Endoscopic device for thyroid surgery based on fluorescence lifetime and raman spectroscopy imaging

Abstract

This invention discloses an endoscopic device for thyroid surgery based on fluorescence lifetime and Raman spectroscopy imaging, comprising: a light source assembly, an endoscope probe, a fluorescence lifetime image signal acquisition module, a Raman spectroscopy signal acquisition module, and a color image acquisition module; a host unit, including a control unit and an image processing unit; and a display for displaying an image fused with the Raman spectroscopy signal, the fluorescence lifetime image signal of cancerous tissue, and the color image, as well as an image fused with the Raman spectroscopy signal and the color image. This invention utilizes Raman spectroscopy to visualize the autofluorescence of the parathyroid glands, enabling precise localization of the parathyroid glands. Raman spectroscopy can also locate regional lymph nodes and adipose tissue in the central thyroid region, and combined with fluorescence lifetime imaging, it can provide the conformational state of fluorophores in the neck tissues, marking cancerous tissues and providing real-time optical auxiliary localization for differentiating various anatomical tissues during thyroid endoscopic surgery.

Description

Technical Field

[0001] This invention relates to the field of medical imaging, and in particular to an endoscopic device for thyroid surgery based on fluorescence lifetime and Raman spectroscopy imaging. Background Technology

[0002] Thyroid cancer has become the leading malignant tumor of the head and neck, with the majority being microcarcinomas. Endoscopic thyroid surgery has become increasingly popular due to its advantages such as precise anatomical dissection, functional preservation, and scar concealment. However, current conventional endoscopes struggle to identify microcarcinomas, metastatic lymph nodes, and accurately locate and preserve the function of the parathyroid glands. In particular, the central thyroid region often features overlapping and intertwined lymph nodes, adipose tissue, and parathyroid glands, posing challenges to routine lymph node dissection and making it difficult to precisely remove metastatic lymph nodes while avoiding damage to parathyroid function.

[0003] Distinguishing between cancerous tissue and normal soft tissue during thyroid cancer surgery is challenging. Historically, visual identification methods relied heavily on senior specialists' anatomical experience, which were highly subjective, difficult to implement, and prone to misjudgment. Intraoperative methods such as the "tissue buoyancy test" and "frozen section examination" were reactive and could not provide real-time differentiation, leading to the loss of valuable parathyroid tissue or prolonged intraoperative waiting times.

[0004] Currently, the most commonly used dye tracer technology in clinical practice is nanocarbon. This involves injecting nanocarbon into the thyroid gland to stain metastatic lymph nodes black, while simultaneously negatively contrasting the parathyroid glands. This color difference provides the surgeon with tissue classification information. However, the following problems may exist: 1. Nanocarbon is non-absorbable, and residual nanocarbon may have long-term effects on the human body, potentially causing drug allergies; 2. The injection method and dosage of nanocarbon are difficult to standardize, and leaked nanocarbon can easily stain the surgical field, affecting visual feedback under endoscopy during thyroid surgery; 3. Severely metastatic lymph nodes may cause lymphatic obstruction, preventing staining and making it easy to miss these severely metastatic lymph nodes. Other lymph node dye tracers also have the above problems.

[0005] The existing methods and equipment mentioned above are not suitable for thyroid endoscopic surgery, and cannot identify, differentiate, and locate various tissues in the central thyroid region in real time, thus failing to accurately guide thyroid endoscopic surgery. Summary of the Invention

[0006] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a thyroid surgical endoscope device based on fluorescence lifetime and Raman spectroscopy imaging, which can avoid the problems in the prior art where it is impossible to identify, distinguish, and locate various tissues in the central region of the thyroid gland in real time during thyroid endoscopic surgery.

