A multi-wavelength tunable laser and sensing system

Abstract

The present invention discloses a multi-wavelength tunable laser and sensing system, which relates to the field of lasers and includes: a setting module for presetting or selecting two wavelengths of laser beams in the laser; a camera module for collecting the user's target skin surface image for treatment in real time, identifying the tumor area and the healthy skin area in the image data, and identifying the current skin surface position of the laser beam. The present invention identifies the tumor area and the healthy skin area in the operation data by collecting the user's target skin surface image for treatment, further plans the laser treatment path based on the target skin surface image, and controls the laser in the process of moving according to the treatment path, in combination with the sensor to sense the tumor thickness, so as to achieve further intelligent control of the movement speed of the laser in the process of moving according to the treatment path, so that the tumor position on the user's skin surface can be treated more adaptively.

Description

Technical Field

[0001] The present invention relates to the field of laser technology, in particular to a multi-wavelength tunable laser and a sensing system. Background Art

[0002] Multi-wavelength tunable lasers are widely used in the treatment of skin tumors. They precisely select different wavelengths of laser light based on tumor type, depth, and other characteristics, enabling precise treatment. They effectively destroy tumor tissue while minimizing damage to surrounding healthy skin tissue, improving treatment efficacy and patient quality of life.

[0003] The invention patent application with application number 200610060044.9 discloses a control system for tunable laser wavelength, which is suitable for DFB+MEMS type tunable lasers, including a DFB array laser equipped with a TEC controller, a four-quadrant detector, and a MEMS rotating mirror, a CPU / MCU equipped with a wavelength selection module, a temperature / wavelength control module, and a MEMS control module, a TEC control circuit, and a MEMS drive circuit. The wavelength selection module is connected to the DFB array laser to select a specified DFB laser, and also includes a temperature / wavelength control loop and a MEMS collimation control loop; the temperature / wavelength control loop controls the temperature of the TEC controller through the temperature / wavelength control module and the TEC control circuit to adjust the specified DFB laser to output a laser of a specified wavelength; the MEMS collimation control loop controls the operation of the MEMS drive circuit through the MEMS control module, and the MEMS The driving circuit drives the MEMS mirror to rotate to achieve optical path alignment of the laser of the specified wavelength. The application aims to solve the problem that "compared with traditional single-wavelength DFB lasers, the control of DFB array tunable lasers is much more complicated; and there is currently no standard solution."

[0004] However, in the scenario where multi-wavelength tunable lasers are used to treat skin tumors, there is currently a high demand for manual control. However, manual control usually has limited accuracy and incurs certain labor costs.

[0005] Therefore, a multi-wavelength tunable laser sensing system is proposed. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a multi-wavelength tunable laser and a sensing system, which can effectively solve the problems of the prior art.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] The present invention discloses a multi-wavelength tunable laser sensing system, comprising:

[0009] The setting module is used to preset or select two wavelengths of laser beams in the laser; the camera module is used to collect the user's target treatment skin surface image in real time, identify the tumor area and healthy skin area in the image data, and identify the current skin surface position of the laser beam; the planning module is used to identify the pixel specifications occupied by the laser beam in the target treatment skin surface image, and plan the laser treatment path in the target treatment skin surface image in combination with the target treatment skin surface image specifications; the sensing module is used to sense the thickness of the tumor area in the user's treatment skin surface image, and coordinate the speed of the laser moving along the laser treatment path based on the tumor area thickness perception result; the message module is used to receive the movement speed coordination result of the laser in the process of moving along the laser treatment path in the sensing module, and generate a laser operation message based on the coordination result; the evaluation module is used to traverse the laser operation message generated in the message module, and evaluate the tumor laser treatment effect based on the laser operation message.

