkage part 2, and described laser instrument linkage part 2 is arranged on the position with a certain distance from imaging system 5; Described coupling light parts 3 are arranged on imaging system eyepiece or pupil (human eye 6 pupil) leading portion, and bonder 31 is angled with imaging light 7, and location sighting target light 8 and imaging light 7 being coupled enters into human eye 6; Described sighting target parts 4 are arranged on the position of range imaging system 5 certain distance.
Described laser instrument linkage part 2 can adopt any suitable structure, in specific embodiments of the invention, as shown in Figure 2, described laser instrument linkage part 2 comprises horizontal rotation structure 21 and luffing structure 22, described horizontal rotation structure 21 comprises feathering axis 211, horizontal rotary swivel base 212 and motor 213, described feathering axis 211 is in transmission connection and horizontal rotary swivel base 212 described in controlling horizontally rotates around this feathering axis, described luffing structure 22 comprises pitch axis 221, pitching seat 222 and motor 213, described pitch axis 221 is in transmission connection and pitching seat 222 described in controlling rotates up and down around this pitch axis, described laser instrument 1 is arranged on described luffing structure 22.
Described laser instrument linkage part 2 is in another kind of specific embodiment, as shown in Figure 3, described laser instrument linkage part 2 comprises rolling structure 23 and luffing structure 22, described rolling structure 23 comprises wobble shaft 231, rolling seat 232 and motor 213, described wobble shaft 231 is in transmission connection and rolling seat 232 described in controlling rotates up and down around this wobble shaft, described luffing structure 22 comprises pitch axis 221, pitching seat 222 and motor 213, described pitch axis 221 be in transmission connection and pitching seat 222 described in controlling around this pitch axis left rotation and right rotation, described laser instrument 1 is arranged on described luffing structure 24.
In a preferred embodiment, as shown in figs. 1 and 3, described wobble shaft 231 is vertical with laser instrument linkage part 2 line of centres with described sighting target 4 center for described laser instrument linkage part 2.
Described coupling light parts 3 can adopt any suitable structure, in specific embodiments of the invention, as shown in Figure 4, described coupling light parts 3 comprise bonder 31 and mounting bracket 32, described bonder 31 is mesopore reflecting mirror or spectroscope, and described mounting bracket 32 is arranged on whole imaging system platforms.In another kind of specific embodiment, as shown in Figure 5, described coupling light parts 3 comprise bonder 31 and open foraminate lens barrel 33, and described bonder 31 is mesopore reflecting mirror or spectroscope, and described lens barrel 33 is arranged on imaging system 5 light-emitting window place.
In a preferred embodiment, described bonder 31 is 45 degree with imaging light 7 angulation to described coupling light parts 3.
Described sighting target parts 4 can adopt any suitable structure, in specific embodiments of the invention, as shown in Figure 6, described sighting target parts comprise the reflecting plate 41 and fixed support 42 with scale, described fixed support 42 connects described reflecting plate 41, this support fixes on the ground, and described scale is radial level polar coordinate scale or cartesian coordinate scale.In preferred embodiment, described reflecting plate 41 can directly be pasted onto on metope or on ceiling.
In order to realize to a certain degree or whole automatization, shown in Figure 1, in a particular embodiment of the present invention, the described retina positioner based on eyeground imaging system also comprises control assembly 0, described control assembly 0 one end connects motor 213, the other end connects computer, described laser instrument linkage part 2 is controlled by motor 213, input any retina coordinate, analyzed by control assembly 0, calculate the two-dimensional rotary angle in laser instrument linkage part 2, control two-dimensional rotary, laser instrument 1 is made to point to correct sighting target position, human eye 6 watches laser facula 9 on sighting target attentively by bonder 31, realize retinal area accurately to locate.