[0007] An endoscopic device for thyroid surgery based on fluorescence lifetime and Raman spectroscopy imaging according to an embodiment of the present invention includes: a light source assembly comprising a fluorescence lifetime excitation light source, a Raman excitation light source, and a white light source; an endoscope probe for transmitting light waves output by the fluorescence lifetime excitation light source, the Raman excitation light source, and the white light source to irradiate thyroid tissue in the human body, and for transmitting light waves reflected by the irradiated thyroid tissue; a fluorescence lifetime image signal acquisition module for acquiring fluorescence lifetime image signals of cancerous tissue generated after the thyroid tissue is irradiated by the fluorescence lifetime excitation light; a Raman spectroscopy signal acquisition module for acquiring Raman spectral signals generated after the thyroid tissue is irradiated by the Raman excitation light source; and a color image acquisition module for acquiring color image signals of the thyroid tissue irradiated by the white light source. A color image generated after irradiation by a source; a host computer, the host computer including a control unit and an image processing unit, the control unit being connected to the fluorescence lifetime excitation source, the Raman excitation source, and the white light source respectively to control their operation; the image processing unit being connected to the fluorescence lifetime image signal acquisition module, the Raman spectrum signal acquisition module, and the color image acquisition module respectively, for fusing the Raman spectrum signal, the fluorescence lifetime image signal of cancerous tissue with the color image to distinguish cancerous tissue from normal tissue, and for fusing the Raman spectrum signal with the color image to locate the parathyroid gland and neck tissue; a display, connected to the image processing unit, for displaying the image fused with the Raman spectrum signal, the fluorescence lifetime image signal of cancerous tissue and the color image, and the image fused with the Raman spectrum signal and the color image.

[0008] The thyroid surgical endoscope device based on fluorescence lifetime and Raman spectroscopy imaging according to embodiments of the present invention has at least the following beneficial effects: The present invention utilizes Raman spectroscopy to image the autofluorescence of the parathyroid gland, which has a much higher intensity than that of adjacent tissues and has extremely strong distinguishability, enabling precise localization of the parathyroid gland; similarly, Raman spectroscopy can also be used to locate regional lymph nodes, adipose tissue, and other neck tissues in the central thyroid region, but due to the limitations of the weak Raman effect, the integration time is relatively long, making it difficult to achieve real-time tissue localization using this technique alone. Therefore, combining it with fluorescence lifetime imaging can provide the conformational state of fluorophores (collagen, NADPH, FAD) in neck tissues, their binding state with other molecules, and the differences in the physicochemical properties of the microenvironment of different biological tissues. This imaging is not affected by confounding factors such as changes in excitation light intensity and photobleaching, supplementing real-time imaging information and marking cancerous tissues; the combined use of the two can complement each other's information, providing label-free information on the structure, chemistry, function, composition characteristics, and metabolic characterization of biological tissues, providing real-time optical-assisted localization for differentiating various anatomical tissues in thyroid endoscopic surgery.

[0009] According to some embodiments of the present invention, the fluorescence lifetime excitation source adopts a first laser with an output wavelength of 375nm, the Raman excitation source adopts a second laser with an output wavelength of 785nm, the white light source adopts an LED tube, and the LED tube is connected to the control unit through an LED driver.

[0010] According to some embodiments of the present invention, the endoscope probe includes a housing and a fluorescence lifetime emitting fiber, a fluorescence lifetime collecting fiber, a Raman excitation fiber, multiple Raman collecting fibers, a white LED emitting fiber, and multiple CCD color imaging fibers disposed within the housing. The Raman excitation fiber and the white LED emitting fiber are located at the center, and the multiple Raman collecting fibers are arranged outside the Raman excitation fiber and the white LED emitting fiber. The fluorescence lifetime emitting fiber and the fluorescence lifetime collecting fiber are arranged in pairs and are arranged outside the multiple CCD color imaging fibers.

[0011] According to some embodiments of the present invention, the endoscope probe further includes a 785nm long-pass filter disposed within the housing, the 785nm long-pass filter being located in front of the plurality of Raman collecting optical fibers.

