Endoscopic device and surgical system

Abstract

This invention provides an endoscope device and surgical system, comprising: a fiber Bragg grating unit configured with a grating, a shape sensing unit, an imaging unit, and a probe; the fiber Bragg grating unit is configured to receive a first optical signal and a second optical signal through the light-incident side; to allow the second optical signal to pass through the grating and reach the target side, and then reach the probe through the target side; and to receive return light returned by the probe through the target side, and guide the return light to the light-out side; the probe is configured to guide part or all of the second optical signal incident on the probe to the imaging object, receive the return light returned from the imaging object, and send the return light to the target side; the imaging unit is configured to perform imaging based on the return light to obtain an imaging image of the imaging object.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to an endoscopic device and surgical system. Background Technology

[0002] Endoscopic examinations (such as bronchoscopy) are surgical procedures that utilize endoscopic equipment for diagnosis and / or treatment. During the procedure, endoscopic equipment can be inserted into the patient's body.

[0003] In existing related technologies, endoscopic devices may be configured with a fiber optic grating unit (e.g., an optical fiber with a grating) and a shape sensing unit. After incident light enters the fiber optic grating unit (e.g., into the optical fiber), part of the light signal will return through the grating, forming return light. The shape sensing unit can determine the shape information of the endoscopic device by sensing and analyzing the return light.

[0004] It is evident that the information that endoscopes can detect is relatively limited, making it difficult to add other detection functions besides endoscopy and shape detection within the limited space of an endoscope. Summary of the Invention

[0005] This invention provides an endoscope device and surgical system to address the problem that the information that can be detected by an endoscope device is relatively limited.

[0006] According to a first aspect of the present invention, an endoscope device is provided, comprising: a fiber optic grating unit configured with gratings and a shape sensing unit.

[0007] The endoscopic device further includes: an imaging unit and a probe;

[0008] The fiber grating unit has an input side, an output side, and a target side;

[0009] The fiber optic grating unit is configured to receive a first optical signal and a second optical signal through the input side; to cause a portion of the first optical signal to pass through the grating and form reflected light, the reflected light reaching the shape sensing unit directly or indirectly through the output side; to cause the second optical signal to pass through the grating and reach the target side, and then reach the probe through the target side; and to receive the return light returned by the probe through the target side and guide the return light to the output side.

[0010] The probe is used to guide part or all of the second optical signal incident on the probe to the imaging object, receive the corresponding return light, and send the return light to the target side;

[0011] The shape sensing unit is used to acquire the shape detection signal of the object detected by the fiber grating unit based on the reflected light.

[0012] The imaging unit is used to perform imaging based on the returned light to obtain an image of the object being imaged.

[0013] Optionally, the imaging object is the annular inner wall of a cavity;

[0014] The probe is a rotating probe capable of controlled rotation about a specified axis; the rotating probe has a first side and a second side; the first side of the rotating probe faces the target side of the fiber grating unit, and the second side of the rotating probe faces the imaging object;

[0015] The rotating probe is used to receive the second optical signal through the first side, transmit part or all of the received second optical signal to the imaging object through the second side, receive the return light returned from the imaging object through the second side, and transmit the return light to the target side of the fiber grating unit through the first side; the designated axis is matched with the orientation of the first side of the rotating probe.

[0016] Optionally, the rotation angle information at multiple moments during the rotation of the rotating probe, and the imaging images of the rotating probe at those multiple moments, are used by the data processing unit to stitch together the imaging images at those multiple moments based on the rotation angle information to obtain a circumferential image of the inner wall of the cavity.

[0017] Optionally, the endoscopic device further includes a drive motor for driving the rotating probe to rotate.

[0018] Optionally, the probe includes a designated lens for reflecting part or all of the second optical signal incident on the probe to the imaging object; receiving the returned light; and reflecting the returned light to the target side of the fiber Bragg grating unit.

