A method and apparatus for irradiating the interior of a body with a laser beam

Abstract

The present invention provides a method and device for irradiating the interior of a body with a laser beam. The method includes: using an ultrasonic image sensor to obtain an image of the internal tissues of the body; using the image to determine the position of the tissue to be irradiated; and adjusting the optical path of the laser beam so that the laser beam irradiates the tissue to be irradiated. The laser energy can be concentrated and accurately irradiated onto the tissue to be irradiated in the body, improving the irradiation effect and saving laser power.

Description

Technical Field

[0001] The present invention relates to the field of physiotherapy care, and particularly to a method and device for irradiating the interior of a body with a laser beam. Background Art

[0002] Laser physiotherapy is a type of phototherapy, which refers to the use of low-power lasers to directly irradiate biological tissues, causing a series of biological effects, thereby achieving the purpose of treating diseases.

[0003] Laser physiotherapy uses low-power lasers such as He-Ne lasers, expanded CO2 lasers, or semiconductor lasers to directly irradiate the affected area, and there are the following methods.

[0004] The original beam irradiation method: The laser output from the laser tube directly irradiates the tissue without any optical processing. Its power density is relatively large, and the spot area is relatively small, which is suitable for the irradiation treatment of small-area lesions.

[0005] The beam expansion irradiation method: The original beam is expanded through a concave lens and then irradiates the affected area. Its power density is relatively small, and the spot area is relatively large, which is suitable for the irradiation of larger-area lesions.

[0006] The optical fiber direct irradiation method: The laser irradiates the affected area after output from the optical fiber. It is suitable for the irradiation treatment of small areas on the body surface and some lesions in cavities (such as the nasal cavity, external auditory canal, vagina, urethra).

[0007] The optical fiber endoscope irradiation method: With the cooperation of an endoscope, the optical fiber for transmitting the laser is sent into the internal cavity for irradiation.

[0008] The patent application number is CN201620337261.7, and the invention name is "A Laser Physiotherapy Instrument on a Wearable Device", which discloses a laser physiotherapy instrument on a wearable device, including a laser physiotherapy system arranged in the wearable device; the laser physiotherapy system includes a main control MCU, a low-dropout linear regulator, and three laser heads. The GPIO port on the main control MCU is connected to the EN pin of the low-dropout linear regulator, the OUT pin of the low-dropout linear regulator is connected to the three laser heads, and a current-limiting resistor is serially arranged on each laser head. The utility model combines the advantages of wearable devices and laser physiotherapy products, having both the advantage of convenient use of wearable devices and realizing the physiotherapy function of laser physiotherapy products, allowing users to use it conveniently at any time and place.

[0009] The application number is CN201510750376.9, and the invention title is A Portable Low-level Laser Therapy Garment, which provides a portable low-level laser therapy garment that is wearable, easy to carry, and outputs dual-wavelength lasers. It includes a laser light source and a wearable light therapy garment, and the two parts are connected by a conductive optical fiber. The portable laser light source includes a light output port, a lithium battery, a control circuit with a Bluetooth data transmission module, and a dual-wavelength laser module. The wearable light therapy garment includes a light input port, a light-transmitting veil layer, an optical fiber fabric layer, and a reflective fabric layer. The therapy garment can be in the form of close-fitting clothes such as a hat, a sleeping bag, a cloak, socks, etc., which is convenient for wearing and using. The said laser light source is a laser module that can generate low-level lasers of red light or blue light for physical therapy. This low-level laser therapy garment can assist in treating diseases related to low-level laser therapy such as hair loss, joint diseases, skin diseases, blood viscosity, diabetic foot, etc. The user controls the laser switch of the therapy garment through a mobile terminal device with a Bluetooth module such as a mobile phone and transmits and stores user usage data.

[0010] The application number is CN201510541915.8, and the invention title is An Energy Real-time Feedback Laser Therapy Instrument, which provides an energy real-time feedback laser therapy instrument: This laser therapy instrument includes a housing, a microprocessor, a laser treatment component, and a temperature detection component. The present invention uses the temperature detection component to detect the temperature of the laser irradiation area in a non-contact manner and uses the microprocessor to adjust the magnitude of the laser output energy. Through feedback adjustment, while ensuring no thermal damage, it irradiates and treats the deep spinal cord, overcoming the problem that existing products cannot monitor the temperature change of the irradiation site and adjust the laser irradiation energy in real time, thus ensuring the treatment effect and safety.

[0011] Existing laser therapy and nursing methods do not utilize the information of the internal lesion location of the body to accurately and centrally use laser energy, resulting in blindness in the irradiation range, low laser energy utilization efficiency, and poor effects. Summary of the Invention

[0012] The present invention provides a method and device for irradiating the internal part of the body with a laser beam to overcome at least one of the disadvantages of existing laser therapy and nursing methods that do not utilize the information of the internal lesion location of the body to accurately and centrally use laser energy, resulting in blindness in the irradiation range, low laser energy utilization efficiency, and poor effects.

[0013] The present invention provides a method for irradiating the internal part of the body with a laser beam, including the following steps:

[0014] Use an ultrasonic image sensor to obtain an image of the internal tissue of the body;

[0015] Use the said image to determine the position of the tissue to be irradiated;

[0016] Adjust the optical path of the laser beam so that the laser beam irradiates the said tissue to be irradiated.

[0017] The present invention provides a device for irradiating the internal body tissues with a laser beam, comprising the following modules:

[0018] A module for acquiring images of internal body tissues, a module for determining the position of the tissue to be irradiated, and a laser beam adjustment module; wherein,

[0019] The module for acquiring images of internal body tissues is used to acquire images of internal body tissues by using an ultrasonic image sensor, including the ultrasonic image sensor;

[0020] The module for determining the position of the tissue to be irradiated is used to determine the position of the tissue to be irradiated by using the said images, including an image processing sub-module;

[0021] The laser beam adjustment module is used to adjust the optical path of the laser beam so that the laser beam irradiates the said tissue to be irradiated, including at least one of a dragging sub-module or a servo sub-module.

[0022] The method and device provided by the embodiments of the present invention can overcome at least one of the disadvantages of the existing laser physiotherapy and nursing methods, such as not using the internal body lesion position information to accurately and centrally use laser energy, having blindness in the irradiation range, low laser energy utilization efficiency, and poor effect. The laser energy can be concentrated and accurately irradiated onto the tissue to be irradiated in the body, improving the irradiation effect and saving laser power.

[0023] Other features and advantages of the present invention will be described in the subsequent specification. Brief Description of the Drawings

[0024] Figure 1 It is a flowchart of a method for irradiating the internal body tissues with a laser beam provided by an embodiment of the present invention;

[0025] Figure 2 It is a schematic diagram of the composition of a device for irradiating the internal body tissues with a laser beam provided by an embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of a layout method of a position reference object provided by an embodiment of the present invention. Embodiment

[0027] The method and device provided by the embodiments of the present invention are used to overcome at least one of the disadvantages of the existing laser physiotherapy and nursing methods, such as not using the internal body lesion position information to accurately and centrally use laser energy, having blindness in the irradiation range, low laser energy utilization efficiency, and poor effect. The laser energy can be concentrated and accurately irradiated onto the tissue to be irradiated in the body, improving the irradiation effect and saving laser power.