[0012] According to some embodiments of the present invention, the fluorescence lifetime image signal acquisition module includes a spectral segmentation unit and a signal acquisition unit; the spectral segmentation unit includes a mechanical shutter, a plano-convex lens, a short-pass filter, a first dichroic mirror, a first long-pass filter, and a second long-pass filter arranged sequentially, the first long-pass filter and the second long-pass filter being located on the reflected light path and the transmitted light path of the first dichroic mirror, respectively; the signal acquisition unit includes a first photomultiplier tube, a second photomultiplier tube, a router, and a time-correlated single-photon counting acquisition card, the first photomultiplier tube corresponding to the output end of the first long-pass filter, the second photomultiplier tube corresponding to the output end of the second long-pass filter, the output ends of the first photomultiplier tube and the second photomultiplier tube being connected to the router, the output end of the router being connected to the time-correlated single-photon counting acquisition card, and the time-correlated single-photon counting acquisition card being connected to the image processing unit.

[0013] According to some embodiments of the present invention, the Raman spectroscopy signal acquisition module includes a second dichroic mirror, a parathyroid Raman signal acquisition unit, and a neck tissue Raman signal acquisition unit, wherein the parathyroid Raman signal acquisition unit and the neck tissue Raman signal acquisition unit correspond to the transmission end and the reflection end of the second dichroic mirror, respectively; the parathyroid Raman signal acquisition unit includes a 785nm laser filter, a first bandpass filter, a first condenser lens, and a first fluorescence camera arranged in sequence; the neck tissue Raman signal acquisition unit includes a guide spectrometer and a second fluorescence camera arranged in sequence, wherein the output ends of the first fluorescence camera and the second fluorescence camera are both connected to the image processing unit.

[0014] According to some embodiments of the present invention, a converging lens is provided at the front end of the second dichroic mirror.

[0015] According to some embodiments of the present invention, the host further includes a key panel connected to the control unit. The key panel is provided with a parathyroid gland positioning key P1 and a lesion tissue positioning key P2. The parathyroid gland positioning key P1 is used to activate and fuse the Raman spectral signal with the color image, and the lesion tissue positioning key P2 is used to activate and fuse the Raman spectral signal, the fluorescence lifetime image signal of cancerous tissue, and the color image.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic diagram of the thyroid surgery endoscopic device according to an embodiment of the present invention;

[0019] Figure 2 This is an optical path diagram of the fluorescence lifetime image signal acquisition module according to an embodiment of the present invention;

[0020] Figure 3 This is an optical path diagram of the Raman spectroscopy signal acquisition module according to an embodiment of the present invention;

[0021] Figure 4 This is an exploded view of the endoscope probe according to an embodiment of the present invention;

[0022] Figure 5 This is a cross-sectional view of the endoscope probe according to an embodiment of the present invention. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0024] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they should not be construed as limiting this invention.

[0025] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0026] like Figure 1 As shown, an endoscopic device for thyroid surgery based on fluorescence lifetime and Raman spectroscopy imaging according to an embodiment of the present invention includes:

[0027] The light source assembly includes a fluorescence lifetime excitation light source 110, a Raman excitation light source 120, and a white light light source 130.

[0028] The endoscope probe 200 is used to transmit the light waves output by the fluorescence lifetime excitation source 110, the Raman excitation source 120, and the white light source 130 to irradiate the thyroid region tissue in the human body, and to transmit the light waves reflected after the thyroid region tissue is irradiated.

[0029] The fluorescence lifetime image signal acquisition module 300 is used to acquire the fluorescence lifetime image signal of cancerous tissue generated after the thyroid region tissue is irradiated by the fluorescence lifetime excitation light.

[0030] Raman spectroscopy signal acquisition module 400 is used to acquire the Raman spectral signal generated after the thyroid region tissue is irradiated by the Raman excitation source 120;

[0031] The color image acquisition module 500 is used to acquire a color image generated after the thyroid region tissue is irradiated by the white light source 130.

