An integrated diagnosis and treatment probe and diagnosis and treatment system

Abstract

The present invention relates to the field of medical device technology, and in particular to an integrated diagnosis and treatment probe and a diagnosis and treatment system. The integrated diagnosis and treatment probe includes a first dichroic mirror, a second dichroic mirror, a first galvanometer, and a second galvanometer; the first dichroic mirror is used to separate coupled input light into therapeutic light and imaging light; the first galvanometer is used to reflect and scan the therapeutic light; the second galvanometer is used to reflect and scan the imaging light; the second dichroic mirror is used to recouple the therapeutic light and the imaging light to form coupled output light, so that the coupled output light reaches the tissue to be treated. The present invention is used to solve the defects of poor matching of diagnosis and treatment, and large monitoring errors when optical imaging equipment is used in combination with laser treatment equipment in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an integrated diagnosis and treatment probe and a diagnosis and treatment system. Background Art

[0002] With the development of computer-assisted medicine and robotics, minimally invasive surgery has made significant progress in many surgical fields. Compared to traditional open tumor resection, minimally invasive surgery can reduce trauma, shorten recovery time, and minimize the physical and psychological impact on patients. At the same time, minimally invasive tumor surgery also requires precise and comprehensive lesion localization and maximum resection to prevent recurrence.

[0003] Currently, the diagnostic and treatment process is widely used clinically: preoperative cancer diagnosis and lesion boundary delineation using traditional imaging methods such as computed tomography and magnetic resonance imaging, followed by intraoperative tumor resection guided by real-time imaging modalities such as ultrasound or fluorescence imaging. However, existing intraoperative imaging cannot accurately delineate lesion boundaries, and soft tissue deformation can also affect the guidance of preoperative imaging for surgery. Surgical resection still relies heavily on the physician's experience and judgment. Emerging high-resolution real-time optical imaging modalities such as optical coherence tomography, photoacoustic imaging, hyperspectral imaging, and confocal laser endomicroscopy can provide rapid and accurate diagnostic results during surgery, while laser ablation, photodynamic therapy, and photothermal therapy are highly efficient and precise means of treating tumors. By combining optical imaging and laser therapy, the diagnostic and treatment efficiency and prognosis of minimally invasive tumor surgery can be improved.

[0004] In the prior art, there are a variety of technical approaches to combining optical imaging equipment with laser treatment equipment. One approach is to integrate the imaging light and the treatment light into the same optical path through a dichroic mirror or a fiber combiner, and simultaneously achieve imaging and treatment through the same scanning component. Among them, the imaging light is used to diagnose the lesion, and the treatment light is used to treat the lesion. However, due to the shared scanning component, this approach will result in the inability to perform imaging monitoring during targeted treatment, and the diagnosis and treatment processes cannot be matched in real time, which will cause monitoring errors and affect the treatment effect. Another approach is to directly place independent imaging probes and treatment probes into the channel of an endoscope or laparoscope. However, this approach relies on manual operation to perform laser ablation and other treatments on the lesion. The asynchronous movement of the imaging and treatment probes and other reasons result in poor matching of the diagnosis and treatment processes, large monitoring errors, and affect the treatment effect. Summary of the Invention

[0005] The present invention provides an integrated diagnosis and treatment probe and a diagnosis and treatment system, which are used to solve the defects of poor matching between diagnosis and treatment and large monitoring errors when optical imaging equipment is used in combination with laser treatment equipment in the prior art.

[0006] The present invention provides an integrated diagnosis and treatment probe, which includes a first dichroic mirror, a second dichroic mirror, a first galvanometer, and a second galvanometer; the first dichroic mirror is used to separate coupled input light into therapeutic light and imaging light; the first galvanometer is used to reflect and scan the therapeutic light; the second galvanometer is used to reflect and scan the imaging light; the second dichroic mirror is used to recouple the therapeutic light and the imaging light to form coupled output light, so that the coupled output light reaches the tissue to be treated.

[0007] According to an integrated diagnosis and treatment probe provided by the present invention, the mirror surfaces of the first dichroic mirror and the second dichroic mirror are parallel; the mirror surfaces of the first galvanometer mirror and the second galvanometer mirror are parallel; and the angle formed by the first dichroic mirror and the coupled input light is 45°.

[0008] According to an integrated diagnosis and treatment probe provided by the present invention, the parameters of the first dichroic mirror and the second dichroic mirror are the same; the second dichroic mirror is specifically used to output the coupled output light laterally so that the coupled output light reaches the tissue to be treated on the side of the integrated diagnosis and treatment probe.

[0009] According to an integrated diagnosis and treatment probe provided by the present invention, the first dichroic mirror is of high-pass type, and the second dichroic mirror is of low-pass type; or, the first dichroic mirror is of low-pass type, and the second dichroic mirror is of high-pass type; the second dichroic mirror is specifically used to forward output the coupled output light so that the coupled output light reaches the tissue to be treated at the front end of the integrated diagnosis and treatment probe.

[0010] The present invention also provides a diagnosis and treatment system, including an integrated diagnosis and treatment probe, an optical imaging module and a medical laser; the medical laser is used to emit therapeutic light, and the therapeutic light is used to perform laser treatment on the tissue to be treated; the optical imaging module is used to emit imaging light; the integrated diagnosis and treatment probe is used to receive coupled input light formed by the therapeutic light and the imaging light, and output coupled output light according to the coupled input light; the optical imaging module is also used to receive optical imaging source data returned by the integrated diagnosis and treatment probe, and obtain a tissue image of the tissue to be treated based on the optical imaging source data.