Concrete positioning calculation process is as follows:
First, the relation between laser spot position and orientation angle need be analyzed, for simplicity, analyze from one dimension schematic diagram, as shown in Figure 7, described reflecting plate 41 is vertical with bonder 31 line of centres with described reflecting plate 41 center, and when laser facula on sighting target 9 moves H distance, human eye is rotational angle θ slightly
x, namely can be observed laser facula, realize location.Imaging optical path 7 in figure, location sighting target light path 8.Orientation angle α calculates by laser facula 9 displacement H and the sighting target reflecting plate 41 distance L from human eye pupil face, namely
Then, the relation between analysis of two-dimensional laser spot position and orientation angle, and the relation between laser instrument linkage part rotational angle.As shown in Figure 8, described reflecting plate 41 is vertical with bonder 31 line of centres with described reflecting plate 41 center, described laser instrument linkage part 2 is horizontal rotation structure 21 and luffing structure 22, for simplicity, set up a cartesian coordinate system (rectangular coordinate system), with described face, reflecting plate 41 place for XOY plane, bonder 31 center is X-axis positive direction to the line direction of human eye 6 pupil center, bonder 31 center is Z axis positive direction to the line direction at reflecting plate 41 center, and bonder 31 center is initial point.If retina orientation angle is (θ
x, θ
y), the namely coordinate of sighting target laser spots in XOY plane, wherein θ
xfor X-direction angle is at the projected angle in ZOX face, θ
yfor Y direction angle is at the projected angle in ZOY face; Laser instrument 1 centre coordinate is L (x
l, y
l, z
l), human eye 6 center coordinate of eye pupil E (x
e, 0,0), reflecting plate 41 centre coordinate is S (0,0, z
s), laser instrument linkage part 2 attitude angle is set to azimuth (horizontal rotation angle) α 1 and angle of pitch α 2, and according to geometrical relationship, then laser facula 9 is in the position at reflecting plate 41 place:
x
S＝(z
S+x
E)tan(θ
x)(2)
y
S＝(z
S+x
E)tan(θ
y)(3)
Then azimuth and the angle of pitch:
When laser alignment reflecting plate center is placed, definition α 2 is 0 °, and when lasing area rotates to reflecting plate direction, defining now α 2 is just, when lasing area is to reflecting plate, and during reflected in parallel plate, definition α 2 is pi/2; When laser back-reflection plate rotates, then it is negative for defining α 2.When laser alignment reflecting plate center, definition α 1 is 0 °, when looking over from top to bottom, is just counterclockwise.
Finally, by laser instrument linkage part 2 anglec of rotation calculated, flow to motor, realize retinal area and accurately locate, have full-automatic, easy to operate, easily realize, any retinal area location can be carried out.
To sum up, the ingenious uniqueness of retina pointing device design based on eyeground imaging system of the present invention, structure is simple, can realize retina arbitrary region and accurately locate, and have flexible to operation, accurate high, be suitable for large-scale promotion application.
In this description, the present invention is described with reference to its specific embodiment.But, still can make various amendment and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, description and accompanying drawing are regarded in an illustrative, rather than a restrictive.
The above is only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, and all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (13)
1. the retina positioner based on eyeground imaging system, comprise imaging system (5), described imaging system (5) comprises eyepiece end and objective end, it is characterized in that, also comprise the laser instrument (1) of adjustable angle, coupling light parts (3) and sighting target parts (4), described coupling light parts (3) are positioned at the eyepiece end of imaging system (5), the imaging line that described coupling light parts (3) and imaging system (5) project forms angle, described sighting target parts (4) comprise reflecting plate (41), described sighting target parts (4) are positioned at the objective end of imaging system (5).
2. a kind of retina positioner based on eyeground imaging system according to claim 1, it is characterized in that, also be provided with laser instrument linkage part (2), described laser instrument (1) is arranged on laser instrument linkage part (2).
3. a kind of retina positioner based on eyeground imaging system according to claim 2, it is characterized in that, described laser instrument linkage part (2) can comprise horizontal rotation structure (21) and luffing structure (22), described horizontal rotation structure (21) comprises feathering axis (211), horizontal rotary swivel base (212) and motor (213), described feathering axis (211) is in transmission connection and horizontal rotary swivel base (212) described in controlling horizontally rotates around this feathering axis (211), described luffing structure (22) comprises pitch axis (221), pitching seat (222) and motor (213), described pitch axis (221) is in transmission connection and pitching seat (222) described in controlling rotates up and down around this pitch axis (221), described laser instrument (1) is arranged on described luffing structure (22).