[0032] The host computer 600 includes a control unit 610 and an image processing unit 620. The control unit 610 is connected to the fluorescence lifetime excitation light source 110, the Raman excitation light source 120, and the white light source 130 to control their operation. The image processing unit 620 is connected to the fluorescence lifetime image signal acquisition module 300, the Raman spectral signal acquisition module 400, and the color image acquisition module 500, and is used to fuse the Raman spectral signal, the fluorescence lifetime image signal of cancerous tissue, and the color image to distinguish cancerous tissue from normal tissue, and to fuse the Raman spectral signal with the color image to locate the parathyroid gland and neck tissue.

[0033] The display 700, connected to the image processing unit 620, is used to display an image fused with the Raman spectral signal, the fluorescence lifetime image signal of cancerous tissue and the color image, and an image fused with the Raman spectral signal and the color image.

[0034] This invention utilizes Raman spectroscopy to visualize the autofluorescence of the parathyroid gland, which has a much higher intensity than adjacent tissues and possesses extremely high discrimination, enabling precise localization of the parathyroid gland. Similarly, Raman spectroscopy can also be used to locate regional lymph nodes and adipose tissue in the central thyroid region of the neck. However, due to the limitations of the weak Raman effect, the integration time is relatively long, making it difficult to achieve real-time tissue localization using this technique alone. Therefore, combining it with fluorescence lifetime imaging can provide the conformational state of fluorophores (collagen, NADPH, FAD) in neck tissues, their binding state with other molecules, and the differences in the physicochemical properties of the microenvironment of different biological tissues. This imaging is unaffected by changes in excitation light intensity, photobleaching, or other contaminating factors, supplementing real-time imaging information and marking cancerous tissues. The combined use of the two methods can provide complementary information, offering label-free information on the structure, chemistry, function, composition, and metabolic characteristics of biological tissues, providing real-time optical-assisted localization for differentiating various anatomical tissues in thyroid endoscopic surgery.

[0035] In some embodiments of the present invention, the fluorescence lifetime excitation source 110 adopts a first laser with an output wavelength of 375nm, the Raman excitation source 120 adopts a second laser with an output wavelength of 785nm, the white light source 130 adopts an LED tube, and the LED tube is connected to the control unit 610 through an LED driver 131.

[0036] The first laser uses a 375nm laser diode with a working frequency of 20MHz. It is guided to the central thyroid lymph nodes, adipose tissue, and other neck tissues through a 200μm diameter optical fiber (high OH 0.22NA fiber to minimize attenuation in the ultraviolet range). This optical fiber is integrated into a four-meter-long custom four-branched step-index multimode fiber. The mode dispersion generated by the fiber is about 400ps, and the average power incident on the tissue is kept below 20μW.

[0037] like Figure 4 , Figure 5 As shown, in some embodiments of the present invention, the endoscope probe 200 includes a housing and a fluorescence lifetime emitting fiber 210, a fluorescence lifetime collecting fiber 220, a Raman excitation fiber 230, multiple Raman collecting fibers 240, a white LED emitting fiber 250, and multiple CCD color imaging fibers 260 disposed within the housing. The Raman excitation fiber 230 and the white LED emitting fiber 250 are located at the center, and the multiple Raman collecting fibers 240 are arranged outside the Raman excitation fiber 230 and the white LED emitting fiber 250. The fluorescence lifetime emitting fiber 210 and the fluorescence lifetime collecting fiber 220 are arranged in pairs and are arranged outside the multiple Raman collecting fibers 240 along with the multiple CCD color imaging fibers 260.

[0038] Furthermore, in some embodiments of the present invention, the endoscope probe further includes a 785nm long-pass filter 270 disposed within the housing, the 785nm long-pass filter 270 being located in front of the multiple Raman collecting optical fibers 240, which can effectively suppress laser contamination.