[0019] Optionally, the endoscopic device further includes an image acquisition unit for acquiring endoscopic images, wherein the designated lens is located between the image acquisition unit and the target side of the fiber optic grating unit;

[0020] The specified lens is used for:

[0021] Receive the second optical signal sent from the target side of the fiber Bragg grating unit, and the transmitted light in the first optical signal that penetrates the grating;

[0022] Reflect some or all of the received second optical signal back to the imaging object;

[0023] The transmitted light of part or all of the first light signal is projected onto the image acquisition unit to serve as illumination light for the image acquisition unit to acquire the endoscopic image;

[0024] The returned light is received and reflected to the target side of the fiber optic grating unit.

[0025] Optionally, the endoscopic device further includes a beam combining unit and a beam splitting unit, wherein the beam combining unit is located on the light input side of the fiber Bragg grating unit; and the beam splitting unit is located on the light output side of the fiber Bragg grating unit.

[0026] The beam combining unit is used to combine the first optical signal and the second optical signal and send them to the light input side of the fiber grating unit;

[0027] The beam splitting unit is used to separate the return light and reflected light emitted from the light-emitting side of the fiber grating unit, and to send the return light to the shape sensing unit and the reflected light to the imaging unit.

[0028] Optionally, the endoscope device further includes a temperature sensor disposed in the fiber Bragg grating unit.

[0029] Optionally, the imaging unit includes a photodiode and / or a photomultiplier tube.

[0030] Optionally, the second optical signal is a laser with a wavelength different from that of the first optical signal.

[0031] According to a second aspect of the invention, a surgical system is provided, comprising an endoscopic device as described in the first aspect and its alternatives, a first light source for providing the first light signal, and a second light source for providing the second light signal.

[0032] Optionally, the surgical system may further include a data processing unit;

[0033] If the probe is a rotating probe, then:

[0034] The data processing unit is used for:

[0035] Determine the rotation angle information at multiple moments during the process of the rotating probe rotating one revolution;

[0036] The imaging images obtained by the rotating probe at the multiple times are used by the data processing unit based on the rotation angle information at the multiple times;

[0037] By stitching together the imaging images from the multiple moments, a panoramic image of the inner wall of the cavity is obtained.

[0038] In the endoscopic device and surgical system provided by this invention, in addition to realizing the shape detection function through the transmission of the first optical signal and reflected light in the fiber Bragg grating unit, it also works with the probe and imaging unit to realize the transmission of the second optical signal and the return light, thereby realizing the imaging of the imaging object. In this process, the second optical signal and the return light are also transmitted based on the fiber Bragg grating unit. By reusing the fiber Bragg grating unit and other devices, the imaging function of the imaging object is added to the endoscopic device while effectively saving space, thus enriching the information that the endoscopic device can detect. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of an endoscope device in an exemplary embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the optical path for acquiring a shape detection signal based on a first optical signal in an exemplary embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of the principle of a portion of the optical path for imaging based on a second optical signal in an exemplary embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram illustrating the principle of another part of the optical path for imaging based on a second optical signal in an exemplary embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the structure of an endoscope device in another exemplary embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of an endoscope device in another exemplary embodiment of the present invention;

[0046] Figure 7 This is a schematic diagram of the structure of a surgical system in an exemplary embodiment of the present invention.

[0047] Explanation of reference numerals in the attached figures:

[0048] 101-Fiber Bragg Grating Unit;

[0049] 1011-Fiber Optic;

[0050] 1012-grating;

[0051] 102 - Probe;

[0052] 1021 - Specified Lenses

[0053] 103 - Shape sensing unit;

[0054] 104-Imaging Unit;

[0055] 105-Spectroradiometer Unit;

[0056] 106 - Drive unit;

[0057] 107 - Image Acquisition Unit;

[0058] 108-lens;

[0059] 109-Lens;

[0060] 110- Bundle Unit;

[0061] 111 - First light source;

[0062] 112 - Second light source;

[0063] 2-Imaging object;

[0064] 3-Analog-to-Digital Converter;

[0065] 4-Processor. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] In the description of this invention, it should be understood that the terms "upper part", "lower part", "upper end", "lower end", "lower surface", "upper surface", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0068] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0069] In the description of this invention, "a plurality of" means multiple, such as two, three, four, etc., unless otherwise explicitly specified.