[0011] According to a diagnosis and treatment system provided by the present invention, it also includes a processing and control module; the integrated diagnosis and treatment probe includes a first dichroic mirror, a second dichroic mirror, a first galvanometer and a second galvanometer; the optical imaging module is also used to transmit the tissue image to the processing and control module; the processing and control module is used to obtain the first deflection angle and the second deflection angle based on the tissue image, and transmit the first deflection angle to the first galvanometer, and transmit the second deflection angle to the second galvanometer; the first galvanometer is used to adjust the angle according to the first deflection angle; the second galvanometer is used to adjust the angle according to the second deflection angle.

[0012] According to the present invention, a diagnosis and treatment system is provided, including: the processing control module is further used to determine the parameter value of the therapeutic light based on the tissue image and transmit the parameter value to the medical laser; the medical laser is further used to adjust the output parameter of the therapeutic light according to the parameter value.

[0013] According to the present invention, a diagnosis and treatment system includes: the processing control module, which is specifically used to determine the distance between the diagnosis and treatment integrated probe and the tissue to be treated according to the tissue image, and determine the first deflection angle and the second deflection angle according to the distance.

[0014] A diagnosis and treatment system provided according to the present invention includes: the processing control module, which is specifically used to determine the lesion area in the tissue to be treated according to the tissue image, and determine the first deflection angle and the second deflection angle according to the lesion area.

[0015] According to a diagnosis and treatment system provided by the present invention, it also includes a robotic arm module, and the integrated diagnosis and treatment probe is installed on the robotic arm module; the processing control module is used to obtain a preoperative image, wherein the preoperative image contains at least one area to be analyzed; the processing control module is used to determine a treatment path based on the preoperative image and the tissue image, and transmit the treatment path to the robotic arm, wherein the treatment path connects each of the areas to be analyzed; the robotic arm module is used to move according to the treatment path, so that the integrated diagnosis and treatment probe moves to the tissue area corresponding to each of the areas to be analyzed in turn.

[0016] The present invention provides an integrated diagnosis and treatment probe and a diagnosis and treatment system, wherein the integrated diagnosis and treatment probe includes a first dichroic mirror, a second dichroic mirror, a first galvanometer mirror, and a second galvanometer mirror. The first dichroic mirror is used to separate the coupled input light into therapeutic light and imaging light; the first galvanometer mirror is used to reflect and scan the therapeutic light; the second galvanometer mirror is used to reflect and scan the imaging light; and the second dichroic mirror is used to recouple the therapeutic light and the imaging light to form coupled output light, so that the coupled output light reaches the tissue to be treated. The therapeutic light and the imaging light in the integrated diagnosis and treatment probe are coupled together, and the therapeutic light and the imaging light move synchronously, which solves the problem of poor matching of diagnosis and treatment caused by using two probes to diagnose through imaging light and treat through therapeutic light respectively, realizes the integration of diagnosis and treatment, and greatly improves the matching of diagnosis and treatment. At the same time, the first galvanometer and the second galvanometer in the integrated diagnosis and treatment probe can respectively perform reflection scanning on the treatment light and the imaging light. While treatment is being performed through the first galvanometer, real-time monitoring can be performed through the second galvanometer. The diagnosis and treatment and imaging monitoring processes do not affect each other, reducing monitoring errors and improving the accuracy of the diagnosis and treatment process through the integrated diagnosis and treatment probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic structural diagram of the integrated diagnosis and treatment probe provided by the present invention;

[0019] Figure 2 This is a schematic diagram of the side scanning optical path structure of the integrated diagnosis and treatment probe provided by the present invention;

[0020] Figure 3 Schematic diagram of the relationship between the transmittance of the dichroic mirror and the wavelength in the lateral scanning of the integrated diagnosis and treatment probe provided by the present invention;

[0021] Figure 4 This is a schematic diagram of the forward scanning optical path structure of the integrated diagnosis and treatment probe provided by the present invention;

[0022] Figure 5 Schematic diagram of the relationship between the transmittance of the dichroic mirror and the wavelength during forward scanning of the integrated diagnosis and treatment probe provided by the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the diagnosis and treatment system provided by the present invention;

[0024] Figure 7This is a schematic diagram of the forward scanning optical path structure of the integrated diagnosis and treatment probe after the galvanometer angle is adjusted provided by the present invention;

[0025] Figure 8 It is a schematic diagram of the calibration process of the processing control module provided by the present invention;

[0026] Figure 9 This is a schematic diagram of the image processing and treatment control flow of the processing control module provided by the present invention;

[0027] Figure 10 This is a schematic diagram of the use process of the diagnosis and treatment system provided by the present invention;

[0028] Figure 11 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0030] The following combination Figures 1-11 The present invention describes an integrated diagnosis and treatment probe and a diagnosis and treatment system.

[0031] In one embodiment, if Figure 1 As shown, the integrated diagnosis and treatment probe provided by the present invention includes a first dichroic mirror 101 , a second dichroic mirror 102 , a first galvanometer mirror 103 and a second galvanometer mirror 104 .

[0032] The first dichroic mirror 101 is used to separate the coupled input light into therapeutic light and imaging light; the first galvanometer 103 is used to reflect and scan the therapeutic light; the second galvanometer 104 is used to reflect and scan the imaging light; the second dichroic mirror 102 is used to recouple the therapeutic light and the imaging light to form coupled output light, so that the coupled output light reaches the tissue to be treated.