[0028] To make the objectives, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other arbitrarily.

[0029] The following will, with reference to the accompanying drawings, illustrate by way of example the method and apparatus for irradiating the interior of a body with a laser beam provided by the present invention.

[0030] Example 1: An example of a method for irradiating the interior of a body with a laser beam

[0031] See Figure 1 As shown, an embodiment of a method for irradiating the interior of a body with a laser beam provided by the present invention includes the following steps:

[0032] Step S110: Use an ultrasonic image sensor to obtain an image of the internal tissues of the body;

[0033] Step S120: Use the image to determine the position of the tissue to be irradiated;

[0034] Step S130: Adjust the optical path of the laser beam so that the laser beam irradiates the tissue to be irradiated.

[0035] Specifically, the ultrasonic image sensor is the ultrasonic image sensor used in medical B-ultrasound (B-SCAN ULTRASONOGRAPHY; BEAM-SCAN ULTRASONOGRAPHY).

[0036] Specifically, the internal tissues of the body include at least one of muscle tissue, adipose tissue, organ tissue, nerve tissue, vascular tissue and bone tissue inside the body.

[0037] For the method given in this embodiment,

[0038] The step of using an ultrasonic image sensor to obtain an image of the internal tissues of the body includes:

[0039] Set a position reference on the surface of the body;

[0040] Use an ultrasonic image sensor to obtain an image of the internal tissues of the body associated with the position of the position reference.

[0041] Specifically, the step of setting a position reference on the surface of the body includes connecting the position reference to the surface of the body in any of the following ways:

[0042] Connect in an adhesive manner on the surface of the body;

[0043] Connect in a negative pressure adsorption manner on the surface of the body;

[0044] Connected to the body surface in a binding manner; and

[0045] Connected to the body surface in a painting manner.

[0046] Specifically, the position reference object has any one of the following spatial shapes:

[0047] Dot matrix shape, the spatial layout of the dot matrix is any one of a circle, a rectangle, a rhombus, and a triangle, and the dot matrix elements are any geometric shape;

[0048] Linear array shape, the spatial layout of the linear array is any one of a rectangle, a circle, a rhombus, and a triangle, and the linear array elements are equally spaced and parallel line segments; and

[0049] Grid shape, the spatial layout of the grid is any one of a rectangle, a circle, a rhombus, and a spider web shape, and the linear array elements are composed of a group of equally spaced parallel line segments and another group of equally spaced parallel line segments, or composed of a group of equally spaced arcs and another group of line segments radiating from the center of the circle.

[0050] Specifically, the body includes the bodies of humans and animals.

[0051] Specifically, the position reference object includes at least one of an optical position reference object and an acoustic position reference object.

[0052] During the stage of using ultrasonic waves to image the inside of the body, the operations of using the optical position reference object include:

[0053] By moving the ultrasonic image sensor within the area defined by the optical position reference object to obtain an image in which the edge of its image or a specific point in its image has a definite corresponding relationship with the position where the optical position reference object is located. Using this corresponding relationship, the positions of other pixels in the image relative to the optical position reference object can be determined, thereby determining the position of the tissue to be irradiated relative to the optical position reference object; or

[0054] Taking the optical position reference object as a measurement control point for photogrammetry, using an optical imaging sensor to obtain an optical image including the optical position reference object and the ultrasonic image sensor, and using at least one of the known position of the optical position reference object, the known positional relationship between the optical position reference objects, and the geometric scale of the optical position reference object to determine the position coordinates of the ultrasonic image sensor relative to the optical position reference object in the optical image.

[0055] During the stage of irradiating the inside of the body with a laser, the operations of using the optical position reference object include:

[0056] Determine the irradiation position of the laser beam on the body according to the position of the tissue to be irradiated relative to the optical position reference object and the position of the optical position reference object.

[0057] During the stage of using ultrasound to image the interior of the body, the operations of using the acoustic position reference object include:

[0058] By emitting ultrasound waves to the acoustic position reference object and the body to obtain images of the acoustic position reference object and the body, the images include the image of the acoustic position reference object and the image of the body, and the images include the position correspondence information between the acoustic position reference object and the tissues in the body. Using this correspondence information, the position of the pixels of the body tissues in the image relative to the acoustic position reference object can be determined, so as to determine the position of the tissue to be irradiated relative to the acoustic position reference object; or

[0059] Sending positioning sound waves to the sound wave positioning sensor installed on the ultrasonic imaging sensor or receiving positioning sound waves from the sound wave positioning transmitter installed on the ultrasonic imaging sensor.

[0060] Furthermore, the sending positioning sound waves to the sound wave positioning sensor installed on the ultrasonic imaging sensor or receiving positioning sound waves from the sound wave positioning transmitter installed on the ultrasonic imaging sensor includes:

[0061] Using a radio signal as the time synchronization signal between the sound wave positioning sensor and the sound wave positioning transmitter.

[0062] Even further, the sending positioning sound waves to the sound wave positioning sensor installed on the ultrasonic imaging sensor or receiving positioning sound waves from the sound wave positioning transmitter installed on the ultrasonic imaging sensor includes:

[0063] Using the propagation time delay of the positioning sound waves between the sound wave positioning sensor and the sound wave positioning transmitter to determine the distance from the acoustic position reference object to the ultrasonic imaging sensor;

[0064] Using the distances from three or more of the acoustic position reference objects to the ultrasonic imaging sensor to determine the position of the ultrasonic imaging sensor.

[0065] During the stage of irradiating the interior of the body with a laser, the operations of using the acoustic position reference object include:

[0066] According to the position of the tissue to be irradiated relative to the acoustic position reference object and the position of the acoustic position reference object, determining the irradiation position of the laser beam on the body; or

[0067] According to the position coordinates of the tissue to be irradiated relative to the optical position reference object and the position of the optical position reference object, determining the irradiation position of the laser beam on the body.

[0068] Specifically, the acoustic position reference object is a linear body that has a reflection effect on sound waves, and the linear body is arranged on the body surface and is irradiated by ultrasound together with the body.

[0069] Further, the acoustic position reference is a reticular body that has a reflective effect on sound waves.

[0070] Preferably, during the ultrasonic imaging stage, the acoustic position reference forms its own pixel position in the ultrasonic image of the body by reflecting ultrasonic waves, and is used as an optical position reference during the stage of laser irradiation of the interior of the body, and its optical image position is used to determine the irradiation position of the laser beam on the body.

[0071] Specifically, one implementation of the acoustic position reference includes:

[0072] Using a sound wave reflector as the acoustic position reference.

[0073] The sound wave reflector has strong reflection characteristics for light and ultrasonic waves, and the sound wave reflector is arranged close to the surface of the body.