[0010] Furthermore, during the operation phase of the setting module, one of the two wavelengths of laser beams preset or selected is used to irradiate skin surface tumors, and the other is used for positioning, without any damage to the human body, and the wavelength is within the visible spectrum range of the human eye;

[0011] Among them, during the laser operation stage, the laser only emits one laser beam at the same time. The setting module presets or selects two wavelengths of laser beams, which are marked with customized distinguishing names by the system end user. The laser is integrated with a display. When the laser emits a laser beam, the name of the emitted laser beam is synchronously displayed on the display integrated on the laser.

[0012] Furthermore, the camera module collects the target surface image of the user's skin for treatment in real time at a fixed position, and the source of the target surface image of the user is in a stationary state. The camera module interacts with the system in real time based on a wireless network. The target surface image of the user's skin for treatment collected by the camera module is the user's skin. The laser beam emitted by the laser in the initial operation stage is a laser beam used for positioning.

[0013] When the camera module identifies the tumor area and the healthy skin area in the image data, it acquires a frame of image from the image data, extracts the tumor contour image from the acquired image, and further tracks the extracted tumor contour image in real time in the image data based on the CamShift algorithm;

[0014] Among them, when the camera module identifies the current position of the laser beam on the skin surface, it uses the color value of the laser beam falling on the skin surface as the tracking target, and identifies and tracks it in real time in the image data.

[0015] Furthermore, during the operation phase of the planning module, the length or width of the pixel size occupied by the laser beam in the target skin surface image is used as the path width to plan the laser treatment path, so that each pixel position in the target skin surface image is covered by the laser treatment path;

[0016] The laser is mounted on a preset electric-controlled robotic arm. After the laser treatment path is planned, the laser treatment path is synchronously transmitted to the electric-controlled robotic arm. The robotic arm carries the laser and moves so that the laser beam emitted by the laser falls on any end point of the laser treatment path. The robotic arm then carries the laser and moves along the laser treatment path so that the laser beam emitted by the laser always falls on the laser treatment path.

[0017] The laser treatment path is S-shaped, and the robotic arm carrying the laser moves at a preset speed.

[0018] Furthermore, the sensor module is integrated with an OCT sensor or other sensor that does not contact the skin, does not emit visible laser light, and can sense the thickness of skin tissue. A control unit and a coordination unit are provided below the sensor. The control unit is used to control the laser to switch the laser type when the laser moves to the tumor area during the movement of the electric-controlled robotic arm. The coordination unit is used to coordinate the speed of the robotic arm carrying the laser in real time.

[0019] Among them, when the control unit controls the laser to switch the laser type, the laser type switching target is the laser used to irradiate the tumor on the skin surface. When the laser moves away from the tumor area based on the electric-controlled robotic arm, the control unit controls the laser to switch the laser type again, and the laser type switching target is the laser used for positioning.

[0020] Furthermore, the logic of the coordination unit coordinating the speed of the robot arm carrying the laser is:

[0021] ;

[0022] Where: The speed at which the laser moves after running coordination for the coordination unit; Preset movement speed for the laser; The straight-line distance between the position of the tumor area where the laser beam emitted by the laser is currently located and the center of the tumor area; The thickness of the tumor area is perceived by the sensing module; is the constraint factor;

[0023] Among them, the constraint factor For control in within the range.

[0024] Furthermore, the laser operation message generated in the message module sorts each message information based on the time sequence;

[0025] The message information in the laser operation message includes: the moving speed of the laser on each segment of the path during the movement of the laser treatment path, the type of the emitted laser beam, and the length of each segment of the path.

[0026] Furthermore, the evaluation logic of the tumor laser treatment effect in the evaluation module is expressed as:

[0027] ;

[0028] Where: It is the value for judging the effect of laser treatment of tumor; is the total amount of tumor area; is the fastest and slowest moving speed of the laser in the i-th tumor area; is the total number of times the i-th tumor area passes through the laser treatment path; is the path length of the jth laser treatment path when it passes through the i-th tumor area;

[0029] in, The larger the value is, the better the effect of laser treatment on tumor is. The evaluation module continuously obtains the judgment value of laser treatment effect on tumor based on the update of laser operation message in the message module, which is recorded as , identification When the number of columns rises continuously, it indicates that laser treatment of tumor is effective. Otherwise, it indicates that laser treatment of tumor is ineffective or worsens.