[0033] In this embodiment, the coupled input light formed by the coupling of the therapeutic light and the imaging light is sent into the integrated diagnosis and treatment probe by the same optical fiber, and passes through the first dichroic mirror 101 in the integrated diagnosis and treatment probe. The wavelengths of the therapeutic light and the imaging light are different. After being collimated and focused, they are separated by the first dichroic mirror 101 with the first specific parameter, forming two light paths of the therapeutic light and the imaging light, namely the therapeutic light path and the imaging light path. Among them, the dichroic mirror is also called a two-color mirror. Its characteristic is that it almost completely transmits light of a certain wavelength and almost completely reflects light of other wavelengths. According to the different wavelengths of the therapeutic light and the imaging light, the first specific parameter is predetermined, and the first dichroic mirror 101 with the first specific parameter is selected. When the coupled input light passes through the first dichroic mirror 101, the coupled input light can be separated into the therapeutic light and the imaging light.

[0034] The separated therapeutic light is refracted by the first dichroic mirror 101 onto the first galvanometer mirror 103, and the first galvanometer mirror 103 reflects and scans the therapeutic light. The separated imaging light is refracted by the first dichroic mirror 101 onto the second galvanometer mirror 104, and the second galvanometer mirror 104 reflects and scans the imaging light. Specifically, the first galvanometer mirror 104 and the second galvanometer mirror 104 can respectively adopt tiny drivable reflectors made based on micro-electromechanical system (MEMS) technology. The MEMS galvanometer acts as a scanning mechanism, and the two-dimensional deflection angle of the galvanometer can be changed by controlling the magnitude of the microcurrent input to the galvanometer through a microcircuit, thereby reflecting the laser beam so that it reaches the tissue surface within a certain range for imaging or treatment.

[0035] The therapeutic light reflected by the first galvanometer mirror 103 and the imaging light reflected by the second galvanometer mirror 104 are simultaneously reflected by the second dichroic mirror 102, where they are recoupled into coupled output light. When the coupled output light reaches the treated tissue, both treatment and imaging are achieved simultaneously. The second specific parameter of the second dichroic mirror 102 is also pre-set based on the therapeutic light and imaging light.

[0036] In one embodiment, when arranging the internal structure of the diagnostic probe, the mirror surfaces of the first dichroic mirror 101 and the second dichroic mirror 102 are parallel; the mirror surfaces of the first galvanometer mirror 103 and the second galvanometer mirror 104 are parallel; and the angle formed by the first dichroic mirror 101 and the coupled input light is 45°.

[0037] The arrangement of the first dichroic mirror 101, the second dichroic mirror 102, the first galvanometer mirror 103, and the second galvanometer mirror 104 provided in this embodiment ensures separation and coupling of therapeutic light and imaging light. The initial setting angle of the first galvanometer mirror 103 can be set to be parallel to the mirror surface of the first dichroic mirror 101. Of course, the setting angles of the first galvanometer mirror 103 and the second galvanometer mirror 104 can be adjusted according to actual conditions and needs to achieve both treatment and imaging of the treated tissue.

[0038] In one embodiment, different parameters of the first dichroic mirror 101 and the second dichroic mirror 102 in the integrated diagnostic and therapeutic probe enable coupled light to be output from different angles. Specifically, when the parameters of the first dichroic mirror 101 and the second dichroic mirror 102 are the same, the second dichroic mirror 102 is specifically configured to output the coupled light laterally, so that the coupled light reaches the tissue to be treated on the side of the integrated diagnostic and therapeutic probe.

[0039] like Figure 2 As shown, the imaging light and the therapeutic light are input in a common optical path, that is, the coupled input light formed by the imaging light and the therapeutic light is input into the integrated diagnosis and treatment probe through the same optical fiber, and after being split by the dichroic mirror 1 (i.e., the first dichroic mirror), it is reflected and scanned by the galvanometer 1 (i.e., the first galvanometer) and the galvanometer 2 (i.e., the second galvanometer), and irradiated onto the dichroic mirror 2 (i.e., the second dichroic mirror); the parameters of the dichroic mirror 2 are consistent with those of the dichroic mirror 1, so the light transmitted from the dichroic mirror 1 can be passed through the dichroic mirror 2 and reach the tissue surface; and the light reflected by the dichroic mirror 1 is also reflected by the dichroic mirror 2 and reaches the tissue surface, realizing lateral optical imaging and optical treatment.

[0040] The wavelengths corresponding to therapeutic light and imaging light are different, such as Figure 3 As shown in Figure 1, the relationship between the transmittance of the dichroic mirror and the wavelength in the lateral scanning of the integrated diagnosis and treatment probe is shown in Figure 2. In an example, when both dichroic mirror 1 and dichroic mirror 2 (referred to as dichroic mirror 1 / 2) are high-pass, that is, the transmittance band is located at Figure 3 (a) The wavelength of the imaging light is different from that of the therapeutic light. The wavelength of the therapeutic light is shorter and is located in the wavelength band corresponding to the left shaded portion, while the wavelength of the imaging light is longer and is located in the wavelength band corresponding to the right shaded portion. For the therapeutic light with a shorter wavelength, Figure 2 In the optical path 1, when the therapeutic light reaches the dichroic mirror 1, the therapeutic light is reflected to the galvanometer mirror 1, and the galvanometer mirror 1 reflects the therapeutic light to the dichroic mirror 2. Since both the dichroic mirror 2 and the dichroic mirror 1 are high-pass, the therapeutic light is reflected by the dichroic mirror 2 to the tissue surface on the side of the integrated diagnosis and treatment probe. For imaging light with a longer wavelength, such as Figure 2 In the optical path 2, when the imaging light reaches the dichroic mirror 1, the imaging light is transmitted through the dichroic mirror 1 and reaches the galvanometer mirror 2. The galvanometer mirror 2 reflects the imaging light to the dichroic mirror 2. Since both the dichroic mirror 2 and the dichroic mirror 1 are high-pass, the imaging light is transmitted through the dichroic mirror 2 and reaches the tissue surface on the side of the integrated diagnosis and treatment probe.

