人体三维远红外成像及其测温的研究
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摘要
肿瘤是危害人体健康的一大杀手。面向肿瘤的预防、检测和治疗的先进医学成像器械是目前生物医学工程领域的重要研究内容之一。远红外成像能以无损、实时、动态的功能成像，为医师提供许多疾病的诊断依据。然而单纯的二维远红外热像图仅能反应出人体体表有限的热场信息。故将人体体表三维数据与二维远红外热像图相融合来实现人体局部/全身三维远红外成像，并进一步求得体内异常热源的深度、形状与温度等信息，将有重要的医学应用前景。但是，该研究存在的关键问题是高速、高解析度、高精度的人体体表的三维数据获取、人体体表的三维远红外成像及三维远红外热像图与体内异常热源的关系。
因此，本文的技术路线和研究目标是：第一阶段，发展高解析度的人体局部/全身三维测量技术；第二阶段，发展高解析度的人体局部/全身三维远红外成像技术；第三阶段，针对人体局部特定部位的传热特性，结合热量传递的基本理论，发展三维远红外无损测温技术。由此，本文着重开展了以下六个方面的研究工作：
1、基于移动面阵投影的人体局部高解析度三维成像技术
在分析基于三角法的结构光三维成像原理的基础上，阐述了其成像特性，发明了投影仪生成纵向移动面阵投影条纹及其累积细分的方法；提出避免相邻结构光在成像时互搭的条件和面阵投影结构光的优化布局方法；分析三维成像的空间有效视场范围；设计和制作了多套实验装置，并进行比较，实现了高解析度的人体局部三维成像。
2、基于面阵投影同步光路旋转的人体大视角三维成像技术
在分析两种同步扫描三维成像方案的基础上，发明了基于面阵投影与同步光路旋转的三维成像方法；分析了该类型成像系统的空间扫描轨迹和有效视场范围；建立了其运动场景序列图像采集中避免运动模糊现象的数学模型；优化设计和制作了实验装置，实现了对特定景深范围内目标的高速、高解析度的大视角三维成像。
3、结构光三维测量系统的标定技术
针对上述两项研究工作，发明了采用平面显示屏生成主动光源标定板的方法；先后提出“基于已知标定板空间位置”和“基于立体视觉原理”的多点拟合结构光的标定方法；提出了同步光路旋转大视角成像系统的标定方法；并通过实验验证了上述理论能有效提高三维测量系统的精度。
4、人体局部高解析度三维真彩色/远红外成像技术
阐述了不同视觉传感器间图像融合的过程，建立了二维远红外热像图与二维真彩色图中划定小区域间的映射关系；设计和制作了实验装置，实现了高解析度的人体三维真彩色/远红外成像，获取了高精度的三维远红外热像图。
5、基于金膜反射光路旋转的大视角远红外立体成像技术
发明了基于光路旋转的远红外立体成像的方法，讨论了其运动场景序列图像采集中避免运动模糊现象的数学模型；设计和制作了面向人体全身应用的基于金膜反射光路旋转的远红外成像的实验装置，实验证明该方法能够实现大视角远红外成像和基于立体视觉原理的三维远红外成像，并且能够集成于基于同步光路旋转的大视角三维远红外成像系统中。
6、三维远红外热像图实现内部热源无损测温技术
介绍了面向人体局部近似均匀组织的传热学基本理论；实验验证了点(球)状热源在同种均匀组织中是以等温球面的形式进行热传递的；在三维远红外热像图中提取了等温球面上非共面的点集，求取了在均匀组织中点(球)状热源的空间位置和各等温球面的半径；以傅立叶定律等温球壁模型为基础，实现了三维热像图对点(球)状热源在蜡块和离体动物组织中的无损测温；同时，以傅立叶定律双层等温圆筒壁模型为基础，实现了三维热像图对线(柱)状热源在两层离体动物组织中的无损测温。
上述研究成果能够被广泛应用于医学和其他工程领域，通过产业化的推广与改进，能够更好的服务于社会和人类。
Any of the various kinds of malignant neoplasms is a killer of humanbeings. Research on the novel medical imaging approaches for tumourimmunization, detection and therapy has become a hot topic in the biomedicalengineering community. The far-infrared (FIR) thermography, characterized bynoninvasive, real-time, dynamic functional imaging, can assist doctors indiagnosing different diseases. However,2D thermography can only providelimited information concerning the skin surface temperature. Therefore, it isassumed that the3D partial-and whole-body thermography can be realizedthrough combining3D surface models with2D thermal images. Furthermore,the3D thermography can obtain information of the inner abnormal heat sourcewhich includes the depth, shape and temperature. In spite of the obvioussignificance of these techniques, there remain some questions unanswered suchas the high-speed, high-resolution, accurate body surface acquisition, the3DFIR thermography and the non-invasive inner temperature measurements.