[0039] Combination Figure 2 As shown, in some embodiments of the present invention, the fluorescence lifetime image signal acquisition module 300 includes a spectral segmentation unit 310 and a signal acquisition unit; the spectral segmentation unit 310 includes a mechanical shutter S1, a plano-convex lens L1, a short-pass filter F1, a first dichroic mirror DM1, and a first long-pass filter F2 and a second long-pass filter F3 arranged sequentially, the first long-pass filter F2 and the second long-pass filter F3 being located in the reflected light path and the transmitted light path of the first dichroic mirror DM1, respectively; the first dichroic mirror DM1 divides the fluorescence lifetime spectral signal into two endogenous fluorophore spectral bands CH1 and CH2, wherein CH1: 438±12nm (F2 light path, used to capture fluorescence from collagen and NAD(P)H) and CH2: 534±10nm (F3 light path, used to capture fluorescence from FAD and lipid-rich tissues).

[0040] The signal acquisition unit includes a first photomultiplier tube 321, a second photomultiplier tube 322, a router 323, and a time-correlated single-photon counting acquisition card 324. The first photomultiplier tube 321 corresponds to the output end of the first long-pass filter F2, and the second photomultiplier tube 322 corresponds to the output end of the second long-pass filter F3. The output ends of both the first and second photomultiplier tubes 321 and 322 are connected to the router 323. The output end of the router 323 is connected to the time-correlated single-photon counting acquisition card 324, which is connected to the image processing unit 620. Using the spectrally resolved fluorescence detected by the first and second photomultiplier tubes 321 connected to the router 323, the router 323 serializes the electronic signal to the time-correlated single-photon counting acquisition card 324.

[0041] like Figure 3 As shown, in some embodiments of the present invention, the Raman spectroscopy signal acquisition module 400 includes a second dichroic mirror 410, a parathyroid Raman signal acquisition unit 420, and a neck tissue Raman signal acquisition unit 430. The parathyroid Raman signal acquisition unit 420 and the neck tissue Raman signal acquisition unit 430 correspond to the transmission end and reflection end of the second dichroic mirror 410, respectively. The parathyroid Raman signal acquisition unit 420 includes a 785nm laser filter 421 and a first bandpass filter 422 arranged sequentially. The first focusing lens 423 and the first fluorescence camera 424; the neck tissue Raman signal acquisition unit 430 includes a guide spectrometer 431 and a second fluorescence camera 432 arranged in sequence. The guide spectrometer 431 is equipped with a 600 lines / mm grating, which can filter the autofluorescence of the neck tissue (lymph nodes, adipose tissue), and then the second fluorescence camera 432 acquires the positioning image of the neck tissue. The output terminals of the first fluorescence camera 424 and the second fluorescence camera 432 are both connected to the image processing unit 620. Among them, the 785nm laser filter 421 is used to filter the 785nm excitation light and allow near-infrared fluorescence to pass through. The first bandpass filter 422 is an 808nm bandpass filter 422, which only allows 1 / 100 of the visible light and almost all infrared light longer than 808nm to pass through. Therefore, while highlighting the parathyroid gland fluorescence image, it can also provide the relative position information of the parathyroid gland. The first focusing lens 423 is an 85mm lens that focuses onto the first fluorescence camera 424.

[0042] In some embodiments of the present invention, a converging lens 440 is provided at the front end of the second dichroic mirror 410. Since the light waves irradiated on the tissue are scattered, the converging lens 440 can collect the scattered light waves.

[0043] In some embodiments of the present invention, the host 600 further includes a button panel 630 connected to the control unit 610. The button panel 630 is provided with a parathyroid gland positioning key P1 and a lesion tissue positioning key P2. The parathyroid gland positioning key P1 is used to activate and fuse the Raman spectral signal of the parathyroid gland with the color image. The lesion tissue positioning key P2 is used to activate and fuse the Raman spectral signal of the neck tissue, the fluorescence lifetime image signal of cancerous tissue, and the color image.