[0074] The reflection characteristics of the sound wave reflector for light enable it to be used as an optical position reference during the stage of laser irradiation of the interior of the body, and as an acoustic position reference during the stage of ultrasonic imaging of the interior of the body.

[0075] Further, the optical position reference is arranged on a frame structure with a determined shape.

[0076] Further, the acoustic position reference is arranged on a frame structure with a determined shape.

[0077] Specifically, the acoustic position reference includes a passive acoustic position reference and an active acoustic position reference, where

[0078] The passive acoustic position reference includes a sound wave reflector;

[0079] The active acoustic position reference includes a positioning sound wave sound source or includes a positioning sound wave receiving sensor.

[0080] The method given in this embodiment, where

[0081] Setting a position reference on the surface of the body includes:

[0082] Setting at least one of an optical position reference and an acoustic position reference on the surface of the body;

[0083] Using an ultrasonic image sensor to obtain an image of the internal tissue of the body associated with the position of the position reference includes:

[0084] Using an ultrasonic image sensor to obtain an image within the surface area of the body, where there is a determined correspondence relationship between its pixel position and at least one of the position and scale of the optical position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces; or

[0085] Using an ultrasonic image sensor to obtain an image within a surface area of a body, where there is a definite correspondence relationship between the pixel positions thereof and at least one of the position and scale of the acoustic position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces; or

[0086] Using photogrammetry to obtain images of an optical position reference and an ultrasonic image sensor, using the optical position reference as a control point for photogrammetry to determine the position of the ultrasonic image sensor, and establishing a correspondence relationship between the internal tissue information of the body included in the image and the position of the ultrasonic image sensor; or

[0087] Using acoustic positioning to obtain the distance relationship between an acoustic position reference and an ultrasonic image sensor, using the distance relationship to determine the position of the ultrasonic image sensor, and establishing a correspondence relationship between the internal tissue information of the body included in the image and the position of the ultrasonic image sensor.

[0088] Specifically, as a specific implementation manner of using an ultrasonic image sensor to obtain an image of internal tissues of a body associated with the position of the position reference, it includes:

[0089] Using an ultrasonic imaging probe to simultaneously irradiate a body and a sound wave reflector disposed on the surface of the body, and obtaining images of a metal thin wire and internal tissues of the body in the same ultrasonic image;

[0090] Determining the position and size of the area where the tissue to be irradiated is located in the image;

[0091] Using the thickness scale of the known sound wave reflector or the interval scale of the sound wave reflectors to determine the position of the area where the tissue to be irradiated is located relative to the metal thin wire and the scale of the area where the tissue to be irradiated is located.

[0092] The method given in this embodiment, where

[0093] The using the image to determine the position of the tissue to be irradiated includes:

[0094] Using at least one of an optical position reference and an acoustic position reference disposed on the surface of the body as a position reference to determine the position of the tissue to be irradiated inside the body relative to the position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces.

[0095] Specifically, the using at least one of an optical position reference and an acoustic position reference disposed on the surface of the body as a position reference includes:

[0096] Determine the edge scale value of the image using the known spacing distance value of the optical position reference object, determine the actual distance corresponding to the pixel spacing in the image using this scale value, and determine the scale value of the tissue to be irradiated and the distance value relative to the optical position reference object using the actual distance corresponding to the pixel spacing in the image; or

[0097] Use the known scale of the acoustic position reference object or the spacing distance value of the acoustic position reference object component units to determine the actual distance corresponding to the pixel spacing in the image including the acoustic position reference object, and determine the scale value of the tissue to be irradiated and the distance value relative to the optical position reference object using the actual distance corresponding to the pixel spacing in the image; or

[0098] Use photogrammetry to obtain images of the optical position reference object and the ultrasonic image sensor, use the optical position reference object as the control point of photogrammetry to determine the position of the ultrasonic image sensor, and establish a corresponding relationship between the internal tissue information of the body contained in the image and the position of the ultrasonic image sensor; or

[0099] Use acoustic positioning to obtain the distance relationship between the acoustic position reference object and the ultrasonic image sensor, use this distance relationship to determine the position of the ultrasonic image sensor, and establish a corresponding relationship between the internal tissue information of the body contained in the image and the position of the ultrasonic image sensor.

[0100] Specifically, the determination of the position of the tissue to be irradiated inside the body relative to the position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces includes:

[0101] Use a computer edge extraction algorithm to determine the edge of the tissue to be irradiated inside the body; and / or

[0102] Manually identify the edge of the tissue to be irradiated inside the body and manually label the edge of the tissue to be irradiated.

[0103] Specifically, the use of a computer edge extraction algorithm to determine the edge of the tissue to be irradiated inside the body further includes:

[0104] Print and output the geometric figure of the edge position of the tissue to be irradiated inside the body;

[0105] Use the geometric figure of the edge position to make a position marking figure of the tissue to be irradiated;

[0106] Make the position marking figure on the corresponding body surface in the way of pasting or painting.

[0107] Specifically, the manual identification of the edge of the tissue to be irradiated inside the body and the manual annotation of the edge of the tissue to be irradiated further include:

[0108] Print and output the artificial annotation geometric figure of the tissue to be irradiated inside the body;

[0109] Use the artificial annotation geometric figure to make the position marking figure of the tissue to be irradiated;

[0110] Make the position marking figure on the corresponding body surface in a way of pasting or painting.

[0111] For the method given in this embodiment, where,

[0112] Adjusting the optical path of the laser beam to direct the laser beam towards the tissue to be irradiated includes:

[0113] By performing at least one of the operations of adjusting the position of the laser beam light source, adjusting the position of the laser beam reflection surface, adjusting the angle of the laser beam reflection surface, and adjusting the position of the laser beam output lens, and using at least one of an optical position reference and an acoustic position reference as a position reference, making the laser beam pass through the body surface and irradiate the position where the tissue to be irradiated is located; and / or

[0114] By adjusting at least one of the beam width and beam shape of the laser beam by adjusting the position of the lens in the laser beam optical path, and using at least one of an optical position reference and an acoustic position reference as a position reference, making the laser beam pass through the body surface and irradiate the position where the tissue to be irradiated is located.

[0115] Specifically, adjusting the position of the laser beam light source includes:

[0116] Moving the position of the laser beam light source through a dragging mechanism so that the laser beam emitted by it passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0117] Specifically, adjusting the position of the laser beam reflection surface includes:

[0118] Moving the position of the beam reflection surface through a dragging mechanism so that the laser beam reflected by it passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0119] Specifically, adjusting the angle of the laser beam reflection surface includes:

[0120] Moving the angle of the beam reflection surface through a servo mechanism so that the laser beam reflected by it passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0121] Specifically, adjusting the position of the laser beam output lens includes:

[0122] Adjusting the position of the laser beam output lens so that the laser beam emitted from the optical fiber passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0123] Specifically, adjusting the beam width of the laser beam by adjusting the position of the lens in the laser beam optical path includes:

[0124] By placing the lens at different positions in the optical path or by moving the lens into or out of the optical path, the beam width of the laser beam is changed, and by changing the beam width of the laser beam, the power density of the laser beam irradiating the position of the tissue to be irradiated through the body surface is changed.