[0070] In the description of this invention, unless otherwise explicitly specified and limited, the term "connection" and other such terms should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the components; it can refer to a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0071] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0072] Please refer to Figure 1 and combined Figures 2 to 7 Endoscopic device 1 includes: a fiber optic grating unit 101 equipped with a grating, a shape sensing unit 103, an imaging unit 104, and a probe 102.

[0073] The fiber optic grating unit 101 can be understood as being configured with an optical fiber 1011, and the optical fiber 1011 contains any structural unit of grating 1012. In addition to the optical fiber, the fiber optic grating unit 101 may also be configured with any component that performs at least one of the following processing on the optical signal: beam combining, beam splitting, transmission, reflection, and guidance, in order to realize various optical paths in the embodiments of the present invention and their specific schemes.

[0074] The fiber grating unit 101 may have an input side, an output side, and a target side;

[0075] The fiber optic grating unit 101 is configured to receive a first optical signal L1 and a second optical signal L2 through the light input side; cause a portion of the first optical signal L1 to pass through the grating to form reflected light L4, and the reflected light L4 to reach the shape sensing unit 103 directly or indirectly through the light output side; cause the second optical signal L2 to pass through the grating to reach the target side, and then reach the probe 102 through the target side; and receive the return light L3 returned by the probe 102 through the target side, and guide the return light L3 to the light output side.

[0076] The light-incident side can refer to the side of the fiber optic grating unit 101 that receives the first optical signal L1 and the second optical signal L2. Specifically, the first optical signal L1 and the second optical signal L2 can be bundled before entering the grating fiber optic unit 101, or they can be bundled in the grating fiber optic unit 101 after entering it. This embodiment of the invention does not exclude implementations where bundle bundling does not occur.

[0077] The light-emitting side can refer to the side of the fiber optic grating unit 101 that sends out the return light L3 and the reflected light L4. For example, the return light L3 and the reflected light L4 can be transmitted in the optical fiber. After exiting the optical fiber, the return light L3 and the reflected light L4 can be guided to the light-emitting side for light emission through the corresponding light guiding component or light guiding medium.

[0078] Furthermore, the light-emitting side and the light-incoming side can be understood as the two sides that realize the above functions. The orientation of the light-emitting side and the light-incoming side can be the same or different. They can be parallel, at an angle, or any other possibility.

[0079] The target side can be understood as the side of the fiber optic grating unit 101 facing the probe 102.

[0080] The shape sensing unit 103 is used to acquire the shape detection signal of the object detected by the fiber grating unit 101 based on the reflected light.

[0081] The object to be detected can be any object of any shape. Correspondingly, the shape detection signal can be understood as any electrical signal that can characterize the shape of the object to be detected and is collected based on reflected light. For example, it can be a signal generated by sensing reflected light. By analyzing the signal, the shape of the object to be detected can be determined.

[0082] In one example, the endoscope device may include a curved tube and an integrated section disposed at one end of the curved tube. The probe 102 may be disposed within the integrated section. In addition, at least one of the image acquisition unit 107, lens 108, lens 109, drive device 106, and temperature sensor 113 mentioned in this specification may also be disposed in the integrated section. Part or all of the fiber grating unit 101 (e.g., part or all of the optical fiber 1011) may be disposed in the curved tube and bend along with the curved tube (e.g., the optical fiber 1011 therein). In this case, the object to be detected may include part or all of the curved tube segment, or may include the integrated section.

[0083] by Figure 2For example, when the first optical signal L1 is transmitted in the optical fiber 1011, part of the optical signal can be reflected by the grating 1012, thereby forming reflected light L4. The shape sensing unit 103 can form a shape detection signal based on the reflected light L4. The content of the shape detection signal, the implementation method of the shape sensing unit 103, and the relevant content of finally determining the shape of the detected object based on the shape detection signal can all be understood by referring to the principle of detecting shape using fiber optic grating sensors in this field.

