Tumor ablation treatment robot system guided by super-resolution optical-photoacoustic bimodal imaging

Abstract

The invention relates to the technical field of medical robots, in particular to a super-resolution optical-photoacoustic bimodal imaging guided tumor ablation treatment robot system which comprises a super-resolution optical imaging module, a photoacoustic imaging module, a multi-degree-of-freedom mechanical arm, an ablation energy generating device, a main control system and a real-time navigation module. According to the system, high resolution and deep tissue information fusion is realized through bimodal imaging, and the problems of tumor boundary positioning and deep information acquisition in a complex anatomical environment can be effectively solved in combination with the precise positioning and ablation treatment functions of the mechanical arm. The system supports 5G remote operation, augmented reality navigation and self-inspection functions, has high precision, real-time performance and safety, and can significantly improve the efficiency and accuracy of tumor ablation treatment.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical robots and medical imaging technology. Specifically, it relates to a tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging. Background Art

[0002] With the development of precision medicine and minimally invasive surgery, tumor ablation treatment technology has become one of the important means in the field of tumor treatment. However, in practical applications, how to achieve precise positioning of the tumor boundary and real-time acquisition of deep tissue information are still key problems to be solved urgently. Traditional imaging technologies such as ultrasound, CT or MRI have limitations in spatial resolution or functional information acquisition, and it is difficult to fully meet the needs of intraoperative navigation.

[0003] In addition, the performance of single-modal imaging technology is often limited in complex anatomical structures, especially in the detection of small lesions or deep vascular distributions.

[0004] On the other hand, the application of robot-assisted systems in tumor ablation is gradually increasing, but there is still room for improvement in their positioning accuracy and multi-modal data fusion ability. Existing robotic arm systems may produce registration errors in the face of dynamic interferences such as respiratory motion, which may in turn affect the planning accuracy of the ablation path. At the same time, the adaptive adjustment and real-time feedback mechanism of energy output are not yet fully mature, which may affect the stability of the treatment effect.

[0005] Therefore, it is necessary to design a tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging to address the deficiencies in the current technology. Summary of the Invention

[0006] The present invention proposes a tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging, aiming to solve the problem of difficultly achieving high-precision tumor boundary positioning and real-time acquisition of deep tissue information in complex anatomical environments in the current technology.

[0007] To solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0008] The present invention provides a tumor ablation therapy robot system guided by super-resolution optical-photoacoustic dual-modal imaging, comprising: a super-resolution optical imaging module, a photoacoustic imaging module, a multi-degree-of-freedom robotic arm, an ablation energy generating device, a main control system, and a real-time navigation module. The super-resolution optical imaging module realizes high-resolution imaging of tissue microstructures through structured illumination microscopy or stimulated emission depletion microscopy; the photoacoustic imaging module obtains deep tumor vascular distribution and oxygen metabolism information through a tunable pulsed laser and an ultrasonic detector array; the multi-degree-of-freedom robotic arm integrates an ablation device and a dual-modal imaging probe at its end, and the robotic arm has seven rotating joints and is equipped with an active vibration damping mechanism; the ablation energy generating device includes a multi-band laser ablation module and a closed-loop temperature control system; the main control system is used to fuse dual-modal image data and generate a three-dimensional navigation path; the real-time navigation module achieves sub-millimeter spatial registration through optical positioning and electromagnetic tracking.

[0009] Further, the super-resolution optical imaging module adopts structured illumination microscopy (SIM) or stimulated emission depletion microscopy (STED), and its spatial resolution reaches below 100 nm. This module projects a grating pattern onto the surface of the target tissue through a high-frequency modulated light source and uses a phase-shift algorithm to resolve a high-resolution optical image. The periodic change of the grating pattern is precisely controlled by the signal generating unit in the main control system to ensure high frequency stability and signal-to-noise ratio during the image acquisition process.