[0030] Furthermore, the setting module is interactively connected to the camera module, planning module and sensor module through a wireless network, the sensor module is interactively connected to the control unit and coordination unit through a wireless network, and the sensor module is interactively connected to the message module and evaluation module through a wireless network.

[0031] On the other hand, a multi-wavelength tunable laser includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, an operating program of a sensing system of the multi-wavelength tunable laser is implemented.

[0032] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0033] The present invention provides a multi-wavelength tunable laser and sensor system, which is applied to tumor treatment scenarios. By collecting images of the user's target skin surface for treatment, the system identifies the tumor area and healthy skin area in the operation data, further plans the laser treatment path based on the target skin surface image, and controls the laser to move along the treatment path. In combination with the sensor, the sensor senses the tumor thickness to achieve further intelligent control of the laser's movement speed during the treatment path, so that the user's skin surface tumor position can be treated more adaptively. Compared with manual control, it is faster and more accurate, thereby saving labor. At the same time, the system can also generate laser operation messages, and finally evaluate the tumor laser treatment effect based on the content of the laser operation message. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0035] Figure 1 The schematic diagram of the structure of a multi-wavelength tunable laser sensing system;

[0036] Figure 2 This is an example schematic diagram of the laser treatment path in the present invention. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] The present invention will be further described below with reference to the embodiments.

[0039] Example:

[0040] A multi-wavelength tunable laser sensing system of this embodiment, such as Figure 1 Shown, including:

[0041] A multi-wavelength tunable laser includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, an operating program of a sensing system of the multi-wavelength tunable laser is implemented.

[0042] A setting module, used for presetting or selecting two wavelengths of laser beams in the laser;

[0043] During the operation phase of the module, one of the two wavelengths of laser beams is preset or selected, one for irradiating tumors on the skin surface and the other for positioning, which are harmless to the human body and have wavelengths within the visible spectrum range of the human eye;

[0044] During the laser operation phase, the laser only emits one laser beam at a time. The setting module presets or selects two wavelengths of laser beams, which are marked with user-defined distinguishing names on the system side. The laser is integrated with a display. When the laser emits a laser beam, the name of the emitted laser beam is synchronously displayed on the display integrated with the laser.

[0045] The camera module is used to capture real-time images of the user's target skin surface for treatment, identify tumor areas and healthy skin areas in the image data, and identify the current location of the laser beam on the skin surface;

[0046] The camera module collects the target skin surface image of the user in real time at a fixed position. The source of the target skin surface image is the user who is in a stationary state. The camera module interacts with the system in real time based on a wireless network. The target skin surface image collected by the camera module is the user's skin. The laser beam emitted by the laser in the initial operation stage is a laser beam used for positioning.

[0047] When the camera module identifies the tumor area and healthy skin area in the image data, it acquires a frame of image data, extracts the tumor outline image from the acquired image, and further tracks the extracted tumor outline image in real time in the image data based on the CamShift algorithm;

[0048] When the camera module identifies the current location of the laser beam on the skin surface, it uses the color value of the laser beam falling on the skin surface as the tracking target, and identifies and tracks it in real time in the image data;

[0049] a planning module for identifying the pixel specifications of the laser beam in the target skin surface image, and planning the laser treatment path in the target skin surface image based on the target skin surface image specifications;

[0050] During the planning module operation phase, the laser treatment path is planned using the length or width of the pixel size occupied by the laser beam in the target skin surface image as the path width, so that every pixel position in the target skin surface image is covered by the laser treatment path;

[0051] The laser is mounted on a pre-set electrically controlled robotic arm. After the laser treatment path is planned, the laser treatment path is synchronously transmitted to the electrically controlled robotic arm. The robotic arm carries the laser and moves it so that the laser beam emitted by the laser falls on any end point of the laser treatment path. The robotic arm then carries the laser and moves along the laser treatment path so that the laser beam emitted by the laser always falls on the laser treatment path.