To answer these questions, we carried out the following technicalprocedures to achieve the goals. Step1: The high-resolution3D measurementshave been developed for surface acquisition of the partial-and whole-body. Step2: The high-resolution3D FIR imaging technique has also been developed for3D thermography of the partial-and whole-body. Step3: The non-invasive innertemperature measurements based on3D FIR thermography have been proposed.To better understand the technical procedure, the following six problems havebeen addressed.
1. High-resolution3D body imaging technique based on fringe projection
The characteristics of the3D imaging system based on trigonometry havebeen analyzed. The innovation of the vertical-shifted pattern projection methodrealizes high-resolution3D imaging for parts of the body at a high speed. Then,optimal layout of fringe projection for3D measurements has been developed toavoid ambiguity. Therefore, the effective view of the3D measurement systemhas been modeled for optimal design.
2.3D whole-body scanner based on fringe projection and synchronous opticalpath rotation
The novel wide angle-of-view3D imaging system based on rotation ofoptical paths and vertical-shifted fringe projection has been developed. Theoptical paths of the projector and the receiver can be rotated synchronously when the scanning mirror sways under stepping motor control. The wideangle-of-view3D imaging system achieves3D dada acquisition of whole-bodysurface. Then, we have achieved the modeling mathematical analyses of blurringphenomena in the image sequence by scanning the whole-body at the maximumspeed.
3. Calibration of3D imaging systems
A novel calibration board based on the plane display screen has beeninvented. Then, the system calibration has been performed, which includeslocation and shape calibration of structured light slices. Meanwhile, we haveproposed two methods of structured light calibration through multi-point fittingof the light slices: one is based on the known location of the target plane and theother is the stereo vision idea. Afterwards, the calibration procedure of thewhole-body imaging system has also been developed. According to ourexperimental results, the proposed method improves3D measurement accuracysignificantly in comparison with previous methods.
4. A high-resolution3D FIR thermal and true-color imaging system
The paper has developed an imaging-sensor integrated system that cansynchronously acquire high-resolution3D FIR thermal and true-color images ofthe body surface. The proposed system integrates one FIR camera and one colorcamera with a3D structured light binocular profilometer. Afterwards, the precise 3D surface was fused with undistorted thermal and color images. Thus, over40,0003D thermal and over150,0003D color points can be obtained afterreconstruction. For the further application, the ROI (Region of Interest) in the2D temperature or color image can be checked and located on the correspondingposition on the other image through coordinate system transformation.
5. A wide angle-of-view thermal imaging utilizing optical path rotation
A wide angle-of-view FIR system based on the method of optical pathrotation has also been invented. The system has integrated one FIR camera andone rotating gold-sprayed mirror controlled by one stepping motor. The FIRcamera takes the image sequence from the rotating mirror in the real-timecapture mode. Meanwhile, the speed of pixel movement on the FIR imagingplane has been analyzed to obtain the fastest data acquisition without blurring.Besides, the view range of the proposed system is considered. Then, theprototype has been designed according to the simulation results. The experimentdata has verified the theory of motion blur and3D imaging. This thermalimaging technique can be integrated with3D whole-body scanner.