4. a kind of retina positioner based on eyeground imaging system according to claim 2, it is characterized in that, described laser instrument linkage part (2) can comprise rolling structure (23), luffing structure (22) and pedestal, described rolling structure (23) comprises wobble shaft (231), rolling seat (232) and motor (213), described luffing structure (22) comprises pitch axis (221), pitching seat (222) and motor (213), described laser instrument linkage part (2) is pitching seat (222) from top to bottom, rolling seat (232) and pedestal, described pitch axis (221) is positioned between pitching seat (222) and rolling seat (232), described wobble shaft (231) is positioned between rolling seat (232) and pedestal, described laser instrument (1) is arranged on described luffing structure (22), described wobble shaft (231) is in transmission connection and rolling seat (232) described in controlling rotates up and down around this wobble shaft (231), described pitch axis (221) be in transmission connection and pitching seat (222) described in controlling around this pitch axis (221) left rotation and right rotation.
5. a kind of retina positioner based on eyeground imaging system according to claim 4, is characterized in that, described wobble shaft (231) is vertical with laser instrument linkage part (2) line of centres with described sighting target center.
6. a kind of retina positioner based on eyeground imaging system according to claim 1, it is characterized in that, described coupling light parts (3) comprise bonder (31) and installing rack (32), and described bonder (31) is arranged on installing rack (32).
7. a kind of retina positioner based on eyeground imaging system according to claim 1, it is characterized in that, described coupling light parts (3) comprise bonder (31) and open foraminate lens barrel (33), described lens barrel (33) is arranged on imaging system (5) light-emitting window place, and described bonder (31) is arranged in lens barrel (33).
8. a kind of retina positioner based on eyeground imaging system according to claim 6 or 7, is characterized in that, described bonder (31) is mesopore reflecting mirror or spectroscope.
9. a kind of retina positioner based on eyeground imaging system according to claim 6 or 7, is characterized in that, the imaging light angulation that described bonder (31) and imaging system (5) project is 45 degree.
10. a kind of retina positioner based on eyeground imaging system according to claim 1, it is characterized in that, described sighting target parts (4) also comprise fixed support (42), and described reflecting plate (41) is arranged on fixed support (42).
11. a kind of retina positioners based on eyeground imaging system according to claim 6, it is characterized in that, described reflecting plate (41) is vertical to bonder (31) line of centres with described reflecting plate (41) center.
12. a kind of retina positioners based on eyeground imaging system according to claim 2, it is characterized in that, also comprise control assembly (0) and computer, described control assembly (0) one end connecting laser linkage part (2), the other end connects computer.
The localization method of 13. 1 kinds of a kind of retina positioners based on eyeground imaging system according to claim 1, is characterized in that:
(1) coordinate on retina is chosen;
(2) coordinate is set up a cartesian coordinate system or rectangular coordinate system, with described face, reflecting plate place for XOY plane, bonder center is X-axis positive direction to the line direction of human eye pupil center, bonder center is Z axis positive direction to the line direction at reflecting plate center, bonder center is initial point;
(3) set the coordinate of sighting target laser spots in XOY plane as (θ
x, θ
y), filters center coordinate is L (x
l, y
l, z
l), human eye 6 center coordinate of eye pupil E (x
e, 0,0), reflecting plate centre coordinate is S (0,0, z
s), wherein θ
xfor X-direction angle is at the projected angle in ZOX face, θ
yfor Y direction angle is at the projected angle in ZOY face;
(4) calculating laser facula in the position at reflecting plate place is:
x
S＝(z
S+x
E)tan(θ
x)
y
S＝(z
S+x
E)tan(θ
y)
The azimuth and the angle of pitch that calculate laser instrument linkage part (2) are further:
(5) by the azimuth of laser instrument linkage part that calculates and the angle of pitch, flow to motor, by step motor control two-dimensional rotary, make laser instrument point to correct sighting target position, realize retinal area and accurately locate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510411345.0A CN105167739B (en) | 2015-07-14 | 2015-07-14 | Retina positioning apparatus and positioning method based on fundus imaging system |
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| CN105167739B CN105167739B (en) | 2017-02-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928624A (en) * | 2017-12-22 | 2018-04-20 | 温州医科大学附属眼视光医院 | A kind of adaptive optics scanning laser eyeground imaging system and its imaging method based on pupil automatic positioning focusing |
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| US5279298A (en) * | 1992-11-20 | 1994-01-18 | The Johns Hopkins University | Method and apparatus to identify and treat neovascular membranes in the eye |
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