Multi-wavelength lasers and medical laser devices

Abstract

The embodiments of the present disclosure disclose a multi-wavelength laser and a medical laser device. A specific implementation of the multi-wavelength laser includes: a laser chip array, a multi-channel laser driving component, a spectral beam combining device and a coupling output mirror. Each laser chip shares a negative electrode, and the anode is connected to each separate anode; the spectral beam combining device is used to overlap the laser output by each laser chip in the working state in space, and emit the overlapped laser to the coupling output mirror in the same transmission direction; the coupling output mirror is used to reflect a part of the received laser to form an oscillation, and the other part of the laser forms a multi-wavelength oscillating output laser that completely overlaps in space. This implementation method realizes flexible time-domain modulation of each wavelength output laser while ensuring a compact structure. When changing the number of output wavelength channels, it will not affect the spatial distribution characteristics of the output laser, and will not cause loss of output laser brightness due to beam combining.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of laser medicine technology, and in particular to multi-wavelength lasers and medical laser devices. Background Art

[0002] Trauma is one of the main causes of human disability and pain. In particular, some difficult-to-heal trauma and pain, such as severe burns, bedsores, diabetic foot, etc., cause great pain to patients due to their long duration. People have been exploring effective means to promote wound healing and relieve pain. Laser therapy, especially the modulated laser and pulsed laser that have emerged in recent years, has obvious photobiomodulation effects and has been applied in the field of trauma and pain treatment. Wound healing is a complex process involving multiple stages. To put it simply, it can be divided into four stages that overlap in time: hemostasis, inflammation control, proliferation, and remodeling. Lasers with wavelengths in the near-infrared band (800-1100nm) can increase the content of anti-inflammatory proteins, enhance ATP anabolism and energy metabolism, and improve total phosphatase activity, and have a significant promoting effect in the four healing stages. However, the biochemical effects of the central wavelength will be different for every 10-15nm difference. Only by using multi-wavelength lasers for physical treatment of wounds can better therapeutic effects be achieved. In addition, for different types of trauma, the time domain modulation characteristics of different wavelengths will bring great differences in therapeutic effects. Current multi-wavelength laser therapy devices mostly use spatial beam combining or multi-core fiber beam combining, or couple the output light of multiple semiconductor lasers into one optical fiber.

[0003] However, when the above method is adopted, the following technical problems often occur:

[0004] First, when using spatial beam combining or multi-core fiber beam combining, it is difficult for output lasers of different wavelengths to form highly overlapping treatment areas in space, and the output time domain waveforms of different wavelengths cannot be flexibly adjusted, resulting in poor treatment effects for different types of injuries. When using the method of coupling the output light of multiple semiconductor lasers into one optical fiber, a fiber with a thicker core diameter must be used, and the coupling optical system has a complex structure due to the need to take into account different wavelengths, which reduces the brightness of the output laser.

[0005] Continuing, when the medical laser device disclosed in the present invention is used for laser irradiation, the following technical problems further exist:

[0006] Second, manual laser operation has problems of jitter and accidental touch, which can cause damage to non-traumatic skin and lead to poor safety.

[0007] Third, after the user determines the laser parameters, the entire wound surface can only be irradiated according to the uniform laser parameters. In fact, wound surfaces have different degrees of trauma. Irradiation according to uniform laser parameters has poor matching, which will aggravate the damage to the wound area with a lighter degree of injury.

[0008] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure concept and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art. Summary of the invention

[0009] The content of this disclosure is used to introduce concepts in a brief form, which will be described in detail in the detailed implementation section below. The content of this disclosure is not intended to identify the key features or essential features of the technical solution claimed for protection, nor is it intended to limit the scope of the technical solution claimed for protection.

[0010] Some embodiments of the present disclosure propose a multi-wavelength laser and a medical laser device to solve one or more of the technical problems mentioned in the above background technology section.