[0052] The laser treatment path is S-shaped, and the robotic arm carrying the laser moves at a preset speed.

[0053] A sensor module is used to sense the thickness of the tumor area in the image of the user's skin surface being treated, and coordinate the speed of the laser moving along the laser treatment path based on the tumor area thickness perception result;

[0054] The sensor module is integrated with an OCT sensor or other sensor that does not contact the skin, does not emit visible laser light, and can sense the thickness of skin tissue. The sensor is equipped with a control unit and a coordination unit at the lower level. The control unit is used to control the laser to switch the laser type when it moves to the tumor area during the movement of the electronically controlled robotic arm. The coordination unit is used to coordinate the speed of the robotic arm carrying the laser in real time.

[0055] When the control unit controls the laser to switch the laser type, the target of the laser type switching is the laser used to irradiate the tumor on the skin surface. When the laser moves away from the tumor area based on the electronically controlled robotic arm, the control unit controls the laser to switch the laser type again, and the target of the laser type switching is the laser used for positioning.

[0056] The logic of the coordination unit coordinating the speed of the robot arm carrying the laser is:

[0057] ;

[0058] Where: The speed at which the laser moves after running coordination for the coordination unit; Move at the preset speed for the laser; The straight-line distance between the position of the tumor area where the laser beam emitted by the laser is currently located and the center of the tumor area; The thickness of the tumor area is perceived by the sensing module; is the constraint factor;

[0059] Among them, the constraint factor For control in within the scope;

[0060] Through the above logic formula, the coordination logic of the coordination unit for the movement speed of the laser carried by the robot arm is further specifically defined;

[0061] A message module is used to receive the movement speed coordination result of the laser in the sensor module during the movement along the precision light treatment path, and generate a laser operation message based on the coordination result;

[0062] The laser operation message generated in the message module sorts each message information based on the time sequence;

[0063] The message information in the laser operation message includes: the moving speed of the laser on each segment of the path during the movement of the laser treatment path, the type of the emitted laser beam, and the length of each segment of the path;

[0064] An evaluation module, configured to traverse the laser operation messages generated in the message module and evaluate the tumor laser treatment effect based on the laser operation messages;

[0065] The evaluation logic of tumor laser treatment effect in the evaluation module is expressed as:

[0066] ;

[0067] Where: It is the value for judging the effect of laser treatment of tumor; is the total tumor area; is the fastest and slowest moving speed of the laser in the i-th tumor area; is the total number of times the i-th tumor area passes through the laser treatment path; is the path length of the jth laser treatment path when it passes through the i-th tumor area;

[0068] in, The larger the value is, the better the effect of laser treatment on tumor is. The evaluation module continuously obtains the judgment value of laser treatment effect on tumor based on the update of laser operation message in the message module, which is recorded as , identification When the number of patients presents a continuous upward trend, it indicates that the laser treatment of tumor is effective. On the contrary, it indicates that the laser treatment of tumor is ineffective or deteriorates.

[0069] The above logic and formula further limit the evaluation of the laser treatment effect of tumors in the evaluation module, providing more valuable data reference for users who implement the system in this embodiment;

[0070] The setting module is interactively connected to the camera module, planning module and sensor module through a wireless network. The sensor module is interactively connected to the control unit and coordination unit through a wireless network. The sensor module is interactively connected to the message module and evaluation module through a wireless network.