[0010] Further, the photoacoustic imaging module includes a tunable pulsed laser, an ultrasonic detector array, and a photoacoustic signal reconstruction algorithm. The wavelength range of the tunable pulsed laser is 680 - 1300 nm, covering the main absorption peaks of hemoglobin and deoxyhemoglobin, and can effectively extract deep vascular distribution information. The central frequency of the ultrasonic detector array is 10 - 50 MHz, with high-sensitivity signal reception ability. The photoacoustic signal reconstruction algorithm is based on the finite element method and combines time reversal technology to quickly reconstruct the collected photoacoustic signals, supporting real-time three-dimensional imaging.

[0011] Further, the multi-degree-of-freedom robotic arm has seven rotating joints, and each joint is equipped with a servo motor and an encoder for achieving high-precision angle control and position feedback. The end of the robotic arm integrates a six-dimensional force / torque sensor for real-time monitoring of contact force and torque changes. The active vibration damping mechanism detects external vibrations through a built-in inertial measurement unit and dynamically compensates the movement trajectory of the robotic arm through an adaptive filtering algorithm to ensure a positioning accuracy ≤ 50 μm.

[0012] Furthermore, the ablation energy generating device includes a multi-band laser ablation module, a closed-loop temperature control system, and an adaptive energy regulation algorithm. The multi-band laser ablation module provides three wavelength outputs of 808 nm, 1064 nm, and 1470 nm, corresponding to different depths of tissue penetration ability. The closed-loop temperature control system monitors the temperature distribution of the ablation area in real time through infrared thermal imaging feedback, and calculates the local thermal field change based on the heat diffusion model. The adaptive energy regulation algorithm adjusts the output power according to the tissue impedance change to avoid the deviation of the treatment effect caused by overheating or insufficient energy.

[0013] Furthermore, the main control system includes a multi-modal image fusion unit, a path planning unit, and a safety protection unit. The multi-modal image fusion unit uses a deep learning algorithm to perform feature-level fusion on optical images and photoacoustic images based on a convolutional neural network to generate a high-resolution three-dimensional composite image. The path planning unit generates an optimal ablation path based on the tumor boundary recognition result and combines the kinematic model of the robotic arm. The safety protection unit monitors the distance of important organs in real time. When it detects that the distance between the end of the robotic arm and the critical organ is less than the preset threshold, it automatically triggers an emergency stop mechanism.

[0014] Furthermore, the real-time navigation module includes a binocular infrared optical positioning system, an electromagnetic tracking device, and a dynamic registration algorithm. The accuracy of the binocular infrared optical positioning system is 0.1 mm, and it calculates the position of the end of the robotic arm through the spatial coordinates of the marker points. The working frequency of the electromagnetic tracking device is 5 kHz - 10 kHz, and it can maintain high stability in a strong magnetic field environment. The dynamic registration algorithm compensates for the displacement error based on the respiratory motion model to ensure the accuracy of intraoperative navigation.

[0015] Furthermore, the intelligent pressure feedback unit senses the contact pressure through a flexible electronic skin, with a measurement range of 0 - 20 N and a resolution of 0.01 N. The flexible electronic skin is composed of multiple layers of conductive polymers and can convert mechanical deformation into electrical signals. The adaptive clamping mechanism adjusts the clamping force according to the tissue deformation, and the change in the clamping force is regulated in real time by the force feedback controller in the main control system.

[0016] Furthermore, the main control system supports a 5G remote operation mode, an augmented reality (AR) surgical navigation interface, and a multi-user collaborative control function. The 5G remote operation mode realizes real-time interaction between doctors in different locations and local devices through a low-latency communication protocol. The augmented reality interface superimposes the dual-modal images onto the real scene to provide intuitive visual guidance for doctors. The multi-user collaborative control function allows multiple operators to participate in path planning and parameter adjustment simultaneously, improving the surgical efficiency.

[0017] Furthermore, the system integration self-check module automatically performs optical path calibration, energy output verification, and robotic arm motion trajectory verification before treatment. For optical path calibration, a standard resolution target is used, and the optical performance is evaluated by analyzing the edge sharpness of the target image. For energy output verification, the actual output power is measured by an in-built power meter and compared with the set value. The robotic arm motion trajectory verification is based on preset reference points, and the motion accuracy of the robotic arm is evaluated through repeated positioning tests.