[0044] During operation, pressing the P1 button activates both the Raman excitation source 120 and the white light source 130. The parathyroid Raman signal acquisition unit 420 and the color image acquisition module 500 then acquire the Raman spectral signal and color image of the parathyroid gland, respectively. The image processing unit 620 processes these signals, accurately fusing the Raman spectral signal and color image of the parathyroid gland into a composite image of the thyroid region tissue that clearly shows the location of the parathyroid gland. The image processing unit 620 then displays the composite image of the thyroid region tissue at different time points on the monitor in real time as a dynamic image, allowing doctors to avoid the parathyroid gland during surgery and prevent accidental removal of the parathyroid gland.

[0045] Activating the P2 button requires the operation of the fluorescence lifetime excitation source 110, Raman excitation source 120, and white light source 130. To avoid light contamination during fluorescence lifetime signal acquisition, the LED color illumination output of the Raman excitation source 120 and the white light source 130 must be asynchronous with the acquisition by the time-correlated single-photon counting acquisition card 324. The mechanical shutter S1 can be used to block the acquisition phase of both. It operates at a frequency of 25Hz. When the LED is lit, the shutter closes (closes for 2ms, at which point the time-correlated single-photon counting acquisition card 324 stops acquisition and the illumination is turned on), and the Raman signal acquisition unit 430 and the color image acquisition module 500 of the neck tissue acquire the Raman spectrum signal and color image of the neck tissue, respectively. When the LED is turned off, the shutter opens, allowing the time-correlated single-photon counting acquisition card 324 to perform measurements within this interval (keeps open for about 18ms, at which point the time-correlated single-photon counting acquisition card 324 begins acquisition), thereby obtaining the fluorescence lifetime image signal of the cancerous tissue. The image processing unit 620 then processes the fluorescence lifetime image signal of the cancerous tissue in the neck, integrates it with the Raman spectral signal and color image calibration to form a composite image of the thyroid region tissue that clearly shows the cancerous tissue. The image processing unit 620 then displays the composite image of the thyroid region tissue at different time points on the monitor in real time as a dynamic picture, which can help doctors to accurately remove the cancerous tissue (tumor) during surgery and avoid accidental removal of normal lymph nodes.

[0046] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., 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 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.

[0047] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An endoscopic device for thyroid surgery based on fluorescence lifetime and Raman spectroscopy imaging, characterized by: Comprising a light source assembly comprising a fluorescence lifetime excitation light source, a Raman excitation light source, a white light source; an endoscope probe for transmitting light waves output by the fluorescence lifetime excitation light source, the Raman excitation light source, and the white light source to irradiate thyroid region tissue in a human body, and for transmitting light waves reflected after the thyroid region tissue is irradiated; a fluorescence lifetime image signal acquisition module for acquiring a cancerous tissue fluorescence lifetime image signal generated after the thyroid region tissue is irradiated by the fluorescence lifetime excitation light; a Raman spectrum signal acquisition module for acquiring a Raman spectrum signal generated after the thyroid region tissue is irradiated by the Raman excitation light source; a color image acquisition module for acquiring a color image generated after the thyroid region tissue is irradiated by the white light source; a host computer comprising a control unit and an image processing unit, the control unit being connected to the fluorescence lifetime excitation light source, the Raman excitation light source, and the white light source to control their operation, the image processing unit being connected to the fluorescence lifetime image signal acquisition module, the Raman spectrum signal acquisition module, and the color image acquisition module to fuse the Raman spectrum signal, the cancerous tissue fluorescence lifetime image signal, and the color image to distinguish cancerous tissue from normal tissue, and to fuse the Raman spectrum signal and the color image to locate parathyroid glands and neck tissue; a display connected to the image processing unit to display images obtained by fusing the Raman spectrum signal, the cancerous tissue fluorescence lifetime image signal, and the color image, and images obtained by fusing the Raman spectrum signal and the color image; the Raman spectrum signal acquisition module comprises a second dichroic mirror, a parathyroid gland Raman signal acquisition unit, and a neck tissue Raman signal acquisition unit, the parathyroid gland Raman signal acquisition unit and the neck tissue Raman signal acquisition unit corresponding to the transmission end and the reflection end of the second dichroic mirror respectively, the parathyroid gland Raman signal acquisition unit comprising a 785nm laser filter, a first band-pass filter, a first condenser lens, and a first fluorescence camera arranged in sequence, and the neck tissue Raman signal acquisition unit comprising a guide spectrometer and a second fluorescence camera arranged in sequence, the output ends of the first fluorescence camera and the second fluorescence camera being connected to the image processing unit.