[0071] In this embodiment, a setting module operates to preset or select two wavelengths of laser beams in the laser. A camera module operates in a post-installed manner to capture real-time images of the user's target skin surface for treatment, identify the tumor area and healthy skin area in the image data, and identify the current skin surface location of the laser beam. The planning module further identifies the pixel specifications occupied by the laser beam in the target skin surface image for treatment, and plans a laser treatment path in the target skin surface image based on the target skin surface image specifications. The sensor module then senses the thickness of the tumor area in the user's treated skin surface image and coordinates the speed of the laser movement along the laser treatment path based on the tumor area thickness sensing result. The control unit synchronously controls the laser to switch laser types when the laser moves to the tumor area during movement based on the electronically controlled robotic arm. The coordination unit coordinates the speed of movement of the robotic arm carrying the laser in real time and receives the coordinated results of the laser movement speed during movement along the laser treatment path from the sensor module through the message module. A laser operation message is generated based on the coordinated results. Finally, the evaluation module traverses the laser operation messages generated in the message module and evaluates the tumor laser treatment effect based on the laser operation messages.

[0072] Through the operation of the system in the above embodiment, the multi-wavelength tunable laser technology is intelligently applied to the multi-wavelength tunable laser, effectively assisting medical staff to carry out tumor treatment more quickly.

[0073] See also Figure 2 As shown, based on the frame markings in the figure, frame (a) represents the target treatment skin surface image, frames (b) and (c) together represent the example forms of the planned laser treatment path, and frame (b) shows that the planned laser treatment path completely covers the corresponding skin of the target treatment skin surface image. In frame (c), the laser treatment path is further shown by the dotted line.

[0074] In summary, the system in the above embodiment is applied to the tumor treatment scenario. By collecting the surface image of the user's target skin for treatment, the tumor area and the healthy skin area in the operation data are identified, and the laser treatment path is further planned based on the surface image of the target skin for treatment. The laser is controlled during the movement based on the treatment path, and the sensor is combined to sense the thickness of the tumor to achieve further intelligent control of the movement speed of the laser during the movement along the treatment path, so that the position of the tumor on the user's skin surface can be treated more adaptively. Compared with manual control, it is faster and more accurate, and saves labor. At the same time, the system can also generate laser operation messages, and finally evaluate the tumor laser treatment effect based on the content of the laser operation message.

[0075] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multi-wavelength tunable laser sensing system, characterized in that: include: A setting module, used for presetting or selecting two wavelengths of laser beams in the laser; The camera module is used to capture real-time images of the user's target skin surface for treatment, identify tumor areas and healthy skin areas in the image data, and identify the current location of the laser beam on the skin surface; a planning module for identifying the pixel specifications of the laser beam in the target skin surface image, and planning the laser treatment path in the target skin surface image based on the target skin surface image specifications; A sensor module is used to sense the thickness of the tumor area in the image of the user's skin surface being treated, and coordinate the speed of the laser moving along the laser treatment path based on the tumor area thickness perception result; A message module is used to receive the movement speed coordination result of the laser in the sensor module during the movement along the precision light treatment path, and generate a laser operation message based on the coordination result; An evaluation module, configured to traverse the laser operation messages generated in the message module and evaluate the tumor laser treatment effect based on the laser operation messages; The sensor module is integrated with an OCT sensor or other sensor that does not contact the skin, does not emit visible laser, and can sense the thickness of skin tissue. A control unit and a coordination unit are provided below the sensor. The control unit is used to control the laser to switch the laser type when the laser moves to the tumor area during the movement of the electric-controlled robotic arm. The coordination unit is used to coordinate the speed of the robotic arm carrying the laser in real time. When the control unit controls the laser to switch the laser type, the target of the laser type switching is the laser used to irradiate the tumor on the skin surface. When the laser moves away from the tumor area based on the electronically controlled robotic arm, the control unit controls the laser to switch the laser type again, and the target of the laser type switching is the laser used for positioning. The logic of the coordination unit coordinating the speed of the robot arm carrying the laser is: ； Where: The speed at which the laser moves after running coordination for the coordination unit; Preset movement speed for the laser; The straight-line distance between the position of the tumor area where the laser beam emitted by the laser is currently located and the center of the tumor area; The thickness of the tumor area is perceived by the sensing module; is the constraint factor; Among them, the constraint factor For control in within the range.