[0018] Furthermore, the connection between the super-resolution optical imaging module and the photoacoustic imaging module adopts a fiber optic coupling method to ensure low loss and high stability during the optical signal transmission process. The fiber end face is precisely polished, and the surface roughness is less than 10 nm to reduce light scattering and reflection losses. A micro photodetector is installed at the fiber optic coupling interface to monitor the light intensity change in real time.

[0019] Furthermore, the connection between the multi-degree-of-freedom robotic arm and the main control system is achieved through a high-speed CAN bus, and the data transmission rate is 1 Mbps. The CAN bus protocol supports multi-node communication to ensure the synchronous update of the status information of each joint of the robotic arm. The main control system sends control instructions through the bus, and the robotic arm executes actions through the servo driver after receiving the instructions.

[0020] Furthermore, the connection between the ablation energy generating device and the end of the robotic arm adopts a snap-fastening structure for easy and quick installation and disassembly. Metal contacts are embedded inside the quick-connect structure for transmitting electricity and signals. The contact surface is gold-plated to reduce the contact resistance and improve the corrosion resistance.

[0021] Furthermore, the data interaction between the main control system and the real-time navigation module is achieved through a gigabit Ethernet to ensure the efficient transmission of image data and positioning information. The Ethernet interface adopts the RJ45 standard and supports the full-duplex communication mode. The main control system parses and reorganizes the data packets through the network protocol stack to ensure the integrity and real-time nature of the information.

[0022] Furthermore, the connection between the intelligent pressure feedback unit and the main control system adopts an I 2 2C bus, and the data transmission rate is 400 kbps. The I 2 2C bus protocol supports a multi-master multi-slave architecture, allowing multiple sensors to be connected to the main control system simultaneously. The main control system reads the output signal of the flexible electronic skin through address addressing and converts it into a digital quantity for processing.

[0023] Furthermore, the calibration process of the self-check module is triggered by a timer in the main control system, and the calibration period can be set according to actual requirements. After the optical path calibration is completed, the main control system stores the calibration result in a non-volatile memory for subsequent reference. The energy output verification result is displayed in real time on the liquid crystal display screen to facilitate the operator to confirm the device status.

[0024] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art. Of course, any product implementing the present invention does not necessarily need to achieve all the advantages described below at the same time:

[0025] Through dual-modal imaging, the fusion of high-resolution and deep tissue information is achieved. Combining the precise positioning and ablation treatment functions of the robotic arm, it can effectively solve the problems of tumor boundary positioning and deep information acquisition in complex anatomical environments. The system supports 5G remote operation, augmented reality navigation, and self-check function, and has high precision, real-time performance, and safety, which can significantly improve the efficiency and accuracy of tumor ablation treatment.

[0026] The following further describes in detail the specific implementation manners of the present invention with reference to the accompanying drawings. Description of the Drawings

[0027] The following drawings in the description are only some embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the attached

[0028] In the figure:

[0029] Figure 1 is a system diagram of the treatment robot of the present invention.

[0030] It should be noted that these drawings and the textual descriptions are not intended to limit the scope of the concept of the present invention in any way, but to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Specific Embodiment

[0031] The present invention will now be further described in detail with reference to the accompanying drawings. [[ID= / / ]]

[0032] Please refer to Figure 1 As shown, in this embodiment, a tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging is provided, including a super-resolution optical imaging module, a photoacoustic imaging module, a multi-degree-of-freedom robotic arm, an ablation energy generating device, a main control system, and a real-time navigation module. Signals are transmitted and coordinated among the modules through fiber optic coupling interfaces, high-speed CAN buses, and gigabit Ethernet interfaces.

[0033] The super-resolution optical imaging module uses a structured light illumination microscope or stimulated emission depletion microscope to achieve high-resolution imaging. The module consists of a high-frequency modulated light source, a grating projection unit, and an image acquisition unit. The high-frequency modulated light source is connected to the grating projection unit through a fiber-optic coupling interface, and the grating projection unit projects the modulated grating pattern onto the surface of the target tissue. The image acquisition unit receives the reflected light signal through the fiber-optic coupling interface and transmits it to the signal processing unit in the main control system for analysis. The periodic changes of the grating projection unit are controlled by the signal generation unit in the main control system to ensure high frequency stability and signal-to-noise ratio. The spatial resolution of the super-resolution optical imaging module can reach below 100nm, and it can perform high-precision imaging of tissue microstructures.