[0084] At the same time, a portion of the optical signal in the first optical signal L1 will penetrate the grating 1012 to form transmitted light L5. In the specific scheme of the present invention, the transmitted light L5 can also be fully utilized.

[0085] We use a strong reflection grating, based on the reflectivity formula. The peak reflectance of the grating is R. max =tanh 2 The (κL) value appears at σ^=0, and its peak wavelength is:

[0086] λ max =(1+δn / n) eff )λ D We control the reflected wavelength by modulating the reflectivity of the grating, ensuring that the reflected wavelength does not overlap with the wavelength needed for confocal imaging, thus obtaining the transmitted wavelength (i.e., the transmitted light). This transmitted wavelength is used for confocal imaging; in current technology, fiber Bragg gratings are only used as shape sensors, and the wavelengths transmitted through the fiber Bragg grating are not utilized. A confocal imaging optical path is used, with beam splitting performed before the resolving instrument. A confocal optical path receiving instrument is added. The confocal instrument includes a scanning element, a lens for the common optical path, and a beam splitter, lens, and receiver. This allows for fiber diameters as small as 200µm, enabling the parallel execution of two or more tasks.

[0087] In one example, the shape sensing unit 103 may include, for example, an optical coupler (or other photosensitive element).

[0088] The probe 102 is used to guide part or all of the second optical signal L2 incident on the probe 102 to the imaging object 2, receive the return light L3 returned from the imaging object 2, and send the return light L3 to the target side. The probe 102 can be configured with any light guiding component or light guiding medium, as long as the transmission of the return light L3 and the second optical signal L2 between the target side of the fiber optic grating unit 101 and the imaging object can be realized, it does not depart from the scope of the embodiments of the present invention. In addition, the probe 102 can realize the transmission of light (i.e., the return light L3 and the second optical signal L2) between itself and the imaging object 2 through the lens 109.

[0089] The imaging unit 104 can be understood as being used to perform imaging based on the returned light to obtain an image of the imaging object.

[0090] Specifically, the imaging unit 104, probe 102, lens 109, and fiber grating unit 101 can form a working principle similar to that of a confocal microscope, thereby achieving imaging of the object through confocal imaging.

[0091] In one embodiment, the second optical signal L2 is a laser with a wavelength different from the first optical signal, such as a narrowband laser, while the corresponding first optical signal can be broadband light. Furthermore, narrowband lasers can achieve low power, and the narrow bandwidth of the laser, when used in highly reflective optical fibers, can achieve virtually no crosstalk.

[0092] Furthermore, the selection of the second optical signal L2 needs to meet the imaging requirements of confocal imaging, the requirements of the grating in the optical fiber, and also avoid the indistinguishability between the return light L3 and the reflected light L4. To address this, the reflectivity of the grating in the fiber optic grating sensor can be pre-configured so that the wavelength of the light reflected by the grating does not cover the wavelength used for confocal imaging (i.e., the wavelength of the second optical signal L2).

[0093] During confocal imaging, please refer to... Figure 3 , Figure 4 After the second optical signal L2 reaches the imaging object, it can return along the original optical path, forming a return light L3. It can be seen that the directions of the second optical signal L2 and the return light L3 are opposite, but the optical paths can partially or completely overlap. Furthermore, a component can be provided between the imaging object 2 and the probe 102 to assist in realizing the above optical path. In addition, to achieve the above imaging principle, a fluorescent material can be provided between the imaging object and the probe 102 to ensure confocal imaging.

[0094] In one implementation method, please refer to Figures 3 to 7 The probe 102 includes a designated lens 1021, which is used to reflect part or all of the second optical signal L2 incident on the probe to the imaging object 2; receive the returned light L3, and reflect the returned light L3 to the target side of the fiber grating unit.