[0041] In another example, when both dichroic mirror 1 and dichroic mirror 2 (referred to as dichroic mirror 1 / 2) are low-pass, that is, the transmittance band is in Figure 3(b) The right band. Since the imaging light and the therapeutic light have different wavelengths, the therapeutic light has a shorter wavelength and is located in the band corresponding to the left shaded portion, while the imaging light has a longer wavelength and is located in the band corresponding to the right shaded portion. For the therapeutic light with a shorter wavelength, when the therapeutic light reaches dichroic mirror 1, it passes through dichroic mirror 1 and reaches galvanometer mirror 1. Galvanometer mirror 1 reflects the therapeutic light to dichroic mirror 2. Since both dichroic mirror 2 and dichroic mirror 1 are low-pass filters, the therapeutic light passes through dichroic mirror 2 and reaches the tissue surface on the side of the integrated diagnostic and treatment probe. For the imaging light with a longer wavelength, when the imaging light reaches dichroic mirror 1, it is reflected to galvanometer mirror 2. Galvanometer mirror 2 then reflects the imaging light to dichroic mirror 2. Since both dichroic mirror 2 and dichroic mirror 1 are low-pass filters, the imaging light is reflected by dichroic mirror 2 to the tissue surface on the side of the integrated diagnostic and treatment probe.

[0042] In the above embodiment, when the parameters of the first dichroic mirror and the second dichroic mirror are consistent, regardless of whether they are both high-pass or low-pass, the therapeutic light and the imaging light can simultaneously reach the tissue surface on the side of the integrated diagnosis and treatment probe, thereby achieving simultaneous treatment and imaging of the tissue to be treated in the same area, thereby improving the diagnosis and treatment effect.

[0043] In one embodiment, the transmittance of the first dichroic mirror 101 and the second dichroic mirror 102 are complementary to each other in terms of wavelength, enabling forward scanning of the integrated diagnostic and therapeutic probe. Specifically, the first dichroic mirror is a high-pass type, and the second dichroic mirror is a low-pass type; alternatively, the first dichroic mirror is a low-pass type, and the second dichroic mirror is a high-pass type. The second dichroic mirror is specifically configured to output the coupled output light in a forward direction, so that the coupled output light reaches the tissue to be treated at the front end of the integrated diagnostic and therapeutic probe.

[0044] like Figure 4 As shown, the two dichroic mirrors are high-pass and low-pass, respectively. Therefore, light reflected by dichroic mirror 1 is transmitted by dichroic mirror 2, and light transmitted by dichroic mirror 1 is reflected by dichroic mirror 2 and reaches the tissue surface, achieving forward optical imaging and optical treatment.

[0045] like Figure 5 The figure shows the relationship between the transmittance of the dichroic mirror and the wavelength in the forward scanning of the integrated diagnosis and treatment probe. In one example, Figure 5 In (a), dichroic mirror 1 is a high-pass type, and dichroic mirror 2 is a low-pass type. Since the wavelengths of the imaging light and the treatment light are different, the wavelength of the treatment light is shorter and is located in the wavelength band corresponding to the left shaded portion, while the wavelength of the imaging light is longer and is located in the wavelength band corresponding to the right shaded portion. For the treatment light with a shorter wavelength, Figure 4In the optical path 1, when the therapeutic light reaches the dichroic mirror 1, the therapeutic light is reflected to the galvanometer mirror 1, and the galvanometer mirror 1 reflects the therapeutic light to the dichroic mirror 2. Since the dichroic mirror 2 is a complementary low-pass type, the therapeutic light passes through the dichroic mirror 2 and reaches the tissue surface in front of the integrated diagnosis and treatment probe. For imaging light with a longer wavelength, such as Figure 4 In the optical path 2, when the imaging light reaches the dichroic mirror 1, the imaging light is transmitted through the dichroic mirror 1 and reaches the galvanometer 2. The galvanometer 2 reflects the imaging light to the dichroic mirror 2. Since the dichroic mirror 2 is a complementary low-pass type, the imaging light is reflected by the dichroic mirror 2 to the tissue surface in front of the integrated diagnosis and treatment probe.

[0046] In another example, Figure 5 As shown in (b), dichroic mirror 1 is a low-pass type, and dichroic mirror 2 is a high-pass type. Because the imaging light and the therapeutic light have different wavelengths, the therapeutic light has a shorter wavelength and is located in the wavelength band corresponding to the shaded portion on the left, while the imaging light has a longer wavelength and is located in the wavelength band corresponding to the shaded portion on the right. For the therapeutic light with a shorter wavelength, when the therapeutic light reaches dichroic mirror 1, it passes through dichroic mirror 1 and reaches galvanometer mirror 1. Galvanometer mirror 1 reflects the therapeutic light to dichroic mirror 2. Since dichroic mirror 2 is a complementary high-pass type, the therapeutic light is reflected by dichroic mirror 2 to the tissue surface in front of the integrated diagnostic and therapeutic probe. For the imaging light with a longer wavelength, when the imaging light reaches dichroic mirror 1, it is reflected to galvanometer mirror 2. Galvanometer mirror 2 then reflects the imaging light to dichroic mirror 2. Since dichroic mirror 2 is a complementary high-pass type, the imaging light passes through dichroic mirror 2 and reaches the tissue surface in front of the integrated diagnostic and therapeutic probe.