[0125] Specifically, adjusting the position of the lens in the optical path of the laser beam to adjust the beam shape of the laser beam includes:

[0126] By placing the lens at different positions in the optical path or by moving the lens into or out of the optical path, the beam shape of the laser beam is changed, and by changing the beam shape of the laser beam, the beam cross-section or spot shape is made to approach the shape of the tissue to be irradiated.

[0127] Embodiment 2, an example of a device for irradiating the inside of the body with a laser beam

[0128] See Figure 2 As shown, an embodiment of a device for irradiating the inside of the body with a laser beam provided by the present invention includes:

[0129] An internal tissue image acquisition module 210 of the body, a position determination module 220 of the tissue to be irradiated, and a laser beam adjustment module 230; wherein,

[0130] The internal tissue image acquisition module 210 of the body is used to acquire an image of the internal tissue of the body 260 using an ultrasonic image sensor, including the ultrasonic image sensor;

[0131] The position determination module 220 of the tissue to be irradiated is used to determine the position of the tissue to be irradiated 261 using the image, including an image processing sub-module;

[0132] The laser beam adjustment module 230 is used to adjust the optical path of the laser beam so that the laser beam irradiates the tissue to be irradiated 261, including at least one of a dragging sub-module or a servo sub-module.

[0133] Specifically, the ultrasonic image sensor is an ultrasonic image sensor used in medical B-ultrasound (B-SCAN ULTRASONOGRAPHY; BEAM-SCAN ULTRASONOGRAPHY).

[0134] Specifically, the internal tissues of the body include at least one of muscle tissue, adipose tissue, organ tissue, nerve tissue, vascular tissue, and bone tissue inside the body.

[0135] For the device given in this embodiment, wherein,

[0136] The internal body tissue image acquisition module 210 further includes a position reference object sub-module 211. The operations of the position reference object sub-module for acquiring images of internal body tissues using an ultrasonic image sensor include the following steps:

[0137] Set a position reference object on the body surface;

[0138] Use the ultrasonic image sensor to acquire an image of the internal body tissue associated with the position of the position reference object.

[0139] Specifically, setting the position reference object on the body surface includes connecting the position reference object to the body surface in any of the following ways:

[0140] Connect in an adhesive manner on the body surface;

[0141] Connect in a negative pressure adsorption manner on the body surface;

[0142] Connect in a bundling manner on the body surface; and

[0143] Connect in a painting manner on the body surface.

[0144] Specifically, the position reference object has any of the following spatial shapes:

[0145] Dot matrix shape, the spatial layout of the dot matrix is any one of a circle, a rectangle, a rhombus, and a triangle, and the dot matrix elements are any geometric shape;

[0146] Linear array shape, the spatial layout of the linear array is any one of a rectangle, a circle, a rhombus, and a triangle, and the linear array elements are equally spaced and parallel line segments; and

[0147] Grid shape, the spatial layout of the grid is any one of a rectangle, a circle, a rhombus, and a spider web shape, and the linear array elements are composed of a group of equally spaced parallel line segments and another group of equally spaced parallel line segments, or a group of equally spaced arcs and another group of line segments radiating from the center of the circle.

[0148] Specifically, the body includes the bodies of humans and animals.

[0149] Specifically, the position reference object includes at least one of an optical position reference object and an acoustic position reference object.

[0150] During the stage of using ultrasonic waves to image the internal body, the operations of using the optical position reference object include:

[0151] By moving an ultrasonic image sensor within a region defined by an optical position reference object to obtain an image where there is a definite corresponding relationship between the image edge or a specific point in the image and the position of the optical position reference object, using this corresponding relationship, the positions of other pixels in the image relative to the optical position reference object can be determined, thereby determining the position of the tissue to be irradiated relative to the optical position reference object; or

[0152] Using the optical position reference object as a measurement control point for photogrammetry, using an optical imaging sensor to obtain an optical image containing the optical position reference object and the ultrasonic image sensor, and using at least one of the known position of the optical position reference object, the known positional relationship between the optical position reference objects, and the geometric scale of the optical position reference object to determine the position coordinates of the ultrasonic image sensor relative to the optical position reference object in the optical image.

[0153] During the stage of laser irradiation of the internal part of the body, the operations of using the optical position reference object include:

[0154] According to the position of the tissue to be irradiated relative to the optical position reference object and the position of the optical position reference object, determine the irradiation position of the laser beam on the body.

[0155] During the stage of using ultrasonic waves to image the internal part of the body, the operations of using the acoustic position reference object include:

[0156] By transmitting ultrasonic waves to the acoustic position reference object and the body to obtain an image of the acoustic position reference object and the body, the image includes an image of the acoustic position reference object and an image of the body, and the image includes position corresponding relationship information between the acoustic position reference object and the tissues inside the body. Using this corresponding relationship information, the positions of the pixels of the body tissues in the image relative to the acoustic position reference object can be determined, thereby determining the position of the tissue to be irradiated relative to the acoustic position reference object; or

[0157] Transmit positioning sound waves to a sound wave positioning sensor installed on the ultrasonic imaging sensor or receive positioning sound waves from a sound wave positioning transmitter installed on the ultrasonic imaging sensor.

[0158] During the stage of laser irradiation of the internal part of the body, the operations of using the acoustic position reference object include:

[0159] According to the position of the tissue to be irradiated relative to the acoustic position reference object and the position of the acoustic position reference object, determine the irradiation position of the laser beam on the body; or

[0160] According to the position coordinates of the tissue to be irradiated relative to the optical position reference object and the position of the optical position reference object, determine the irradiation position of the laser beam on the body.

[0161] Specifically, the acoustic position reference is a linear body that reflects sound waves. This linear body is arranged on the surface of the body and, together with the body, receives ultrasonic irradiation.

[0162] Furthermore, the acoustic position reference is a reticular body that reflects sound waves.

[0163] Preferably, during the ultrasonic imaging stage, the acoustic position reference forms its own pixel position in the ultrasonic image of the body through the reflection of ultrasonic waves. During the stage of laser irradiation of the interior of the body, it is used as an optical position reference, and its optical image position is used to determine the irradiation position of the laser beam on the body.

[0164] Specifically, one implementation of the acoustic position reference includes:

[0165] Using a sound wave reflector as the acoustic position reference.

[0166] The sound wave reflector has strong reflection characteristics for light and ultrasonic waves. This sound wave reflector is arranged close to the surface of the body.

[0167] The reflection characteristics of the sound wave reflector for light enable it to be used as an optical position reference during the stage of laser irradiation of the interior of the body and as an acoustic position reference during the stage of ultrasonic imaging of the interior of the body.

[0168] Furthermore, the optical position reference is arranged on a frame structure with a definite shape.