[0011] In a first aspect, some embodiments of the present disclosure provide a multi-wavelength laser, including a laser chip array, a multi-channel laser driving component, a spectral beam combining device and a coupling output mirror, wherein each laser chip in the above-mentioned laser chip array corresponds to each wavelength, each laser chip is arranged on a substrate component to share a common negative electrode, and an anode of each laser chip is respectively connected to each separate anode; the above-mentioned multi-channel laser driving component is electrically connected to each laser chip; in a working state, the above-mentioned spectral beam combining device is used to overlap the lasers output by each laser chip in the working state in space, and emit the overlapped lasers to the above-mentioned coupling output mirror in the same transmission direction; the above-mentioned coupling output mirror is used to reflect a part of the received laser back to each laser chip to form an oscillation, and to form another part of the laser into a multi-wavelength oscillating output laser that completely overlaps in space.

[0012] In a second aspect, some embodiments of the present disclosure provide a medical laser device, wherein the medical laser device comprises a medical laser device body and a multi-wavelength laser as described in any implementation of the first aspect, the medical laser device body comprises a power supply unit and a main control unit, and the multi-wavelength laser is communicatively connected to the main control unit.

[0013] The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the multi-wavelength laser of some embodiments of the present disclosure, the time domain flexible modulation of the output laser of each wavelength is achieved while ensuring a compact structure. When the number of output wavelength channels is changed, the spatial distribution characteristics of the output laser will not be affected, and the output laser brightness will not be lost due to beam combining, thereby improving the treatment effect for different types of injuries. Specifically, the reasons for the complex structure, the inability to flexibly adjust the output time domain waveforms of different wavelengths, the reduced brightness of the output laser, and the poor treatment effect for different types of injuries are: when using spatial beam combining or multi-core optical fiber beam combining, it is difficult for the output lasers of different wavelengths to form highly overlapping treatment areas in space, and the output time domain waveforms of different wavelengths cannot be flexibly adjusted, resulting in poor treatment effects for different types of injuries. When the output light of multiple semiconductor lasers is coupled into one optical fiber, an optical fiber with a thicker core diameter must be used, and the coupling optical system has a complex structure due to the need to take into account different wavelengths, which reduces the brightness of the output laser. Based on this, some embodiments of the multi-wavelength laser disclosed herein include a laser chip array, a multi-channel laser driving component, a spectral beam combining device and a coupling output mirror, wherein each laser chip in the laser chip array corresponds to each wavelength, each laser chip is arranged on a substrate component to share a common cathode, and the anodes of each laser chip are respectively connected to each separate anode; the multi-channel laser driving component is electrically connected to each laser chip; in a working state, the spectral beam combining device is used to overlap the lasers output by each laser chip in a working state in space, and emit the overlapped lasers to the coupling output mirror in the same transmission direction; the coupling output mirror is used to reflect a portion of the received laser back to each laser chip to form an oscillation, and to form another portion of the laser into a multi-wavelength oscillating output laser that is completely overlapped in space. Also because of the special design from the device packaging and laser oscillation level, through the multi-wavelength common cathode and anode separation method, the time domain flexible modulation of the output lasers of each wavelength is achieved while ensuring a compact structure. Also, because the spectral beam combining external cavity oscillator structure is used at the same time to achieve the coaxial, high spatial overlap coherent beam combining output of multi-wavelength lasers, when the number of output wavelength channels is changed, the spatial distribution characteristics of the output laser will not be affected, and the output laser brightness will not be lost due to beam combining. Therefore, multi-wavelength laser combined, high uniformity, and high time-effectiveness treatment of the same wound area can be achieved under any time domain and wavelength combination, improving the treatment effect for different types of trauma. Thus, while ensuring a compact structure, flexible time domain modulation of the output lasers of each wavelength is achieved. When the number of output wavelength channels is changed, the spatial distribution characteristics of the output laser will not be affected, and the output laser brightness will not be lost due to beam combining, improving the treatment effect for different types of trauma. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0015] Figure 1 is a schematic diagram of the structure of some embodiments of the multi-wavelength laser according to the present disclosure;

[0016] Figure 2 is a schematic structural diagram of a laser chip array and a multi-channel laser driving assembly according to some embodiments of the multi-wavelength laser disclosed herein;

[0017] Figure 3 is a schematic diagram of time domain output waveforms of each independently regulated path according to some embodiments of the multi-wavelength laser disclosed in the present invention;

[0018] Figure 4 is a schematic structural diagram of other embodiments of the multi-wavelength laser according to the present disclosure;

[0019] Figure 5 is a schematic structural diagram of a spectral beam combining device according to some embodiments of the multi-wavelength laser disclosed herein;

[0020] Figure 6 Schematic diagram of the structure of some embodiments of the medical laser device according to the present disclosure. DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0022] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure can be combined with each other.