[0047] In the above embodiment, when the first dichroic mirror and the second dichroic mirror complement each other, both the therapeutic light and the imaging light can simultaneously reach the tissue surface in front of the integrated diagnosis and treatment probe, thereby achieving simultaneous treatment and imaging of the tissue to be treated in the same area, thereby improving the diagnosis and treatment effect.

[0048] The structure of the integrated diagnostic and therapeutic probe enables the two optical paths corresponding to the therapeutic light and imaging light to be ultimately coupled, achieving complete matching of the imaging and therapeutic optical paths. The above embodiments all utilize a combination of short-wavelength therapy and long-wavelength imaging. It should be noted that both the combination of short-wavelength imaging and long-wavelength therapy, and the combination of long-wavelength imaging and short-wavelength therapy, can be achieved using the optical path structure of the integrated diagnostic and therapeutic probe.

[0049] In one embodiment, the integrated diagnosis and treatment probe mentioned in the above embodiment is applied to a diagnosis and treatment system. Figure 6 As shown, the diagnosis and treatment system includes an integrated diagnosis and treatment probe 601, an optical imaging module 602 and a medical laser 603.

[0050] The medical laser 603 is used to emit therapeutic light, which is used to perform laser treatment on the tissue to be treated; the optical imaging module 602 is used to emit imaging light; the integrated diagnosis and treatment probe 601 is used to receive coupled input light formed by the therapeutic light and the imaging light, and output coupled output light based on the coupled input light; the optical imaging module 602 is also used to receive optical imaging source data returned by the integrated diagnosis and treatment probe, and obtain a tissue image of the tissue to be treated based on the optical imaging source data.

[0051] In this embodiment, the therapeutic light provided by the medical laser 603 and the imaging light provided by the optical imaging module 602 are coupled to form coupled input light. This coupled input light is input into the integrated diagnosis and treatment probe 601. Specifically, the therapeutic light and the imaging light are input into the integrated diagnosis and treatment probe 601 as coupled input light via the same optical fiber, enabling simultaneous treatment and imaging.

[0052] The optical imaging module 602, in addition to providing imaging light, is also used to process the optical imaging source data returned by the integrated diagnosis and treatment probe into tissue images, which are convenient for medical staff to view and analyze.

[0053] In one embodiment, the diagnosis and treatment system further includes a processing and control module 604. The integrated diagnosis and treatment probe 601 includes a first dichroic mirror 101, a second dichroic mirror 102, a first galvanometer mirror 103, and a second galvanometer mirror 104. The optical imaging module 602 is further configured to transmit a tissue image to the processing and control module 604. The processing and control module 604 is configured to obtain a first deflection angle and a second deflection angle based on the tissue image, and transmit the first deflection angle to the first galvanometer mirror 103 and the second deflection angle to the second galvanometer mirror 104. The first galvanometer mirror 103 is configured to adjust its angle based on the first deflection angle, and the second galvanometer mirror 104 is configured to adjust its angle based on the second deflection angle.

[0054] In this embodiment, the galvanometer can be a MEMS galvanometer, which serves as a scanning mechanism. The microcircuit controls the magnitude of the microcurrent input to the galvanometer to change its two-dimensional deflection angle. After the optical imaging module transmits the tissue image to the processing and control module, the processing and control module determines whether to adjust the angles of the first and second galvanometer mirrors based on the tissue image. If so, the processing and control module determines the first and second deflection angles based on the tissue image. The angle of the first galvanometer is adjusted based on the first deflection angle, thereby adjusting the position or angle of the therapeutic light irradiation. The angle of the second galvanometer is adjusted based on the second deflection angle, thereby adjusting the position or angle of the imaging light irradiation.

[0055] In one embodiment, the first deflection angle and the second deflection angle can be determined by the distance between the integrated diagnostic and therapeutic probe and the tissue to be treated. Specifically, the processing control module 604 is specifically configured to determine the distance between the integrated diagnostic and therapeutic probe and the tissue to be treated based on the tissue image, and determine the first deflection angle and the second deflection angle based on the distance.

[0056] like Figure 7 As shown in the figure, assuming that the coupled output light is output forward from the diagnosis and treatment integrated probe, an imaging lens will be set at the front end of the diagnosis and treatment integrated probe to obtain tissue images. In order to avoid the treatment site deviation caused by the different refractive indices of the imaging lens for light of different wavelengths, as shown in the figure, Figure 8 As shown, after obtaining the distance between the tissue surface and the probe through the tissue image, the processing control module can obtain the treatment position of the tissue to be treated, calibrate the refractive angle deviation based on the prior relationship between the refractive index of the imaging lens and the wavelength, and correct the galvanometer angle in the treatment light path, so that the treatment laser of different wavelengths can accurately reach the planned treatment site and treat the tissue to be treated. At the same time, after obtaining the distance between the tissue surface and the probe through the tissue image, the second deflection angle can be determined to adjust the angle of the galvanometer 2, so that the content displayed in the subsequent tissue image is clearer, helping users to see a tissue image with a more appropriate range and more emotional expression.

[0057] Of course, when determining the deflection angle based on distance, it is possible to adjust the angle of only one of the first and second galvanometer mirrors, depending on actual circumstances and needs. For example, if only the angle of the therapeutic light needs to be adjusted, the first deflection angle can be set to the corresponding angle, while the second deflection angle can be zero. In this case, the first galvanometer mirror is adjusted, and since the second deflection angle is zero, there is no need to adjust the angle of the second galvanometer mirror.