6. Non-invasion inner temperature measurements based on3D FIRthermography
The principles of the heat transfer have been introduced. A series ofexperiments have validated that the temperature field of the point heated source is distributed in the form of isothermal spherical surface. The isothermal curvecan be acquired by the3D thermography. Then, the variation of the isothermalcurves with different parameters of the heat sources involving the depth, shape,and temperature have also been investigated. Afterwards, according to theFourier’s law, non-invasive temperature measurements based on3D FIRthermography for the inner heated source can be achieved in the invariable heatfield. And the performance of this method has been experimentally evaluated.
These research results can be widely applied to clinical medical engineeringand industrial automation.
因此，本文的技术路线和研究目标是：第一阶段，发展高解析度的人体局部/全身三维测量技术；第二阶段，发展高解析度的人体局部/全身三维远红外成像技术；第三阶段，针对人体局部特定部位的传热特性，结合热量传递的基本理论，发展三维远红外无损测温技术。由此，本文着重开展了以下六个方面的研究工作：
1、基于移动面阵投影的人体局部高解析度三维成像技术
在分析基于三角法的结构光三维成像原理的基础上，阐述了其成像特性，发明了投影仪生成纵向移动面阵投影条纹及其累积细分的方法；提出避免相邻结构光在成像时互搭的条件和面阵投影结构光的优化布局方法；分析三维成像的空间有效视场范围；设计和制作了多套实验装置，并进行比较，实现了高解析度的人体局部三维成像。
2、基于面阵投影同步光路旋转的人体大视角三维成像技术
在分析两种同步扫描三维成像方案的基础上，发明了基于面阵投影与同步光路旋转的三维成像方法；分析了该类型成像系统的空间扫描轨迹和有效视场范围；建立了其运动场景序列图像采集中避免运动模糊现象的数学模型；优化设计和制作了实验装置，实现了对特定景深范围内目标的高速、高解析度的大视角三维成像。
3、结构光三维测量系统的标定技术
针对上述两项研究工作，发明了采用平面显示屏生成主动光源标定板的方法；先后提出“基于已知标定板空间位置”和“基于立体视觉原理”的多点拟合结构光的标定方法；提出了同步光路旋转大视角成像系统的标定方法；并通过实验验证了上述理论能有效提高三维测量系统的精度。
4、人体局部高解析度三维真彩色/远红外成像技术
阐述了不同视觉传感器间图像融合的过程，建立了二维远红外热像图与二维真彩色图中划定小区域间的映射关系；设计和制作了实验装置，实现了高解析度的人体三维真彩色/远红外成像，获取了高精度的三维远红外热像图。
5、基于金膜反射光路旋转的大视角远红外立体成像技术
发明了基于光路旋转的远红外立体成像的方法，讨论了其运动场景序列图像采集中避免运动模糊现象的数学模型；设计和制作了面向人体全身应用的基于金膜反射光路旋转的远红外成像的实验装置，实验证明该方法能够实现大视角远红外成像和基于立体视觉原理的三维远红外成像，并且能够集成于基于同步光路旋转的大视角三维远红外成像系统中。
6、三维远红外热像图实现内部热源无损测温技术
介绍了面向人体局部近似均匀组织的传热学基本理论；实验验证了点(球)状热源在同种均匀组织中是以等温球面的形式进行热传递的；在三维远红外热像图中提取了等温球面上非共面的点集，求取了在均匀组织中点(球)状热源的空间位置和各等温球面的半径；以傅立叶定律等温球壁模型为基础，实现了三维热像图对点(球)状热源在蜡块和离体动物组织中的无损测温；同时，以傅立叶定律双层等温圆筒壁模型为基础，实现了三维热像图对线(柱)状热源在两层离体动物组织中的无损测温。
上述研究成果能够被广泛应用于医学和其他工程领域，通过产业化的推广与改进，能够更好的服务于社会和人类。
Any of the various kinds of malignant neoplasms is a killer of humanbeings. Research on the novel medical imaging approaches for tumourimmunization, detection and therapy has become a hot topic in the biomedicalengineering community. The far-infrared (FIR) thermography, characterized bynoninvasive, real-time, dynamic functional imaging, can assist doctors indiagnosing different diseases. However,2D thermography can only providelimited information concerning the skin surface temperature. Therefore, it isassumed that the3D partial-and whole-body thermography can be realizedthrough combining3D surface models with2D thermal images. Furthermore,the3D thermography can obtain information of the inner abnormal heat sourcewhich includes the depth, shape and temperature. In spite of the obvioussignificance of these techniques, there remain some questions unanswered suchas the high-speed, high-resolution, accurate body surface acquisition, the3DFIR thermography and the non-invasive inner temperature measurements.