[0095] In one example, the imaging unit 104 may include, for example, a photodiode (APD) and / or a photomultiplier tube (MT).

[0096] As can be seen, in the above scheme, in addition to realizing the shape detection function through the transmission of the first optical signal and reflected light in the fiber Bragg grating unit, it also works with the probe and imaging unit to realize the transmission of the second optical signal and returned light, thereby realizing the imaging of the imaging object. In this process, the second optical signal and returned light are also transmitted based on the fiber Bragg grating unit. In this way, by reusing the fiber Bragg grating unit and other devices, the imaging function of the imaging object is added to the endoscope device while effectively saving space, thus enriching the information that the endoscope device can detect.

[0097] exist Figure 5 In the illustrated embodiment, in order to clearly show the transmission of each optical signal, each optical signal is displayed separately. For example, the first optical signal L1 and the second optical signal L2 are displayed as two lines in the optical fiber. Similarly, the return light L3 and the reflected light L4 are displayed as two lines. However, in a specific scheme, the transmitted optical signals can be bundled together.

[0098] In one implementation method, please refer to Figure 5 and Figure 6 The imaging object 2 is the inner wall of a ring-shaped cavity;

[0099] The probe 102 is a rotating probe that can be controlled to rotate around a specified axis O; the rotating probe has a first side and a second side; the first side of the rotating probe faces the target side of the fiber grating unit, which can be understood as the side used to conduct light between the probe and the fiber grating unit; the second side of the rotating probe faces the imaging object, which can be understood as the side used to conduct light between the probe and the imaging object; and the orientation of the second side can change as the probe 102 rotates.

[0100] The rotating probe is used to receive the second optical signal L2 through the first side, transmit part or all of the received second optical signal L2 to the imaging object 2 through the second side, receive the return light L3 returned from the imaging object through the second side, and transmit the return light L3 to the target side of the fiber grating unit through the first side.

[0101] The designated axis O is aligned with the orientation of the first side of the rotating probe, which can be understood as being parallel. In one example, the designated axis O may coincide with the extension line of the axis of the optical fiber 1011. At the same time, the designated axis O may coincide with the optical path of the second optical signal L2 received from the optical fiber, and may also coincide with the optical path of the return light L3 reflected to the fiber grating unit.

[0102] In a further example, to achieve the rotation of the rotating probe, please refer to... Figure 5 and Figure 6The endoscopic device further includes a drive unit 106 for driving the rotating probe to rotate. The drive unit 106 can be any device capable of outputting rotational motion. For example, a lens can be mounted on the drive unit 106, thereby being controlled by the drive unit 106 to rotate about a specified axis.

[0103] In a further example, the rotation angle information at multiple moments during the rotation of the rotating probe, and the imaging images of the rotating probe at those multiple moments, are used by the data processing unit to stitch together the imaging images at those multiple moments based on the rotation angle information to obtain a circumferential image of the inner wall of the cavity.

[0104] Correspondingly, a surgical system including an endoscope may include a data processing unit, which may be any component or combination of components with data processing capabilities.

[0105] The data processing department can be used for:

[0106] Determine the rotation angle information at multiple moments during the process of the rotating probe rotating one revolution;

[0107] The imaging images obtained by the rotating probe at the multiple times are used by the data processing unit based on the rotation angle information at the multiple times;

[0108] By stitching together the imaging images from the multiple moments, a panoramic image of the inner wall of the cavity is obtained.

[0109] The rotation angle information can, for example, represent the rotation angle relative to a preset reference angle. For instance, if the rotating probe is controlled to rotate by an angle A relative to the reference rotation angle, then the rotation angle information can be angle A, where 0 degrees ≤ A < 360 degrees. Therefore, the rotation angle information can be reset to zero after each rotation. In one example, the multiple moments can be multiple moments evenly distributed based on time during the 360-degree rotation, or multiple moments evenly distributed based on angle.

[0110] In some examples, the drive unit can drive the rotating probe to rotate under the control of the data processing unit, and then the data processing unit can determine the rotation angle information based on its own rotation control information of the rotating probe.