[0169] Furthermore, the acoustic position reference is arranged on a frame structure with a definite shape.

[0170] Specifically, the acoustic position reference includes a passive acoustic position reference and an active acoustic position reference. Among them,

[0171] The passive acoustic position reference includes a sound wave reflector;

[0172] The active acoustic position reference includes a positioning sound wave sound source or includes a positioning sound wave receiving sensor.

[0173] For the device given in this embodiment, among them,

[0174] The position reference sub-module 211 is arranged on the surface of the body and specifically includes:

[0175] At least one of an optical position reference sub-module and an acoustic position reference sub-module is arranged on the surface of the body;

[0176] The operation of using an ultrasonic image sensor by the internal tissue image acquisition module of the body to acquire an image of the internal tissue of the body associated with the position of the position reference includes the following steps:

[0177] Using an ultrasonic image sensor to obtain an image within a surface area of a body, where there is a definite corresponding relationship in any one of one-dimensional, two-dimensional, and three-dimensional spaces between the pixel positions thereof and at least one of the position and scale of the optical position reference object; or

[0178] Using an ultrasonic image sensor to obtain an image within a surface area of a body, where there is a definite corresponding relationship in any one of one-dimensional, two-dimensional, and three-dimensional spaces between the pixel positions thereof and at least one of the position and scale of the acoustic position reference object; or

[0179] Using photogrammetry to obtain images of the optical position reference object and the ultrasonic image sensor, using the optical position reference object as a control point for photogrammetry to determine the position of the ultrasonic image sensor, and establishing a corresponding relationship between the internal tissue information of the body included in the image and the position of the ultrasonic image sensor; or

[0180] Using acoustic positioning to obtain the distance relationship between the acoustic position reference object and the ultrasonic image sensor, using this distance relationship to determine the position of the ultrasonic image sensor, and establishing a corresponding relationship between the internal tissue information of the body included in the image and the position of the ultrasonic image sensor.

[0181] Specifically, as a specific implementation manner of using an ultrasonic image sensor to obtain an image of the internal tissue of the body associated with the position of the position reference object, it includes:

[0182] Using an ultrasonic imaging probe to simultaneously irradiate the body and a sound wave reflector disposed on the surface of the body, and obtaining images of the metal thin wire and the internal tissue of the body in the same ultrasonic image;

[0183] Determining the position and size of the area where the tissue to be irradiated is located in the image;

[0184] Using the known thickness scale of the sound wave reflector or the sound wave reflector interval scale to determine the position of the area where the tissue to be irradiated is located relative to the metal thin wire and the scale of the area where the tissue to be irradiated is located.

[0185] For the device given in this embodiment, where

[0186] The tissue-to-be-irradiated position determination module 220 performs an operation of determining the position of the tissue to be irradiated using the image, including the following operation steps:

[0187] Using at least one of the optical position reference object and the acoustic position reference object disposed on the surface of the body as a position reference to determine the position of the tissue to be irradiated inside the body relative to this position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces.

[0188] Specifically, using at least one of the optical position reference and the acoustic position reference provided on the body surface as the position reference includes:

[0189] Determining the edge scale value of the image using the known spacing distance value of the optical position reference, determining the actual distance corresponding to the pixel spacing in the image using this scale value, and determining the scale value of the tissue to be irradiated and the distance value relative to the optical position reference using the actual distance corresponding to the pixel spacing in the image; or

[0190] Determining the actual distance corresponding to the pixel spacing in the image including the acoustic position reference using the known scale of the acoustic position reference or the spacing distance value of the constituent units of the acoustic position reference, and determining the scale value of the tissue to be irradiated and the distance value relative to the optical position reference using the actual distance corresponding to the pixel spacing in the image; or

[0191] Obtaining images of the optical position reference and the ultrasonic image sensor using photogrammetry, using the optical position reference as the control point for photogrammetry to determine the position of the ultrasonic image sensor, and establishing a correspondence between the internal tissue information of the body contained in the image and the position of the ultrasonic image sensor; or

[0192] Obtaining the distance relationship between the acoustic position reference and the ultrasonic image sensor using acoustic positioning, using this distance relationship to determine the position of the ultrasonic image sensor, and establishing a correspondence between the internal tissue information of the body contained in the image and the position of the ultrasonic image sensor.

[0193] Specifically, determining the position of the tissue to be irradiated inside the body relative to the position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces includes:

[0194] Determining the edge of the tissue to be irradiated inside the body using a computer edge extraction algorithm; and / or

[0195] Manually identifying the edge of the tissue to be irradiated inside the body and manually annotating the edge of the tissue to be irradiated.

[0196] Specifically, further including, when using a computer edge extraction algorithm to determine the edge of the tissue to be irradiated inside the body:

[0197] Printing and outputting the geometric figure of the edge position of the tissue to be irradiated inside the body;

[0198] Making a position marker figure of the tissue to be irradiated using the geometric figure of the edge position;

[0199] Making the position marker figure on the corresponding body surface in a pasting or painting manner.

[0200] Specifically, the artificial recognition of the edge of the tissue to be irradiated inside the body and the artificial annotation of the edge of the tissue to be irradiated further include:

[0201] Printing and outputting the artificial annotation geometric figure of the tissue to be irradiated inside the body;

[0202] Using the artificial annotation geometric figure to make the position marking figure of the tissue to be irradiated;

[0203] Making the position marking figure on the corresponding body surface by pasting or painting.

[0204] For the device given in this embodiment, where

[0205] The laser beam adjustment module 230 performs the operation of adjusting the optical path of the laser beam so that the laser beam irradiates the tissue to be irradiated, including the following steps:

[0206] By performing at least one of the operations of adjusting the position of the laser beam light source, adjusting the position of the laser beam reflection surface, adjusting the angle of the laser beam reflection surface, and adjusting the position of the laser beam output lens, and using at least one of the optical position reference object and the acoustic position reference object as the position reference, making the laser beam pass through the body surface and irradiate to the position where the tissue to be irradiated is located; and / or

[0207] By adjusting at least one of the beam width and beam shape of the laser beam by adjusting the position of the lens in the laser beam optical path, and using at least one of the optical position reference object and the acoustic position reference object as the position reference, making the laser beam pass through the body surface and irradiate to the position where the tissue to be irradiated is located.

[0208] Specifically, the adjustment of the laser beam light source position includes:

[0209] Moving the position of the laser beam light source through a dragging mechanism so that the laser beam emitted by it passes through the body surface and irradiates to the position where the tissue to be irradiated is located.

[0210] Specifically, the adjustment of the laser beam reflection surface position includes:

[0211] Moving the position of the beam reflection surface through a dragging mechanism so that the laser beam reflected by it passes through the body surface and irradiates to the position where the tissue to be irradiated is located.

[0212] Specifically, the adjustment of the laser beam reflection surface angle includes:

[0213] Moving the angle of the beam reflection surface through a servo mechanism so that the laser beam reflected by it passes through the body surface and irradiates to the position where the tissue to be irradiated is located.