To answer these questions, we carried out the following technicalprocedures to achieve the goals. Step1: The high-resolution3D measurementshave been developed for surface acquisition of the partial-and whole-body. Step2: The high-resolution3D FIR imaging technique has also been developed for3D thermography of the partial-and whole-body. Step3: The non-invasive innertemperature measurements based on3D FIR thermography have been proposed.To better understand the technical procedure, the following six problems havebeen addressed.
1. High-resolution3D body imaging technique based on fringe projection
The characteristics of the3D imaging system based on trigonometry havebeen analyzed. The innovation of the vertical-shifted pattern projection methodrealizes high-resolution3D imaging for parts of the body at a high speed. Then,optimal layout of fringe projection for3D measurements has been developed toavoid ambiguity. Therefore, the effective view of the3D measurement systemhas been modeled for optimal design.
2.3D whole-body scanner based on fringe projection and synchronous opticalpath rotation
The novel wide angle-of-view3D imaging system based on rotation ofoptical paths and vertical-shifted fringe projection has been developed. Theoptical paths of the projector and the receiver can be rotated synchronously when the scanning mirror sways under stepping motor control. The wideangle-of-view3D imaging system achieves3D dada acquisition of whole-bodysurface. Then, we have achieved the modeling mathematical analyses of blurringphenomena in the image sequence by scanning the whole-body at the maximumspeed.
3. Calibration of3D imaging systems
A novel calibration board based on the plane display screen has beeninvented. Then, the system calibration has been performed, which includeslocation and shape calibration of structured light slices. Meanwhile, we haveproposed two methods of structured light calibration through multi-point fittingof the light slices: one is based on the known location of the target plane and theother is the stereo vision idea. Afterwards, the calibration procedure of thewhole-body imaging system has also been developed. According to ourexperimental results, the proposed method improves3D measurement accuracysignificantly in comparison with previous methods.
4. A high-resolution3D FIR thermal and true-color imaging system
The paper has developed an imaging-sensor integrated system that cansynchronously acquire high-resolution3D FIR thermal and true-color images ofthe body surface. The proposed system integrates one FIR camera and one colorcamera with a3D structured light binocular profilometer. Afterwards, the precise 3D surface was fused with undistorted thermal and color images. Thus, over40,0003D thermal and over150,0003D color points can be obtained afterreconstruction. For the further application, the ROI (Region of Interest) in the2D temperature or color image can be checked and located on the correspondingposition on the other image through coordinate system transformation.
5. A wide angle-of-view thermal imaging utilizing optical path rotation
A wide angle-of-view FIR system based on the method of optical pathrotation has also been invented. The system has integrated one FIR camera andone rotating gold-sprayed mirror controlled by one stepping motor. The FIRcamera takes the image sequence from the rotating mirror in the real-timecapture mode. Meanwhile, the speed of pixel movement on the FIR imagingplane has been analyzed to obtain the fastest data acquisition without blurring.Besides, the view range of the proposed system is considered. Then, theprototype has been designed according to the simulation results. The experimentdata has verified the theory of motion blur and3D imaging. This thermalimaging technique can be integrated with3D whole-body scanner.
6. Non-invasion inner temperature measurements based on3D FIRthermography
The principles of the heat transfer have been introduced. A series ofexperiments have validated that the temperature field of the point heated source is distributed in the form of isothermal spherical surface. The isothermal curvecan be acquired by the3D thermography. Then, the variation of the isothermalcurves with different parameters of the heat sources involving the depth, shape,and temperature have also been investigated. Afterwards, according to theFourier’s law, non-invasive temperature measurements based on3D FIRthermography for the inner heated source can be achieved in the invariable heatfield. And the performance of this method has been experimentally evaluated.
These research results can be widely applied to clinical medical engineeringand industrial automation.
引文
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