[0058] In one embodiment, parameters of the therapeutic light can also be determined based on the tissue image. Specifically, the processing control module 604 is further configured to determine parameter values ​​of the therapeutic light based on the tissue image and transmit the parameter values ​​to the medical laser. The medical laser 603 is further configured to adjust the output parameters of the therapeutic light based on the parameter values.

[0059] In this embodiment, Figure 9As shown, after acquiring the tissue image, the processing control module 604 performs image analysis on the tissue image (i.e., the optical image obtained by the imaging light). For example, the grayscale features, texture features, semantic features, and / or spectral features of the tissue image are analyzed. Based on the image classification and segmentation algorithm constructed by artificial intelligence, the analysis conclusion is obtained, such as determining whether a lesion exists, obtaining the lesion type (i.e., tissue lesion classification), determining the location and boundary of the lesion (i.e., lesion boundary segmentation), and / or analyzing the optical characteristics within the lesion. Among them, optical characteristics include light attenuation, light absorption, light scattering, and / or double scattering. Based on the location of the lesion, the site where laser treatment is required is planned; based on the optical properties of the lesion, the values ​​of parameters such as power, pulse width, frequency, and duration of the laser treatment are determined through a preset laser-tissue interaction model (i.e., tissue optical model). After the processing control module 604 transmits the obtained parameter values ​​to the medical laser 603, the medical laser 603 emits laser light according to the parameter values. This laser light is the therapeutic light to control the maximum removal of the lesion.

[0060] The above process determines the parameter values ​​of the therapeutic light through tissue images, thus completing the laser treatment planning. The first galvanometer realizes laser (i.e., therapeutic light) scanning control through angle adjustment, realizes real-time monitoring during the treatment process, and completes the treatment monitoring and evaluation of the treated tissue.

[0061] In one embodiment, when implementing laser treatment planning, specifically, the processing control module 604 is specifically used to determine the lesion area in the tissue to be treated based on the tissue image, and determine the first deflection angle and the second deflection angle based on the lesion area. That is, after the processing control module 604 analyzes the tissue image, it obtains the lesion area in the tissue to be treated. The lesion area refers to the partial area where the lesion appears. A tissue to be treated may contain one or more lesion areas. After determining the lesion area, each lesion area is treated one by one by adjusting the angles of the first galvanometer and the second galvanometer, that is, the treatment light is controlled by the first galvanometer to scan the lesion area to complete the treatment. At the same time, in order to facilitate the user to observe the specific situation of the treatment light, the imaging light is controlled by the second galvanometer to perform targeted scanning of the lesion area to complete targeted monitoring of the lesion area.

[0062] In the above embodiment, the integrated diagnosis and treatment probe has a multi-optical path coupling structure, and the two optical paths are used for optical imaging and laser treatment respectively; the optical imaging module is used to receive the optical imaging source data from the integrated diagnosis and treatment probe, and obtain the intraoperative tissue image after transformation and processing; the medical laser is used to emit laser and transmit it to the integrated diagnosis and treatment probe to perform laser treatment on the tissue, such as laser ablation; the processing and control module is used to quantitatively analyze the optical images obtained during the operation, obtain information such as the location, boundary and internal heterogeneity of the lesion, and plan the path and laser parameters of the laser treatment, control the angle of the dual-axis galvanometer in the treatment channel and the irradiation time of the medical laser.

[0063] By integrating both the optical imaging and laser therapy components within the same probe, the lesion area can be identified, located, treated, and monitored. The optical imaging and laser therapy remote scanning mechanisms are designed separately and independently of each other. Computer-aided diagnosis, treatment planning, and control algorithms enable intelligent probe control processes, while also enabling real-time monitoring by physicians. This approach balances intelligence, precision, real-time performance, and safety. The integrated diagnostic and treatment probe boasts a compact design, suitable for complex tissue structures and clinical scenarios.

[0064] In one embodiment, the automatic movement of the integrated diagnosis and treatment probe can be achieved through an intelligent device, such as a robotic arm module. Specifically, the diagnosis and treatment system also includes a robotic arm module 605, and the integrated diagnosis and treatment probe 601 is installed on the robotic arm module 605. The processing control module 604 is used to obtain a preoperative image, wherein the preoperative image contains at least one area to be analyzed; the processing control module 604 is used to determine a treatment path based on the preoperative image and the tissue image, and transmit the treatment path to the robotic arm, wherein the treatment path connects each area to be analyzed; the robotic arm module 605 is used to move according to the treatment path so that the integrated diagnosis and treatment probe moves to the tissue area corresponding to each area to be analyzed in turn.

[0065] In this embodiment, the patient will undergo a series of examinations before undergoing laser surgery, and then a preoperative image of the patient will be obtained. The tissue range displayed in the preoperative image is larger than the tissue image obtained by the integrated diagnosis and treatment probe. However, the lesions shown in the preoperative image are not accurate. The preoperative image can only show the area to be analyzed where the lesions may exist, and the area to be analyzed provides a reference for the treatment of medical staff. The processing control module can perform large-scale path planning in advance based on the preoperative image and determine the treatment path. The robotic arm module then drives the integrated diagnosis and treatment probe to move to each area to be analyzed one by one, and processes each area to be analyzed. The robotic arm module not only plays the role of fixing the integrated diagnosis and treatment probe, but also can drive the integrated diagnosis and treatment probe to move automatically. Of course, medical staff can manually adjust the specific position of the integrated diagnosis and treatment probe through the robotic arm module according to actual conditions.