[0214] Specifically, the adjustment of the laser beam output lens position includes:

[0215] Adjust the position of the laser beam output lens so that the laser beam emitted from the optical fiber passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0216] Specifically, adjusting the position of the lens in the laser beam optical path to adjust the beam width of the laser beam includes:

[0217] Changing the beam width of the laser beam by placing the lens at different positions in the optical path or by moving the lens into or out of the optical path, and changing the power density of the laser beam that passes through the body surface and irradiates the position where the tissue to be irradiated is located by changing the beam width of the laser beam.

[0218] Specifically, adjusting the position of the lens in the laser beam optical path to adjust the beam shape of the laser beam includes:

[0219] Changing the beam shape of the laser beam by placing the lens at different positions in the optical path or by moving the lens into or out of the optical path, and making the beam cross-section or spot shape of the laser beam approach the shape of the tissue to be irradiated by changing the beam shape of the laser beam.

[0220] Example 3, an example of a device for irradiating the inside of the body with a laser beam

[0221] See Figure 2 and Figure 3 As shown, an embodiment of a device for irradiating the inside of the body with a laser beam provided by the present invention includes:

[0222] An internal body tissue image acquisition module 210, a tissue position to be irradiated determination module 220, and a laser beam adjustment module 230; wherein,

[0223] The internal body tissue image acquisition module 210 is used to acquire an image of the internal tissue of the body 260 using an ultrasonic image sensor, including the ultrasonic image sensor;

[0224] The tissue position to be irradiated determination module 220 is used to determine the position of the tissue 261 to be irradiated using the image, including an image processing sub-module;

[0225] The laser beam adjustment module 230 is used to adjust the optical path of the laser beam so that the laser beam irradiates the tissue 261 to be irradiated, including at least one of a dragging sub-module or a servo sub-module;

[0226] There is a wired or wireless data transmission interface between the internal body tissue image acquisition module 210 and the tissue position to be irradiated determination module 220, and the tissue position to be irradiated determination module 220 acquires at least one of optical image data and ultrasonic image data through this interface;

[0227] There is a wired or wireless data transmission interface between the laser beam adjustment module 230 and the tissue position determination module 220 to be irradiated. The laser beam adjustment module 230 obtains the coordinate information of the tissue position to be irradiated from the tissue position determination module 220 through this interface.

[0228] Specifically, the ultrasonic image sensor is the ultrasonic image sensor used in medical B-ultrasound (B-SCAN ULTRASONOGRAPHY; BEAM-SCAN ULTRASONOGRAPHY).

[0229] Specifically, the internal body tissues include at least one of muscle tissue, adipose tissue, organ tissue, nerve tissue, vascular tissue, and bone tissue inside the body.

[0230] For the device provided in this embodiment,

[0231] The internal body tissue image acquisition module 210 further includes a position reference object sub-module 211. The operations of this position reference object sub-module for acquiring the image of the internal body tissue using the ultrasonic image sensor include the following steps:

[0232] Set a position reference object on the body surface;

[0233] Use the ultrasonic image sensor to acquire the image of the internal body tissue associated with the position of the position reference object.

[0234] Specifically, setting the position reference object on the body surface includes connecting the position reference object to the body surface in any of the following ways:

[0235] Connecting in an adhesive manner on the body surface;

[0236] Connecting in a negative pressure adsorption manner on the body surface;

[0237] Connecting in a bundling manner on the body surface; and

[0238] Connecting in a painting manner on the body surface.

[0239] Specifically, the position reference object has any of the following spatial shapes:

[0240] Dot matrix shape, the spatial layout of the dot matrix is any one of circular, rectangular, rhombic, and triangular, and the dot matrix elements are any geometric shape;

[0241] Linear array shape, the spatial layout of the linear array is any one of rectangular, circular, rhombic, and triangular, and the linear array elements are equally spaced and parallel line segments; and

[0242] Mesh-shaped, the spatial layout of the mesh is any one of a rectangle, a circle, a rhombus, and a spider web shape, and the linear array elements therein are composed of a group of equally spaced parallel line segments and another group of equally spaced parallel line segments, or a group of equally spaced arcs and another group of line segments radiating from the center of the circle.

[0243] Specifically, the body includes the bodies of humans and animals.

[0244] Specifically, the position reference includes at least one of an optical position reference and an acoustic position reference.

[0245] During the stage of using ultrasonic waves to image the interior of the body, the operations of using the optical position reference include:

[0246] By moving the ultrasonic image sensor within the area defined by the optical position reference to obtain an image whose image edge or specific points in the image have a definite corresponding relationship with the position where the optical position reference is located. Using this corresponding relationship, the positions of other pixels in the image relative to the optical position reference can be determined, thereby determining the position of the tissue to be irradiated relative to the optical position reference; or

[0247] Taking the optical position reference as a measurement control point for photogrammetry, using an optical imaging sensor to obtain an optical image containing the optical position reference and the ultrasonic image sensor, and using at least one of the known position of the optical position reference, the known positional relationship between the optical position references, and the geometric scale of the optical position reference to determine the position coordinates of the ultrasonic image sensor relative to the optical position reference in the optical image.

[0248] During the stage of irradiating the interior of the body with a laser, the operations of using the optical position reference include:

[0249] According to the position of the tissue to be irradiated relative to the optical position reference and the position of the optical position reference, determine the irradiation position of the laser beam on the body.

[0250] During the stage of using ultrasonic waves to image the interior of the body, the operations of using the acoustic position reference include:

[0251] By emitting ultrasonic waves to the acoustic position reference and the body to obtain an image of the acoustic position reference and the body, the image includes an image of the acoustic position reference and an image of the body, and the image includes position correspondence information between the acoustic position reference and the tissues within the body. Using this correspondence information, the positions of the pixels of the body tissues in the image relative to the acoustic position reference can be determined, thereby determining the position of the tissue to be irradiated relative to the acoustic position reference; or

[0252] Send positioning sound waves to the acoustic positioning sensor installed on the ultrasonic imaging sensor or receive positioning sound waves from the acoustic positioning transmitter installed on the ultrasonic imaging sensor.

[0253] During the stage of irradiating the internal part of the body with a laser, the operation of using the acoustic position reference object includes:

[0254] Determine the irradiation position of the laser beam on the body according to the position of the tissue to be irradiated relative to the acoustic position reference object and the position of the acoustic position reference object; or

[0255] Determine the irradiation position of the laser beam on the body according to the position coordinates of the tissue to be irradiated relative to the optical position reference object and the position of the optical position reference object.

[0256] Specifically, the acoustic position reference object is a linear body that has a reflection effect on sound waves. This linear body is arranged on the surface of the body and is irradiated by ultrasonic waves together with the body.

[0257] Further, the acoustic position reference object is a reticular body that has a reflection effect on sound waves.