[0034] The photoacoustic imaging module includes a tunable pulse laser, an ultrasound detector array, and a signal reconstruction unit. The tunable pulse laser is connected to the ultrasound detector array through a fiber-optic coupling interface. The wavelength range is 680-1300nm, covering the main absorption peaks of hemoglobin and deoxyhemoglobin. The center frequency of the ultrasound detector array is 10-50MHz. It receives the photoacoustic signal through the fiber-optic coupling interface and transmits it to the signal reconstruction unit. The signal reconstruction unit quickly reconstructs the received photoacoustic signal based on the finite element method combined with time reversal technology to generate a three-dimensional image of the deep tumor blood vessel distribution and oxygen metabolism information. The photoacoustic imaging module and the main control system exchange data through the Gigabit Ethernet interface, supporting real-time three-dimensional imaging.

[0035] The multi-degree-of-freedom robotic arm has seven rotating joints, each equipped with a servo motor and encoder. The servo motor is connected to the main control system via a high-speed CAN bus, receives control instructions and drives the robotic arm to move. The encoder monitors the joint angle changes in real time and transmits position feedback information to the main control system via the high-speed CAN bus. The end of the robotic arm is integrated with a six-dimensional force / torque sensor and a dual-modal imaging probe. The six-dimensional force / torque sensor is connected to the main control system via the I 2 The C bus connects to the main control system for real-time monitoring of contact force and torque changes. The active vibration damping mechanism has a built-in inertial measurement unit, which dynamically compensates the manipulator's motion trajectory using an adaptive filtering algorithm, ensuring positioning accuracy of ≤50μm. The manipulator connects to the ablation energy generator via a snap-on quick-connect structure. Metal contacts embedded within the quick-connect structure transmit power and signals, and the contacts are gold-plated to reduce contact resistance.

[0036] The ablation energy generating device includes a multi - band laser ablation module, a closed - loop temperature control system, and an adaptive energy regulation algorithm. The multi - band laser ablation module provides three wavelength outputs of 808nm, 1064nm, and 1470nm, corresponding to different depths of tissue penetration ability. The closed - loop temperature control system monitors the temperature distribution in the ablation area in real time through an infrared thermal imaging module, and transmits the temperature data to the main control system through a gigabit Ethernet interface. The adaptive energy regulation algorithm adjusts the output power according to the change of tissue impedance, avoiding the deviation of treatment effect caused by overheating or insufficient energy. The ablation energy generating device communicates with the main control system through a high - speed CAN bus to ensure the precise control of power output.

[0037] The main control system includes a multi - modal image fusion unit, a path planning unit, and a safety protection unit. The multi - modal image fusion unit uses a convolutional neural network to perform feature - level fusion on the images obtained by the super - resolution optical imaging module and the photoacoustic imaging module, generating a high - resolution three - dimensional composite image. The path planning unit generates an optimal ablation path based on the tumor boundary recognition result combined with the kinematic model of the robotic arm, and transmits the path information to the robotic arm through a high - speed CAN bus. The safety protection unit monitors the distance of important organs in real time. When it detects that the distance between the end of the robotic arm and the critical organ is less than the preset threshold, it automatically triggers an emergency stop mechanism. The main control system exchanges data with the real - time navigation module through a gigabit Ethernet interface to ensure the efficient transmission of image data and positioning information.

[0038] The real - time navigation module includes a binocular infrared optical positioning system, an electromagnetic tracking device, and a dynamic registration algorithm. The binocular infrared optical positioning system calculates the position of the end of the robotic arm through the spatial coordinates of the marker points, with an accuracy of 0.1mm. The electromagnetic tracking device has a working frequency of 5kHz - 10kHz and can maintain high stability in a strong magnetic field environment. The dynamic registration algorithm compensates for the displacement error based on the respiratory motion model to ensure the accuracy of intraoperative navigation. The real - time navigation module transmits the positioning information to the main control system through a gigabit Ethernet interface, providing sub - millimeter - level spatial registration support for the main control system.