[0111] In a specific example, the driving device can drive the rotating probe to rotate 360 ​​degrees around a specified axis. This allows the second optical signal L2 incident on the imaging object to maintain a 90-degree angle with the specified axis while scanning 360 degrees around the specified axis. This allows the acquisition of an imaging image of the inner wall of the cavity, which is then returned to the imaging unit (e.g., APD / PMT) for real-time imaging. As the optical fiber advances at a certain speed, a panoramic image of the entire cavity can be obtained (which can be understood as a 3D reconstructed image formed by stitching together the imaging images).

[0112] The realization of probe rotation and the formation of panoramic images can reveal the morphology of the cavity wall, providing richer and more detailed information for the surgical procedure.

[0113] In one implementation, combined with Figure 2 It can be seen that for the first optical signal L1, part of its light will pass through the grating to form transmitted light L5, and thus, the transmitted light L5 can be fully utilized.

[0114] In one scheme, with Figures 5 to 7 As shown in the example, the endoscopic device further includes an image acquisition unit 107 for acquiring endoscopic images; the designated lens 1021 is located between the image acquisition unit 107 and the target side of the fiber optic grating unit 101;

[0115] The specified lens 1021 is used for:

[0116] Receive the second optical signal sent from the target side of the fiber optic grating unit 101, and the transmitted light in the first optical signal that penetrates the grating;

[0117] Reflect some or all of the received second optical signal L2 back to the imaging object 2;

[0118] Part or all of the transmitted light L5 of the first optical signal L1 is transmitted to the imaging object, so that the imaging object can reflect the transmitted light L5 back to the image acquisition unit 107. Alternatively, the transmitted light L5 can be understood as the illumination light used by the image acquisition unit 107 to acquire the endoscopic image; Figures 5 to 7 For example, since the image acquisition unit is located at the end of the endoscope device, the illumination light can illuminate the image acquisition unit 107 and the right side of the lens 108 (i.e., the front of the endoscope device), thereby illuminating the front of the endoscope device. At this time, the image acquisition unit 107 can receive the reflected light of the imaging object transmitted through the lens 108, thereby realizing the acquisition of the endoscopic image in front of the endoscope device.

[0119] The returned light L3 is received and reflected to the target side of the fiber optic grating unit 101.

[0120] In addition, in some examples, the second light signal L2 can also be transmitted through the designated lens 1021 to illuminate the image acquisition unit 107, and the specific method is similar to the aforementioned transmitted light L5, which will not be described again here.

[0121] In a further example, the image acquisition unit 107 can acquire images externally via the lens 108. Furthermore, based on the endoscopic images acquired by the image acquisition unit 107 (specifically, the imaging results of the external imaging surface of the image acquisition unit 107), a wealth of information can be obtained. For example, based on the information acquired by the image acquisition unit 107, in addition to obtaining the images within the field of view of the endoscope's image acquisition unit (i.e., the endoscopic images), the position of the endoscopic device within the human body can also be calculated based on the endoscopic images.

[0122] The above scheme achieves another form of multiplexing for the fiber Bragg grating unit. By using the projection light L5 of the first optical signal, illumination of the field of view of the image acquisition unit is realized. Furthermore, in addition to shape detection, the fiber Bragg grating unit can also be used for imaging and illumination during image acquisition, enriching and expanding the functions of the fiber Bragg grating unit (e.g., a fiber Bragg grating shape sensor).

[0123] Furthermore, when the data processing unit performs intraoperative navigation of the endoscopic device, it can do so based on the endoscopic images and / or panoramic images within it.

[0124] In one implementation method, please refer to Figure 5 and Figure 6 The endoscopic device further includes a temperature sensor 113 disposed in the fiber optic grating unit. Specifically, the temperature sensor 113 can be fixedly connected to the optical fiber 1101, for example, it can be fixedly connected to a part of the optical fiber 1101 near the probe 102 (which can also be understood as near the integration unit or near the image acquisition unit).