2. The multi-wavelength tunable laser sensing system according to claim 1, characterized in that: The two wavelengths of laser beams preset or selected during the operation phase of the setting module are: one for irradiating skin surface tumors, and the other for positioning, which are harmless to the human body and have wavelengths within the visible spectrum range of the human eye; Among them, during the laser operation stage, the laser only emits one laser beam at the same time. The setting module presets or selects two wavelengths of laser beams, which are marked with customized distinguishing names by the system end user. The laser is integrated with a display. When the laser emits a laser beam, the name of the emitted laser beam is synchronously displayed on the display integrated on the laser.

3. The multi-wavelength tunable laser sensing system according to claim 1, characterized in that: The camera module collects the target surface image of the user's skin for treatment in real time at a fixed position, and the source of the target surface image of the user is in a stationary state. The camera module interacts with the system in real time based on a wireless network. The target surface image of the user's skin for treatment collected by the camera module is the user's skin. The laser beam emitted by the laser in the initial operation stage is a laser beam used for positioning. When the camera module identifies the tumor area and the healthy skin area in the image data, it acquires a frame of image from the image data, extracts the tumor contour image from the acquired image, and further tracks the extracted tumor contour image in real time in the image data based on the CamShift algorithm; Among them, when the camera module identifies the current position of the laser beam on the skin surface, it uses the color value of the laser beam falling on the skin surface as the tracking target, and identifies and tracks it in real time in the image data.

4. The multi-wavelength tunable laser sensing system according to claim 1, characterized in that: During the operation phase of the planning module, the length or width of the laser beam in pixels in the target skin surface image is used as the path width to plan the laser treatment path, so that every pixel position in the target skin surface image is covered by the laser treatment path; The laser is mounted on a preset electric-controlled robotic arm. After the laser treatment path is planned, the laser treatment path is synchronously transmitted to the electric-controlled robotic arm. The robotic arm carries the laser and moves so that the laser beam emitted by the laser falls on any end point of the laser treatment path. The robotic arm then carries the laser and moves along the laser treatment path so that the laser beam emitted by the laser always falls on the laser treatment path. The laser treatment path is S-shaped, and the robotic arm carrying the laser moves at a preset speed.

5. The multi-wavelength tunable laser sensing system according to claim 1, characterized in that: The laser operation message generated in the message module sorts each message information based on the time sequence; The message information in the laser operation message includes: the moving speed of the laser on each segment of the path during the movement of the laser treatment path, the type of the emitted laser beam, and the length of each segment of the path.

6. The multi-wavelength tunable laser sensing system according to claim 1, characterized in that: The evaluation logic of the tumor laser treatment effect in the evaluation module is expressed as: ； Where: It is the value for judging the effect of laser treatment of tumor; is the total amount of tumor area; is the fastest and slowest moving speed of the laser in the i-th tumor area; is the total number of times the i-th tumor area passes through the laser treatment path; is the path length of the jth laser treatment path when it passes through the i-th tumor area; in, The larger the value is, the better the effect of laser treatment on tumor is. The evaluation module continuously obtains the judgment value of laser treatment effect on tumor based on the update of laser operation message in the message module, which is recorded as , identification When the number of columns rises continuously, it indicates that laser treatment of tumor is effective. Otherwise, it indicates that laser treatment of tumor is ineffective or worsens.

7. The multi-wavelength tunable laser sensing system according to claim 1, characterized in that: The setting module is interactively connected to the camera module, planning module and sensor module through a wireless network. The sensor module is interactively connected to the control unit and coordination unit through a wireless network. The sensor module is interactively connected to the message module and evaluation module through a wireless network.

8. A multi-wavelength tunable laser, characterized in that: The laser includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, an operating program of a sensing system for a multi-wavelength tunable laser according to any one of claims 1 to 7 is implemented.

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