[0066] like Figure 10 As shown, the process of using the diagnosis and treatment system is as follows:

[0067] In step 1001 , a diagnosis and treatment probe (ie, an integrated diagnosis and treatment probe) reaches a location of interest (ie, an area to be analyzed) under the guidance of preoperative images.

[0068] The processing control module pre-plans the treatment path based on the preoperative images. The robotic arm module drives the treatment probe to the position of the area to be analyzed according to the treatment path.

[0069] Step 1002: optically image the tissue region.

[0070] The imaging light in the integrated diagnosis and treatment probe is used to scan and image the tissue to be treated in the analysis area to obtain a tissue image of the tissue to be treated.

[0071] Step 1003: Quantitative analysis of optical images.

[0072] After obtaining the optical image (tissue image), the processing control module performs quantitative analysis on the tissue image.

[0073] Step 1004, determine whether there is a lesion, if so, execute step 1005, if not, execute step 1001;

[0074] Based on the results of the quantitative analysis, it is determined whether there is actually a lesion in the area to be analyzed. If so, it indicates that the tissue in the area to be analyzed is tissue to be treated and needs to be treated, and the process of treatment with therapeutic light is started. If not, it indicates that the tissue in the area to be analyzed is normal, and the robotic arm module drives the integrated diagnosis and treatment probe to move to the next area to be analyzed.

[0075] While the existence of a lesion remains uncertain, or its boundaries are not determined, the medical laser can be deactivated. In other words, the integrated diagnostic and therapeutic probe emits only imaging light. Once the lesion area is determined, the medical laser is activated to emit laser light (therapeutic light). This prevents laser irradiation of normal tissue and conserves energy.

[0076] Step 1005: Image processing is used to extract the lesion boundary and plan the laser treatment parameters and path.

[0077] The processing control module performs quantitative analysis on the tissue image, determines the presence of lesions in the area to be analyzed, calculates the coordinates of the site to be treated in the space of the integrated diagnosis and treatment probe, and determines the path and parameters of the laser treatment, which refers to the path of the laser scanning.

[0078] Step 1006 , calculate the micro-galvanometer deflection angle, control the laser treatment according to the planned parameters, and execute step 1001 .

[0079] The processing and control module also needs to calculate the deflection angle of the galvanometer in the integrated diagnosis and treatment probe based on the coordinates of the point to be treated and the relationship between the treatment light path and the imaging light path, and correct the errors caused by different wavelengths so that the laser beam can reach the planned site after reflection from the galvanometer. Then, the high-power laser (i.e., medical laser) is controlled to turn on according to the planned parameters, and after the treatment of the current site is completed, the micro-galvanometer (i.e., the first galvanometer and / or the second galvanometer) is driven to deflect, so that the treatment laser irradiates the next site to be treated until all lesions in the current tissue image are treated.

[0080] After the above process completes processing of one tissue to be processed, step 1001 is executed again to process the next area to be analyzed, and the integrated diagnosis and treatment probe is moved to the next position until all pre-planned areas of interest are covered and scanned.

[0081] In one embodiment, during surgery, the integrated diagnostic and treatment probe is mounted on a surgical robot or held by a support arm module. Guided by the preoperative image plan, it automatically or manually reaches the tissue area suspected of having a lesion, acquires an optical image of the tissue, and performs quantitative processing and analysis to determine the presence of a lesion, the location of the lesion area, and the optical model of the lesion. Based on this, the deflection angle of the micro-galvanometer in the treatment optical path is calculated, and the high-power laser is controlled to turn on according to the planned parameters, performing point-by-point scanning and treatment on the lesion area confirmed in the current optical image. The integrated diagnostic and treatment probe is then moved to the next suspicious tissue area until all planned suspected lesion areas on the preoperative image have been treated. During treatment, the optical imaging module can control the imaging light to remain independently on to monitor changes in the lesion tissue. At the same time, the medical laser can control the treatment light to be turned on intermittently when needed. By utilizing technologies such as Micro-Electro-Mechanical System (MEMS), a compact integrated diagnosis and treatment probe is designed, supplemented by intelligent diagnosis and planning algorithms. This ensures that optical diagnosis and optical treatment do not affect each other while also achieving precise coupling of diagnosis and treatment (i.e., high-precision matching of diagnosis and treatment) and automated control.

[0082] The present invention provides an integrated diagnosis and treatment probe and a diagnosis and treatment system, wherein the integrated diagnosis and treatment probe includes a first dichroic mirror, a second dichroic mirror, a first galvanometer mirror, and a second galvanometer mirror. The first dichroic mirror is used to separate the coupled input light into therapeutic light and imaging light; the first galvanometer mirror is used to reflect and scan the therapeutic light; the second galvanometer mirror is used to reflect and scan the imaging light; and the second dichroic mirror is used to recouple the therapeutic light and the imaging light to form coupled output light, so that the coupled output light reaches the tissue to be treated. The therapeutic light and the imaging light in the integrated diagnosis and treatment probe are coupled together, and the therapeutic light and the imaging light move synchronously, which solves the problem of poor matching of diagnosis and treatment caused by using two probes to diagnose through imaging light and treat through therapeutic light respectively, realizes the integration of diagnosis and treatment, and greatly improves the matching of diagnosis and treatment. At the same time, the first galvanometer and the second galvanometer in the integrated diagnosis and treatment probe can respectively perform reflection scanning on the treatment light and the imaging light. While treatment is being performed through the first galvanometer, real-time monitoring can be performed through the second galvanometer. The diagnosis and treatment and imaging monitoring processes do not affect each other, reducing monitoring errors and improving the accuracy of the diagnosis and treatment process through the integrated diagnosis and treatment probe.