[0258] Preferably, the acoustic position reference object forms its own pixel position in the ultrasonic image of the body through the reflection of ultrasonic waves during the ultrasonic imaging stage, and is used as an optical position reference object during the stage of irradiating the internal part of the body with a laser. Its optical image position is used to determine the irradiation position of the laser beam on the body.

[0259] Specifically, one implementation manner of the acoustic position reference object includes:

[0260] Use a sound wave reflector as the acoustic position reference object.

[0261] The sound wave reflector has strong reflection characteristics for light and ultrasonic waves. This sound wave reflector is arranged close to the surface of the body.

[0262] The reflection characteristics of the sound wave reflector for light enable it to be used as an optical position reference object during the stage of irradiating the internal part of the body with a laser and as an acoustic position reference object during the stage of imaging the internal part of the body with ultrasonic waves.

[0263] Further, the optical position reference object is arranged on a frame structure with a definite shape.

[0264] Further, the acoustic position reference object is arranged on a frame structure with a definite shape.

[0265] Specifically, the acoustic position reference object includes a passive acoustic position reference object and an active acoustic position reference object, where

[0266] The passive acoustic position reference object includes a sound wave reflector;

[0267] The active acoustic position reference includes a positioning acoustic wave sound source or includes a positioning acoustic wave receiving sensor.

[0268] For the device provided in this embodiment, where

[0269] the position reference sub-module 211 is disposed on the body surface and specifically includes:

[0270] at least one of an optical position reference sub-module and an acoustic position reference sub-module is disposed on the body surface;

[0271] The operation of using an ultrasonic image sensor to obtain an image of the internal tissue of the body associated with the position of the position reference performed by the internal tissue image acquisition module of the body includes the following steps:

[0272] Using an ultrasonic image sensor to obtain an image within a body surface area, where there is a definite corresponding relationship between the pixel position of the image and at least one of the position and scale of the optical position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces; or

[0273] Using an ultrasonic image sensor to obtain an image within a body surface area, where there is a definite corresponding relationship between the pixel position of the image and at least one of the position and scale of the acoustic position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces; or

[0274] Using photogrammetry to obtain images of the optical position reference and the ultrasonic image sensor, using the optical position reference as a control point for photogrammetry to determine the position of the ultrasonic image sensor, and establishing a corresponding relationship between the internal tissue information included in the image and the position of the ultrasonic image sensor; or

[0275] Using acoustic wave positioning to obtain the distance relationship between the acoustic position reference and the ultrasonic image sensor, using this distance relationship to determine the position of the ultrasonic image sensor, and establishing a corresponding relationship between the internal tissue information included in the image and the position of the ultrasonic image sensor.

[0276] Specifically, as a specific implementation manner of using an ultrasonic image sensor to obtain an image of the internal tissue of the body associated with the position of the position reference, it includes:

[0277] Using an ultrasonic imaging probe to simultaneously irradiate the body and a sound wave reflector disposed on the body surface without a gap, and obtaining images of the metal thin wire and the internal tissue of the body in the same ultrasonic image;

[0278] Determining the position and size of the area where the tissue to be irradiated is located in the image;

[0279] Determine the position of the area where the tissue to be irradiated is located relative to the fine metal wire and the scale of the area where the tissue to be irradiated is located using the thickness scale of a known acoustic reflector or the interval scale of acoustic reflectors.

[0280] Specifically, the position reference object sub-module 211 is disposed on the surface of the body and specifically includes at least one of an active optical position reference object component, a passive optical position reference object component, an active acoustic position reference object component, and a passive acoustic position reference object component.

[0281] See Figure 3 As shown in (a), the active optical position reference object component 314 includes a light source and a luminous body with a known shape and scale.

[0282] The passive optical position reference object components 311 and 312 include reflectors with known shapes and scales; in Figure 3 (a), the passive optical position reference object components 311 and 312 are linear or strip-shaped reflectors with different orientations.

[0283] The passive acoustic position reference object component 315 includes an ultrasonic reflector with a known shape and scale; in Figure 3 (a), the passive acoustic position reference object component 315 is a linear or strip-shaped ultrasonic reflector.

[0284] The active acoustic position reference object component 313 includes a sound source for acoustic positioning or an acoustic wave sensor for acoustic positioning.

[0285] The active optical position reference object component 314, the passive optical position reference object components 311 and 312, the active acoustic position reference object component 313, and the passive acoustic position reference object component 315 are respectively disposed on the surface of the body 260.

[0286] See Figure 3 As shown in (b), three active acoustic position reference object components 313 are disposed on the frame 320, and the three active acoustic position reference object components 313 respectively receive the positioning acoustic waves sent by the ultrasonic imaging probe 330, and the positioning acoustic waves are used to determine the position of the ultrasonic imaging probe 330.

[0287] For the device given in this embodiment, where

[0288] The tissue position to be irradiated determination module 220 performs an operation of determining the position of the tissue to be irradiated using the image, including the following operation steps:

[0289] Use at least one of the optical position reference object and the acoustic position reference object disposed on the surface of the body as a position reference to determine the position of the tissue to be irradiated inside the body relative to the position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces.

[0290] Specifically, using at least one of the optical position reference and the acoustic position reference provided on the body surface as the position reference includes:

[0291] Determining the edge scale value of the image using the known spacing distance value of the optical position reference, determining the actual distance corresponding to the pixel spacing in the image using this scale value, and determining the scale value of the tissue to be irradiated and the distance value relative to the optical position reference using the actual distance corresponding to the pixel spacing in the image; or

[0292] Determining the actual distance corresponding to the pixel spacing in the image including the acoustic position reference using the known scale of the acoustic position reference or the spacing distance value of the constituent units of the acoustic position reference, and determining the scale value of the tissue to be irradiated and the distance value relative to the optical position reference using the actual distance corresponding to the pixel spacing in the image; or

[0293] Obtaining images of the optical position reference and the ultrasonic image sensor using photogrammetry, using the optical position reference as the control point of photogrammetry to determine the position of the ultrasonic image sensor, and establishing a corresponding relationship between the internal tissue information of the body contained in the image and the position of the ultrasonic image sensor; or

[0294] Obtaining the distance relationship between the acoustic position reference and the ultrasonic image sensor using acoustic positioning, using this distance relationship to determine the position of the ultrasonic image sensor, and establishing a corresponding relationship between the internal tissue information of the body contained in the image and the position of the ultrasonic image sensor.

[0295] Specifically, determining the position of the tissue to be irradiated inside the body relative to the position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces includes:

[0296] Using a computer edge extraction algorithm to determine the edge of the tissue to be irradiated inside the body; and / or

[0297] Manually identifying the edge of the tissue to be irradiated inside the body and manually annotating the edge of the tissue to be irradiated.

[0298] Specifically, using a computer edge extraction algorithm to determine the edge of the tissue to be irradiated inside the body further includes:

[0299] Printing and outputting the geometric figure of the edge position of the tissue to be irradiated inside the body;

[0300] Making a position marking figure of the tissue to be irradiated using the geometric figure of the edge position;

[0301] Making the position marking figure on the corresponding body surface in a pasting or painting manner.