[0023] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0024] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0025] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0026] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0027] Figure 1 A schematic structural diagram 100 of some embodiments of a multi-wavelength laser according to the present disclosure is shown. Figure 1 The invention comprises a laser chip array 1, a multi-channel laser driving component 2, a spectrum combining device 3 and a coupling output mirror 4.

[0028] In some embodiments, a multi-wavelength laser may include a laser chip array 1, a multi-channel laser driving component 2, a spectral beam combining device 3 and a coupling output mirror 4. The laser chips in the laser chip array 1 may be semiconductor laser chips. Each laser chip in the laser chip array 1 may correspond to a respective wavelength. Each laser chip is disposed on a substrate assembly and shares a common negative electrode. The substrate assembly may be an epitaxial wafer in which a heat sink material and a cathode are integrated. An insulating layer is disposed outside the substrate assembly. The anodes of each laser chip are respectively connected to separate anodes. As an example, Figure 2 As shown, the anodes of the laser chip λ1 , the laser chip λ2 , the laser chip λ3 , and the laser chip λ4 can be respectively wired to separate anodes independently prepared on the insulating layer by wire bonding.

[0029] In some embodiments, the multi-channel laser driving component 2 is electrically connected to each of the laser chips. The multi-channel laser driving component 2 may be a driving circuit for driving each of the laser chips.

[0030] In some embodiments, in the working state, the spectral beam combining device 3 is used to overlap the lasers output by the laser chips in the working state in space, and emit the overlapped lasers to the coupling output mirror 4 in the same transmission direction. The spectral beam combining device 3 can be a device for realizing external cavity spectral beam combining and oscillation.

[0031] In some embodiments, the coupling output mirror 4 is used to reflect a portion of the received laser light back to the respective laser chips to form oscillations, and to form another portion of the laser light into a multi-wavelength oscillating output laser that completely overlaps in space. The coupling output mirror 4 can be a plane mirror. It should be noted that when the laser beam reaches the output coupling mirror 4, a portion of the light in the laser beam is reflected by the coupling output mirror 4 back into the optical path to reach each semiconductor laser chip, and the rear surface of the semiconductor laser chip and the coupling output mirror form a resonant cavity, so that the laser light of this wavelength forms a stable oscillation in the resonant cavity. The other part of the laser beam is transmitted through the coupling output mirror 4 to form a multi-wavelength combined beam output. According to experiments, when the coupling output mirror selects a plane mirror with a transmittance of 20% and the laser chip array contains three laser chips, compared with the free operation of the three laser chips, a high spatial overlap multi-wavelength laser output with a beam combining efficiency better than 70% can be obtained.

[0032] As an example, assume that the integrated packaged laser chip array 1 contains four laser chips with different wavelengths, each of which can output synchronously or with delay, such as Figure 3 The laser beams may be in the form of sinusoidal modulated lasers, rectangular pulse lasers, continuous output lasers or periodic short pulse trains.

[0033] Optionally, the multi-wavelength laser further includes an interactive device. The interactive device can be used for users to input information. For example, the interactive device can be a host computer or a control panel. The interactive device can be used for users to select laser chips and configure the laser output parameters of each selected laser chip. The laser output parameters may include but are not limited to at least one of the following: output power, modulation frequency, duty cycle, and number of pulses. The user may be a clinician user. In the working state, the chip identification of the selected laser chip and the configured laser output parameters are sent to the multi-channel laser driving component through the single-chip microcomputer in the interactive device to drive the selected laser chip to work. In this way, laser chips of different wavelengths can be made to work in different modulation modes.

[0034] Optionally, the multi-wavelength laser further comprises an optical fiber. The optical fiber is used to transmit the multi-wavelength oscillation output laser output by the coupling output mirror. Thus, the multi-wavelength oscillation output laser can be transmitted over a long distance via the optical fiber.

[0035] Optionally, the multi-wavelength laser further includes an optical adjustment system. The optical adjustment system can be used to adjust the multi-wavelength oscillating output laser output by the coupling output mirror to a laser beam matching a preset shape. The preset shape corresponds to the shape of the wound to be treated. Thus, the multi-wavelength oscillating output laser can be modulated to a laser beam matching the shape and size of the wound.