[0039] The intelligent pressure feedback unit senses the contact pressure through a flexible electronic skin. The flexible electronic skin is composed of multiple layers of conductive polymers and can convert mechanical deformation into electrical signals. The flexible electronic skin is connected to the main control system through an I 2 C bus, with a measurement range of 0 - 20N and a resolution of 0.01N. The adaptive clamping mechanism adjusts the clamping force according to tissue deformation, and the change of the clamping force is regulated in real time by the force feedback controller in the main control system. The intelligent pressure feedback unit is integrated with the end of the robotic arm to ensure that an appropriate contact force is applied to the tissue during operation.

[0040] The main control system supports the 5G remote operation mode, the augmented reality surgical navigation interface, and the multi-user collaborative control function. The 5G remote operation mode enables real-time interaction between doctors in different locations and local devices through a low-latency communication protocol. The augmented reality interface superimposes bimodal images onto the real scene, providing intuitive visual guidance for doctors. The multi-user collaborative control function allows multiple operators to participate in path planning and parameter adjustment simultaneously, improving surgical efficiency. The main control system conducts data interaction with external devices through a gigabit Ethernet interface to ensure the integrity and real-time nature of information.

[0041] Before treatment, the self-check module automatically performs optical path calibration, energy output verification, and robotic arm motion trajectory verification. For optical path calibration, a standard resolution target is used, and the optical performance is evaluated by analyzing the edge sharpness of the target image. Energy output verification measures the actual output power using a built-in power meter and compares it with the set value. Robotic arm motion trajectory verification is based on preset reference points, and the motion accuracy of the robotic arm is evaluated through repeated positioning tests. The calibration process of the self-check module is triggered by a timer in the main control system, and the calibration period can be set according to actual needs. After optical path calibration is completed, the main control system stores the calibration results in a non-volatile memory for subsequent reference.

[0042] When the system is running, it first obtains high-resolution images and deep information of the target tissue through the super-resolution optical imaging module and the photoacoustic imaging module. The main control system fuses the bimodal images to generate a three-dimensional composite image. The real-time navigation module determines the position of the robotic arm end through the binocular infrared optical positioning system and the electromagnetic tracking device and transmits the positioning information to the main control system. The main control system generates an ablation path in combination with the tumor boundary recognition result and transmits the path information to the robotic arm through the high-speed CAN bus. The robotic arm drives the servo motor to complete precise positioning according to the path information, while the six-axis force / torque sensor monitors the changes in contact force and torque in real time. The ablation energy generating device outputs laser energy of the adapted wavelength according to the instructions of the main control system, and the closed-loop temperature control system monitors the temperature distribution in the ablation area in real time and adjusts the output power. The intelligent pressure feedback unit senses the contact pressure between the robotic arm end and the tissue, and the adaptive clamping mechanism adjusts the clamping force according to the pressure feedback. The entire process is coordinated by the main control system to ensure the safety and effectiveness of the treatment.

[0043] To enable relevant personnel in the technical field to better understand and implement the present invention, the following further explains the specific implementation principles of the present invention in combination with specific application scenarios.

[0044] In practical applications, the first step of the system operation is to obtain high-resolution images and deep information of the target tissue through the super-resolution optical imaging module and the photoacoustic imaging module. The high-frequency modulated light source in the super-resolution optical imaging module transmits light signals of a specific wavelength to the grating projection unit through the fiber optic coupling interface. The grating projection unit generates a grating pattern according to the periodic control signal issued by the main control system and projects it onto the surface of the target tissue. After receiving the reflected light signal, the image acquisition unit transmits the data to the signal processing unit in the main control system through the fiber optic coupling interface. The signal processing unit analyzes the grating pattern based on the phase shift algorithm to generate a high-precision optical image with a spatial resolution of less than 100 nm. At the same time, the tunable pulsed laser in the photoacoustic imaging module irradiates the target tissue with a laser in the wavelength range of 680 - 1300 nm through the fiber optic coupling interface, exciting hemoglobin and deoxyhemoglobin to generate photoacoustic signals. The ultrasonic detector array receives these signals and transmits them to the signal reconstruction unit through the fiber optic coupling interface. The signal reconstruction unit uses the finite element method combined with time reversal technology to quickly reconstruct the received photoacoustic signals, and finally generates a three-dimensional image of the deep tumor vascular distribution and oxygen metabolism information. The multimodal image fusion unit in the main control system uses a convolutional neural network to perform feature-level fusion on the images of the two modalities to generate a high-resolution three-dimensional composite image, providing an accurate navigation basis for subsequent operations.