[0302] Specifically, the step of manually identifying the edge of the tissue to be irradiated inside the body and manually marking the edge of the tissue to be irradiated further includes:

[0303] Printing and outputting the manually marked geometric figure of the tissue to be irradiated inside the body;

[0304] Using the manually marked geometric figure to make a position marking figure of the tissue to be irradiated;

[0305] Making the position marking figure on the corresponding body surface in a way of pasting or painting.

[0306] For the device provided in this embodiment,

[0307] The laser beam adjustment module 230 performs the operation of adjusting the optical path of the laser beam so that the laser beam irradiates the tissue to be irradiated, including the following steps:

[0308] By performing at least one of the operations of adjusting the position of the laser beam light source, adjusting the position of the laser beam reflecting surface, adjusting the angle of the laser beam reflecting surface, and adjusting the position of the laser beam output lens, and using at least one of an optical position reference object and an acoustic position reference object as a position reference, making the laser beam pass through the body surface and irradiate the position where the tissue to be irradiated is located; and / or

[0309] By adjusting at least one of the beam width and beam shape of the laser beam by adjusting the position of the lens in the laser beam optical path, and using at least one of an optical position reference object and an acoustic position reference object as a position reference, making the laser beam pass through the body surface and irradiate the position where the tissue to be irradiated is located.

[0310] Specifically, the adjustment of the laser beam light source position includes:

[0311] Moving the position of the laser beam light source through a dragging mechanism so that the laser beam emitted by it passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0312] Specifically, the adjustment of the laser beam reflecting surface position includes:

[0313] Moving the position of the beam reflecting surface through a dragging mechanism so that the laser beam reflected by it passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0314] Specifically, the adjustment of the laser beam reflecting surface angle includes:

[0315] Moving the angle of the beam reflecting surface through a servo mechanism so that the laser beam reflected by it passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0316] Specifically, the adjustment of the laser beam output lens position includes:

[0317] Adjust the position of the laser beam output lens so that the laser beam emitted from the optical fiber passes through the body surface and irradiates the position where the tissue to be irradiated is located.

[0318] Specifically, adjusting the position of the lens in the laser beam optical path to adjust the beam width of the laser beam includes:

[0319] Changing the beam width of the laser beam by placing the lens at different positions in the optical path or by moving the lens into or out of the optical path, and changing the power density of the laser beam that passes through the body surface and irradiates the position where the tissue to be irradiated is located by changing the beam width of the laser beam.

[0320] Specifically, adjusting the position of the lens in the laser beam optical path to adjust the beam shape of the laser beam includes:

[0321] Changing the beam shape of the laser beam by placing the lens at different positions in the optical path or by moving the lens into or out of the optical path, and making the beam cross-section or spot shape of the laser beam close to the shape of the tissue to be irradiated by changing the beam shape of the laser beam.

[0322] The method and device provided by the embodiments of the present invention can be implemented in whole or in part using electronic technology and automatic control technology; the method provided by the embodiments of the present invention can be implemented in whole or in part through software instructions and / or hardware circuits; the modules or units included in the device provided by the embodiments of the present invention can be implemented using electronic components, opto-electronic / electro-magnetic conversion devices, and drive / drag motors.

[0323] As described above, it is only a preferred implementation of the present invention and is not used to limit the protection scope of the present invention. Any person skilled in the art within the field of the present invention can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed by the present invention, but the protection scope of the present invention shall be subject to the defined scope of the appended claims.

[0324] The present invention provides a method and device for irradiating the inside of the body with a laser beam, which overcomes at least one of the disadvantages of the existing laser physiotherapy and nursing methods, such as not using the lesion position information inside the body to accurately and centrally use laser energy, having blindness in the irradiation range, low laser energy utilization efficiency, and poor effect. It can concentrate and accurately irradiate the laser energy onto the tissue to be irradiated inside the body, improve the irradiation effect, and save laser power.

Claims

1. A device for irradiating the interior of a body with a laser beam, comprising: An internal body tissue image acquisition module, a position determination module for the tissue to be irradiated, and a laser beam adjustment module; wherein, The internal body tissue image acquisition module is used to acquire images of internal body tissues by using an ultrasonic image sensor, including the ultrasonic image sensor; The position determination module for the tissue to be irradiated is used to determine the position of the tissue to be irradiated by using the said image, including an image processing sub-module; The laser beam adjustment module is used to adjust the optical path of the laser beam so that the laser beam irradiates the said tissue to be irradiated, including at least one of a dragging sub-module or a servo sub-module; Wherein, the acquisition of images of internal body tissues by using the ultrasonic image sensor includes: Setting a position reference on the body surface; Using the ultrasonic image sensor to acquire images of internal body tissues associated with the position of the said position reference; Wherein, the setting of the position reference on the body surface includes: Setting at least one of an optical position reference and an acoustic position reference on the body surface; The acquisition of images of internal body tissues associated with the position of the said position reference by using the ultrasonic image sensor includes: Using the ultrasonic image sensor to acquire an image within a body surface area, in which there is a determined correspondence relationship between the pixel position thereof and at least one of the position and scale of the said optical position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces; or Using the ultrasonic image sensor to acquire an image within a body surface area, in which there is a determined correspondence relationship between the pixel position thereof and at least one of the position and scale of the said acoustic position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces; or Using photogrammetry to acquire images of the optical position reference and the ultrasonic image sensor, taking the optical position reference as a control point for photogrammetry to determine the position of the ultrasonic image sensor, and establishing a correspondence relationship between the internal body tissue information contained in the said image and the position of the ultrasonic image sensor; or Using acoustic positioning to obtain the distance relationship between the acoustic position reference and the ultrasonic image sensor, using this distance relationship to determine the position of the ultrasonic image sensor, and establishing a correspondence relationship between the internal body tissue information contained in the said image and the position of the ultrasonic image sensor; Wherein, the determination of the position of the tissue to be irradiated by using the said image includes: Using at least one of the optical position reference and the acoustic position reference set on the body surface as a position reference to determine the position of the tissue to be irradiated inside the body relative to this position reference in any one of one-dimensional, two-dimensional, and three-dimensional spaces; Wherein, the adjustment of the optical path of the laser beam so that the laser beam irradiates the said tissue to be irradiated includes: By performing at least one of the operations of adjusting the position of the laser beam light source, adjusting the position of the laser beam reflecting surface, adjusting the angle of the laser beam reflecting surface, and adjusting the position of the laser beam output lens, and using at least one of the optical position reference and the acoustic position reference as a position reference, making the laser beam pass through the body surface and irradiate to the position where the tissue to be irradiated is located; and / or Adjust at least one of the beam width and beam shape of the laser beam by adjusting the position of the lens in the optical path of the laser beam, and use at least one of an optical position reference and an acoustic position reference as a position reference to make the laser beam pass through the body surface and irradiate the position where the tissue to be irradiated is located.

Images