[0036] Optionally, the multi-channel laser driving component 2 includes a single chip microcomputer and a laser driving array. The laser driving in the laser driving array corresponds to the laser chip in the laser chip array. The cathodes of the laser driving array are electrically connected. The anodes of the laser driving are respectively connected to the separated anodes. The laser driving array and the laser chips share a cathode. As an example, the schematic diagram of the structure of the laser driving array can be referred to Figure 2 . Figure 2 In the embodiment, the laser driving array includes a λ1 driving device corresponding to the laser chip λ1, a λ2 driving device corresponding to the laser chip λ2, a λ3 driving device corresponding to the laser chip λ3, and a λ4 driving device corresponding to the laser chip λ4. The λ1 driving device, the λ2 driving device, the λ3 driving device, and the λ4 driving device share a negative electrode with the laser chips λ1, λ2, λ3, and λ4.

[0037] Alternatively, if Figure 4 As shown, the spectral beam combining device 3 includes a collimating optical system 31, a first grating 32, and a second grating 33. The multi-wavelength laser may also include a fiber coupling mirror 5, an optical fiber 6, and a fiber collimating mirror 7. Among them, the collimating optical system 31 may be a fast-slow axis collimating optical system. The fiber coupling mirror 5 may be an aspheric lens. The fiber collimating mirror 7 may be an aspheric mirror. It should be noted that since the resonant cavity is a flat cavity, the divergence angle of the output light beam is very small, and a single aspheric lens can be used as a fiber coupling mirror to couple it into the optical fiber for long-distance transmission. At the treatment end, an aspheric fiber collimating mirror with a suitable focal length can be used to shape it into a multi-wavelength laser spot of the desired size. By selecting aspheric lenses with different focal lengths or adjusting the distance between the aspheric lens and the end face of the optical fiber, the size of the treatment spot can be flexibly adjusted to adapt to the treatment of sores of different sizes.

[0038] Optionally, the collimating optical system 31 includes fast and slow axis collimators corresponding to the laser chips. The lasers emitted by the laser chips pass through the corresponding fast and slow axis collimators to form parallel laser beams that are directed toward the first grating 32. The angle between the first grating and the optical axis of each incident laser beam is a preset angle. After passing through the first grating, each laser beam is transmitted to the second grating 33 at a diffraction angle. The preset angle may be 45°. It should be noted that each laser beam satisfies the grating equation Λ(sinα+sinθ i )=mλ i Wherein, Λ is the grating period, which is designed to be 670nm, α is the unified beam combining angle of different wavelengths, 45°, and m is the diffraction order, which is selected to be 1. The first grating 32 and the second grating 33 can be plane diffraction gratings, and the parameters of the second grating 33 are the same as those of the first grating 32 described above.

[0039] As an example, the laser array 1 may include three semiconductor laser chips, with wavelengths of 808nm, 905nm and 976nm respectively selected to take into account inflammation control, proliferation and remodeling functions. Since the three functions require different depths of action, 808nm is selected as W-level continuous output, 905nm as pulse train output and 976nm as periodic rectangular pulse output. The latter two are synchronized in timing with a repetition frequency of 2kHz to achieve simultaneous action. At this time, the diffraction angles θ of the three wavelengths of laser light are i They are 30°, 40° and 49° respectively, so that the three lasers can be transmitted to the second grating at different diffraction angles.

[0040] The second grating 33 is parallel to the first grating 32, and each incident laser beam overlaps on the diffraction surface of the second grating 33. The laser beams incident at various diffraction angles are diffracted by the second grating to form a multi-wavelength laser beam parallel to the output optical axis of each laser chip.

[0041] When the multi-wavelength laser reaches the coupling output mirror 4, a part of the multi-wavelength laser is reflected back to the optical path by the coupling output mirror 4 and reaches the corresponding laser chips to form oscillation, and another part of the multi-wavelength laser passes through the coupling output mirror 4 to form a multi-wavelength combined output laser. The fiber coupling mirror 5 is used to couple the multi-wavelength combined output laser into the optical fiber 6 for transmission. The fiber collimator 7 can adjust the multi-wavelength combined output laser transmitted through the optical fiber to a preset size. By selecting aspheric lenses with different focal lengths or adjusting the distance between the aspheric lens and the end face of the optical fiber, the size of the treatment spot can be flexibly adjusted to accommodate the treatment of wounds of different sizes.