[0125] In addition, the temperature sensor 110 can communicate with the data processing unit via wired or wireless means, thereby feeding back the collected temperature data to the data processing unit, so that the data processing unit can perform other processing based on the temperature data.

[0126] In one example, the temperature sensor 110 may include a temperature sensing probe with graphene, which can be assembled on a central optical fiber. Through the resolution of an optical resonant cavity (i.e., a FP cavity), a higher resolution temperature sensor can be formed. Because of the superior heat resistance of the optical fiber, it can be used to sense temperature based on various optical paths described in this specification. Ordinary fiber gratings are not sensitive to temperature changes. When the endoscopic device is used in high-temperature ablation surgery, using a graphene temperature sensing probe at the tip of the optical fiber facilitates precise temperature control. This allows the entire optical fiber to sense changes in the respiratory field within the lungs, and further, based on the fiber grating unit, accurate temperature control can be easily achieved.

[0127] In one implementation method, please refer to Figure 6 and combined Figure 5 , Figure 7 The endoscopic device further includes a beam combining unit 110 and a beam splitting unit 105 (which may include, for example, a dichroic mirror and / or a filter). The beam combining unit 110 is located on the light input side of the fiber Bragg grating unit 101, and the beam splitting unit 105 is located on the light output side of the fiber Bragg grating unit 101.

[0128] The beam combining unit 110 is used to combine the first optical signal and the second optical signal and send them to the light input side of the fiber Bragg grating unit; the beam combining unit 110 can be disposed outside the fiber Bragg grating unit 101 or inside the fiber Bragg grating unit 101.

[0129] The beam splitting unit 105 is used to separate the return light and reflected light emitted from the light-emitting side of the fiber grating unit, and to send the return light to the shape sensing unit and the reflected light to the imaging unit.

[0130] This invention provides a surgical system.

[0131] exist Figure 7 In the illustrated embodiment, the surgical system includes the endoscopic device mentioned in this specification, a first light source 111 for providing the first light signal, and a second light source 112 for providing the second light signal.

[0132] Figure 7 In the embodiment shown, the beam combining unit can be integrated into the fiber optic grating unit 101, and a filter component 112 can also be provided between the first light source 111 and the light incident side of the fiber optic grating unit 101 to filter out other stray light.

[0133] exist Figure 7In the embodiment shown, the surgical system may further include an analog-to-digital converter 3 and a processor 4. The shape detection signal of the shape sensing unit 103 is an analog signal, which can be converted into a digital signal by the analog-to-digital converter 3. After the digital signal is fed back to the processor 4, the processor 4 can obtain shape information representing the shape of the detected object based on the received digital signal.

[0134] In one example, the data processing unit mentioned in this specification may be, for example, a processor 4. In another example, the data processing unit may be a circuit part that communicates with the processor 4, thereby acquiring the corresponding shape data. In yet another example, the data processing unit may also be a circuit part that is independent of the processor 4 and does not need to communicate with the processor 4.

[0135] In summary, the embodiments and specific solutions of the present invention can accomplish a variety of purposes with a single optical fiber. Based on shape sensing using fiber optic gratings, for example, confocal imaging and endoscopy functions of an endoscope can be achieved using the light from a transmission grating. Furthermore, temperature sensing can be achieved using fiber optic gratings, allowing more tasks to be accomplished within a limited space.

[0136] In the description of this specification, the references to terms such as "an embodiment," "an example," "a specific implementation process," and "an example" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endoscopic device, comprising: A fiber optic grating unit and a shape sensing unit equipped with gratings, characterized in that it further includes: an imaging unit and a probe; The fiber grating unit has an input side, an output side, and a target side; The fiber optic grating unit is configured to receive a first optical signal and a second optical signal through the input side; cause a portion of the first optical signal to pass through the grating and form reflected light, the reflected light reaching the shape sensing unit directly or indirectly through the output side; cause the second optical signal to pass through the grating and reach the target side, and then reach the probe through the target side; and: receive the return light returned by the probe through the target side and guide the return light to the output side. The probe is used to guide part or all of the second optical signal incident on the probe to the imaging object, receive the return light returned from the imaging object, and send the return light to the target side; The shape sensing unit is used to acquire the shape detection signal of the object detected by the fiber grating unit based on the reflected light. The imaging unit is used to perform imaging based on the returned light to obtain an image of the imaging object.