[0083] Figure 11 The physical structure diagram of an electronic device is shown as an example. The electronic device is a specific implementation form of the processing control module, such as Figure 11 As shown, the electronic device may include: a processor 1101, a communication interface 1102, a memory 1103, and a communication bus 1104. The processor 1101, the communication interface 1102, and the memory 1103 communicate with each other via the communication bus 1104. The processor 1101 may call logic instructions in the memory 1103 to implement specific image and / or data processing procedures of the processing control module.

[0084] In addition, the logic instructions in the above-mentioned memory 1103 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0085] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0086] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A diagnostic and treatment integrated probe, characterized in that: The integrated diagnosis and treatment probe includes a first dichroic mirror, a second dichroic mirror, a first galvanometer mirror and a second galvanometer mirror; The first dichroic mirror is used to separate the coupled input light into therapeutic light and imaging light; The first galvanometer is used to reflect and scan the therapeutic light; The second galvanometer is used to reflect and scan the imaging light; The second dichroic mirror is used to recouple the therapeutic light and the imaging light to form coupled output light, so that the coupled output light reaches the tissue to be treated; Among them, when the parameters of the first dichroic mirror and the second dichroic mirror are the same, the second dichroic mirror is specifically used to output the coupled output light laterally so that the coupled output light reaches the tissue to be treated on the side of the integrated diagnosis and treatment probe.

2. The integrated diagnosis and treatment probe according to claim 1, characterized in that: The mirror surfaces of the first dichroic mirror and the second dichroic mirror are parallel; The mirror surfaces of the first galvanometer and the second galvanometer are parallel; The angle formed by the first dichroic mirror and the coupled input light is 45°.

3. The integrated diagnosis and treatment probe according to claim 1, characterized in that: The first dichroic mirror is a high-pass type, and the second dichroic mirror is a low-pass type; or the first dichroic mirror is a low-pass type, and the second dichroic mirror is a high-pass type; The second dichroic mirror is specifically used to output the coupled output light in a forward direction, so that the coupled output light reaches the tissue to be treated at the front end of the integrated diagnosis and treatment probe.

4. A diagnosis and treatment system, characterized in that: Including integrated diagnosis and treatment probes, optical imaging modules and medical lasers; The medical laser is used to emit therapeutic light, and the therapeutic light is used to perform laser treatment on the tissue to be treated; The optical imaging module is used to emit imaging light; The integrated diagnosis and treatment probe is used to receive coupled input light formed by the treatment light and the imaging light, and output coupled output light according to the coupled input light; The optical imaging module is further configured to receive optical imaging source data returned by the integrated diagnosis and treatment probe, and obtain a tissue image of the tissue to be treated based on the optical imaging source data; The integrated diagnosis and treatment probe specifically includes: a first dichroic mirror, a second dichroic mirror, a first galvanometer mirror, and a second galvanometer mirror; the first dichroic mirror is used to separate the coupled input light into therapeutic light and imaging light; the first galvanometer mirror is used to reflect and scan the therapeutic light; the second galvanometer mirror is used to reflect and scan the imaging light; the second dichroic mirror is used to recouple the therapeutic light and the imaging light to form coupled output light, so that the coupled output light reaches the tissue to be treated; When the parameters of the first dichroic mirror and the second dichroic mirror are the same, the second dichroic mirror is specifically used to output the coupled output light laterally so that the coupled output light reaches the tissue to be treated on the side of the integrated diagnosis and treatment probe.

5. The diagnosis and treatment system according to claim 4, characterized in that: Also included is a processing control module; The optical imaging module is further configured to transmit the tissue image to the processing control module; The processing control module is configured to acquire a first deflection angle and a second deflection angle according to the tissue image, and transmit the first deflection angle to the first galvanometer, and transmit the second deflection angle to the second galvanometer; The first galvanometer is configured to adjust its angle according to the first deflection angle; The second galvanometer is used to adjust the angle according to the second deflection angle.

6. The diagnosis and treatment system according to claim 5, characterized in that: include: The processing control module is further configured to determine parameter values ​​of the therapeutic light based on the tissue image and transmit the parameter values ​​to the medical laser; The medical laser is further used to adjust the output parameters of the therapeutic light according to the parameter value.

7. The diagnosis and treatment system according to claim 5, characterized in that: include: The processing control module is specifically configured to determine the distance between the diagnosis and treatment integrated probe and the tissue to be processed according to the tissue image, and determine the first deflection angle and the second deflection angle according to the distance.

8. The diagnosis and treatment system according to claim 5, characterized in that: include: The processing control module is specifically configured to determine a lesion area in the tissue to be processed according to the tissue image, and determine the first deflection angle and the second deflection angle according to the lesion area.

9. The diagnosis and treatment system according to claim 5, characterized in that: It also includes a robotic arm module, and the integrated diagnosis and treatment probe is installed on the robotic arm module; The processing control module is configured to acquire a preoperative image, wherein the preoperative image includes at least one area to be analyzed; The processing control module is configured to determine a treatment path based on the preoperative image and the tissue image, and transmit the treatment path to the robotic arm module, wherein the treatment path connects each of the areas to be analyzed; The robotic arm module is used to move according to the treatment path, so that the integrated diagnosis and treatment probe moves sequentially to the tissue area corresponding to each of the areas to be analyzed.

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