[0045] Subsequently, the real-time navigation module determines the position of the end of the robotic arm through the binocular infrared optical positioning system and the electromagnetic tracking device. The binocular infrared optical positioning system calculates the position of the end of the robotic arm through the spatial coordinates of the marker points, with an accuracy of 0.1 mm. The electromagnetic tracking device detects the movement trajectory of the end of the robotic arm through high-frequency electromagnetic fields, ensuring high stability even in a strong magnetic field environment. The dynamic registration algorithm compensates for the displacement error caused by breathing based on the breathing motion model to ensure the accuracy of intraoperative navigation. The real-time navigation module transmits the positioning information to the main control system through the Gigabit Ethernet interface, providing sub-millimeter-level spatial registration support for the main control system. The main control system generates the optimal ablation path in combination with the tumor boundary recognition result and transmits the path information to the robotic arm through the high-speed CAN bus.

[0046] The robotic arm drives the servo motor to complete precise positioning according to the received path information. Each rotating joint is equipped with a servo motor and an encoder. The servo motor receives the control instructions issued by the main control system through the high-speed CAN bus and drives the robotic arm to move. The encoder monitors the joint angle changes in real time and transmits the position feedback information to the main control system through the high-speed CAN bus. The end of the robotic arm is integrated with a six-dimensional force / torque sensor, which is connected through I 2The C bus is connected to the main control system and is used to monitor the changes in contact force and torque in real time. The active damping mechanism is built-in with an inertial measurement unit, and through an adaptive filtering algorithm, it dynamically compensates the motion trajectory of the robotic arm to ensure that the positioning accuracy is ≤50μm. In addition, an intelligent pressure feedback unit is integrated at the end of the robotic arm. The flexible electronic skin senses the contact pressure between the end of the robotic arm and the tissue, and transmits the electrical signal through the I 2 C bus to the main control system. The force feedback controller in the main control system adjusts the clamping force of the adaptive clamping mechanism according to the pressure feedback to ensure that an appropriate contact force is applied to the tissue during the operation.

[0047] The ablation energy generating device outputs laser energy of an adapted wavelength according to the instructions of the main control system. The multi-band laser ablation module provides three wavelength outputs of 808nm, 1064nm, and 1470nm, corresponding to different tissue penetration capabilities at different depths. The closed-loop temperature control system monitors the temperature distribution in the ablation area in real time through the infrared thermal imaging module, and transmits the temperature data to the main control system through the gigabit Ethernet interface. The adaptive energy adjustment algorithm in the main control system adjusts the output power according to the change in tissue impedance to avoid deviation in the treatment effect caused by overheating or insufficient energy. The ablation energy generating device communicates with the main control system through the high-speed CAN bus to ensure precise control of the power output.

[0048] Throughout the process, the safety protection unit of the main control system monitors the distance between the end of the robotic arm and the important organs in real time. When it detects that the distance between the end of the robotic arm and the critical organ is less than the preset threshold, the safety protection unit automatically triggers the emergency stop mechanism to ensure the safety of the surgical process. At the same time, the main control system supports the 5G remote operation mode, and realizes the real-time interaction between doctors in different locations and local devices through a low-latency communication protocol. The augmented reality interface superimposes the bimodal image onto the real scene to provide intuitive visual guidance for doctors. The multi-user collaborative control function allows multiple operators to participate in path planning and parameter adjustment simultaneously, improving the surgical efficiency.