2. The endoscope apparatus according to claim 1, characterized by, The imaging object is the inner wall of a ring-shaped cavity; The probe is a rotating probe capable of controlled rotation about a specified axis; the rotating probe has a first side and a second side; the first side of the rotating probe faces the target side of the fiber grating unit, and the second side of the rotating probe faces the imaging object; The rotating probe is used to receive the second optical signal through the first side, transmit part or all of the received second optical signal to the imaging object through the second side, receive the return light returned from the imaging object through the second side, and transmit the return light to the target side of the fiber grating unit through the first side; the designated axis is matched with the orientation of the first side of the rotating probe.

3. The endoscopic device according to claim 2, characterized in that, The rotation angle information at multiple moments during the rotation of the rotating probe, and the imaging images of the rotating probe at those multiple moments, are used by the data processing unit to stitch together the imaging images at those multiple moments based on the rotation angle information to obtain a panoramic image of the inner wall of the cavity.

4. The endoscope apparatus according to claim 2, characterized by, It also includes a drive device for driving the rotating probe to rotate.

5. The endoscopic device of claim 1, wherein, The probe includes a designated lens, which is used to reflect part or all of the second optical signal incident on the probe to the imaging object; receive the returned light, and reflect the returned light to the target side of the fiber optic grating unit.

6. The endoscope apparatus according to claim 5, characterized by, It also includes an image acquisition unit for acquiring endoscopic images, wherein the designated lens is located between the image acquisition unit and the target side of the fiber optic grating unit; The specified lens is used for: Receive the second optical signal sent from the target side of the fiber optic grating unit, and the transmitted light in the first optical signal that penetrates the grating; Reflect some or all of the received second optical signal back to the imaging object; The transmitted light of part or all of the first light signal is projected onto the image acquisition unit to serve as illumination light for the image acquisition unit to acquire the endoscopic image; The returned light is received and reflected to the target side of the fiber optic grating unit.

7. The endoscope apparatus according to any one of claims 1 to 6, characterized by It also includes a beam combining unit and a beam splitting unit, wherein the beam combining unit is located on the light input side of the fiber Bragg grating unit; and the beam splitting unit is located on the light output side of the fiber Bragg grating unit. The beam combining unit is used to combine the first optical signal and the second optical signal and send them to the light input side of the fiber grating unit; The beam splitting unit is used to separate the return light and reflected light emitted from the light-emitting side of the fiber grating unit, and to send the return light to the shape sensing unit and the reflected light to the imaging unit.

8. The endoscope apparatus according to any one of claims 1 to 6, characterized by, It also includes a temperature sensor located in the fiber optic grating unit.

9. The endoscopic device according to any one of claims 1 to 6, characterized in that, The imaging unit includes: a photodiode and / or a photomultiplier tube.

10. The endoscopic device according to any one of claims 1 to 6, characterized in that, The second optical signal is a laser with a wavelength different from that of the first optical signal.

11. A surgical system, characterized by comprising: It includes the endoscope device according to any one of claims 1 to 10, a first light source for providing the first light signal, and a second light source for providing the second light signal.

12. The surgical system of claim 11, wherein, It also includes a data processing department; If the probe is a rotating probe, then: The data processing unit is used for: Determine the rotation angle information at multiple moments during the process of the rotating probe rotating one revolution; The imaging images obtained by the rotating probe at the multiple times are used by the data processing unit based on the rotation angle information at the multiple times; By stitching together the imaging images at the multiple moments, a panoramic image of the cavity wall, which is the imaging object, is obtained.

Images