2. The fluorescence lifetime and Raman spectroscopy based endoscopic device for thyroid surgery according to claim 1, characterized in that: the fluorescence lifetime excitation light source uses a first laser with an output wavelength of 375nm, the Raman excitation light source uses a second laser with an output wavelength of 785nm, and the white light source uses an LED lamp tube, the LED lamp tube being connected to the control unit through an LED driver.

3. The fluorescence lifetime and Raman spectroscopy based endoscopic device for thyroid surgery of claim 1, wherein: The endoscope probe comprises a shell and a fluorescence lifetime emission optical fiber, a fluorescence lifetime collection optical fiber, a Raman excitation light optical fiber, a plurality of Raman collection optical fibers, a white LED emission optical fiber and a plurality of CCD color camera optical fibers arranged in the shell, the Raman excitation light optical fiber and the white LED emission optical fiber are located at the center position, the plurality of Raman collection optical fibers are arranged outside the Raman excitation light optical fiber and the white LED emission optical fiber, the fluorescence lifetime emission optical fiber and the fluorescence lifetime collection optical fiber are arranged in pairs and outside the plurality of Raman collection optical fibers.

4. The fluorescence lifetime and Raman spectroscopy based endoscopic device for thyroid surgery according to claim 3, characterized in that: The endoscope probe further comprises a 785nm long-pass filter arranged in the shell, and the 785nm long-pass filter is located in front of the plurality of Raman collection optical fibers.

5. The fluorescence lifetime and Raman spectroscopy based endoscopic device for thyroid surgery of claim 1, wherein: The fluorescence lifetime image signal acquisition module comprises a spectral splitting unit and a signal acquisition unit; the spectral splitting unit comprises a mechanical shutter, a plano-convex lens, a short-pass filter, a first dichroic mirror, a first long-pass filter and a second long-pass filter arranged in sequence, and the first long-pass filter and the second long-pass filter are located on the reflection light path and the transmission light path of the first dichroic mirror respectively; the signal acquisition unit comprises a first photomultiplier tube, a second photomultiplier tube, a router and a time-correlated single photon counting acquisition card, the first photomultiplier tube corresponds to the exit end of the first long-pass filter, the second photomultiplier tube corresponds to the exit end of the second long-pass filter, the output ends of the first photomultiplier tube and the second photomultiplier tube are connected with the router, the output end of the router is connected with the time-correlated single photon counting acquisition card, and the time-correlated single photon counting acquisition card is connected with the image processing unit.

6. The fluorescence lifetime and Raman spectroscopy based endomicroscopic device for thyroid surgery according to claim 1, wherein: The front end of the second dichroic mirror is provided with a converging lens.

7. The fluorescence lifetime and Raman spectroscopy based endomicroscopic device for thyroid surgery according to claim 1, wherein: The host further comprises a key panel connected with the control unit, the key panel is provided with a parathyroid positioning key P1 and a lesion tissue positioning key P2, the parathyroid positioning key P1 is used to start and fuse the Raman spectrum signal and the color image, and the lesion tissue positioning key P2 is used to start and fuse the Raman spectrum signal, the cancer tissue fluorescence lifetime image signal and the color image.

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