[0049] Finally, after the treatment is completed, the self-check module automatically performs optical path calibration, energy output verification, and robotic arm motion trajectory verification. The optical path calibration uses a standard resolution target, and evaluates the optical performance by analyzing the edge sharpness of the target image. The energy output verification measures the actual output power through the built-in power meter and compares it with the set value. The robotic arm motion trajectory verification is based on the preset reference points, and evaluates the motion accuracy of the robotic arm through repeated positioning tests. The calibration process of the self-check module is triggered by the timer in the main control system, and the calibration period can be set according to actual needs. After the optical path calibration is completed, the main control system stores the calibration results in the non-volatile memory for subsequent reference.

[0050] The present invention is not limited to the above embodiments. Any person should be aware that structural changes made under the inspiration of the present invention, as long as they have the same or similar technical solutions as the present invention, all fall within the protection scope of the present invention. The technologies, shapes, and structures not described in detail in the present invention are all well-known technologies.

Claims

1. A tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging, characterized in that Including: A super-resolution optical imaging module, a photoacoustic imaging module, a multi-degree-of-freedom robotic arm, an ablation energy generating device, a main control system, and a real-time navigation module; The super-resolution optical imaging module is connected to the main control system through a fiber optic coupling interface and is used to achieve high-resolution imaging of tissue microstructures; The photoacoustic imaging module is connected to the main control system through a fiber optic coupling interface and is used to obtain deep tumor vascular distribution and oxygen metabolism information; The multi-degree-of-freedom robotic arm is connected to the main control system through a high-speed CAN bus and is used to drive the movement of the end of the robotic arm; The ablation energy generating device is connected to the multi-degree-of-freedom robotic arm through a snap-fastening structure and is used to output laser energy of an adapted wavelength; The main control system is connected to the real-time navigation module through a gigabit Ethernet interface and is used to fuse dual-modal image data and generate a three-dimensional navigation path; The real-time navigation module is connected to the main control system through a gigabit Ethernet interface and is used to achieve sub-millimeter spatial registration.

2. The tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, characterized in that, The super-resolution optical imaging module adopts a structured illumination microscope or a stimulated emission depletion microscope, and its spatial resolution reaches below 100 nm.

3. The tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, characterized in that, The photoacoustic imaging module includes a tunable pulsed laser, an ultrasonic detector array, and a photoacoustic signal reconstruction algorithm; the wavelength range of the tunable pulsed laser is 680 - 1300 nm; the center frequency of the ultrasonic detector array is 10 - 50 MHz.

4. The tumor ablation therapy robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, wherein The multi-degree-of-freedom robotic arm has seven rotating joints, and each joint is equipped with a servo motor and an encoder; a six-axis force / torque sensor and an active damping mechanism are integrated at the end of the robotic arm.

5. The tumor ablation therapy robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, wherein, The ablation energy generating device includes a multi-band laser ablation module, a closed-loop temperature control system, and an adaptive energy adjustment algorithm; the multi-band laser ablation module provides three wavelength outputs of 808 nm, 1064 nm, and 1470 nm.

6. The tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, characterized in that, The main control system includes a multi-modal image fusion unit, a path planning unit, and a safety protection unit; the multi-modal image fusion unit uses a convolutional neural network to perform feature-level fusion on optical images and photoacoustic images.

7. The tumor ablation therapy robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, wherein, The real-time navigation module includes a binocular infrared optical positioning system, an electromagnetic tracking device, and a dynamic registration algorithm; the accuracy of the binocular infrared optical positioning system is 0.1 mm; the operating frequency of the electromagnetic tracking device is 5 kHz - 10 kHz.

8. The tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, characterized in that, It also includes an intelligent pressure feedback unit; the intelligent pressure feedback unit senses the contact pressure through a flexible electronic skin, with a range of 0 - 20 N and a resolution of 0.01 N.

9. The tumor ablation treatment robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, wherein, The main control system supports a 5G remote operation mode, an augmented reality surgical navigation interface, and a multi-user collaborative control function.

10. The tumor ablation therapy robot system guided by super-resolution optical-photoacoustic dual-modal imaging according to claim 1, wherein, It also includes a self-check module; the self-check module automatically performs optical path calibration, energy output verification, and robotic arm movement trajectory verification before treatment.

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