[0042] Alternatively, if Figure 5 As shown, the spectral beam combining device 3 includes various multimode interference beam combining waveguides 34 and coupled output waveguides 35. Each of the multimode interference beam combining waveguides 34 is used to couple the lasers of different wavelengths emitted by various laser chips into one path. The coupled output waveguide 35 is used to couple the lasers output by the multimode interference beam combining waveguides into one path. The spectral beam combining device 3 may also include a partially transparent component. The partially transparent component may be disposed at the end of the coupled output waveguide 35. For example, the partially transparent component may be a partially transparent film plated on the end or a partially transparent grating engraved on the end. The partially transparent component is used to reflect a portion of the laser output by the coupled output waveguide back to the optical path to reach the corresponding laser chips to form oscillations, and is also used to form another portion of the laser into a multi-wavelength oscillating output laser that completely overlaps in space. Thus, a wavelength division multiplexing beam combining waveguide may be used to realize a spectral beam combining device.

[0043] Optionally, each laser chip in the laser chip array 1 is arranged on the substrate assembly by means of a patch, and the number of laser chips that can be accommodated on the substrate assembly is greater than or equal to the number of each laser chip included in the laser chip array. Thus, the substrate assembly can detachably accommodate each laser chip.

[0044] Optionally, the multi-wavelength laser further comprises a thermistor, which is used to limit the increase of the current magnitude after detecting the temperature rise in the working state. For example, the thermistor may be a PTC thermistor. Thus, the circuit of the multi-wavelength laser can be controlled by a thermal switch to reduce the influence of the heat generated by long-term laser emission on the current.

[0045] Optionally, the laser chip array includes at least one indicating laser chip. In a working state, the laser emitted by the at least one indicating laser chip is used to indicate in advance the irradiation position of the treatment light source on the wound surface. The indicating laser chip may be a laser chip for indicating. For example, the indicating laser chip may be a laser chip with a wavelength of 638 nm.

[0046] The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the multi-wavelength laser of some embodiments of the present disclosure, the time domain flexible modulation of the output laser of each wavelength is achieved while ensuring a compact structure. When the number of output wavelength channels is changed, the spatial distribution characteristics of the output laser will not be affected, and the output laser brightness will not be lost due to beam combining, thereby improving the treatment effect for different types of injuries. Specifically, the reasons for the complex structure, the inability to flexibly adjust the output time domain waveforms of different wavelengths, the reduced brightness of the output laser, and the poor treatment effect for different types of injuries are: when using spatial beam combining or multi-core optical fiber beam combining, it is difficult for the output lasers of different wavelengths to form highly overlapping treatment areas in space, and the output time domain waveforms of different wavelengths cannot be flexibly adjusted, resulting in poor treatment effects for different types of injuries. When the output light of multiple semiconductor lasers is coupled into one optical fiber, an optical fiber with a thicker core diameter must be used, and the coupling optical system has a complex structure due to the need to take into account different wavelengths, which reduces the brightness of the output laser. Based on this, some embodiments of the multi-wavelength laser disclosed herein include a laser chip array, a multi-channel laser driving component, a spectral beam combining device and a coupling output mirror, wherein each laser chip in the laser chip array corresponds to each wavelength, each laser chip is arranged on a substrate component to share a common cathode, and the anodes of each laser chip are respectively connected to each separate anode; the multi-channel laser driving component is electrically connected to each laser chip; in a working state, the spectral beam combining device is used to overlap the lasers output by each laser chip in a working state in space, and emit the overlapped lasers to the coupling output mirror in the same transmission direction; the coupling output mirror is used to reflect a portion of the received laser back to each laser chip to form an oscillation, and to form another portion of the laser into a multi-wavelength oscillating output laser that is completely overlapped in space. Also because of the special design from the device packaging and laser oscillation level, through the multi-wavelength common cathode and anode separation method, the time domain flexible modulation of the output lasers of each wavelength is achieved while ensuring a compact structure. Also, because the spectral beam combining external cavity oscillator structure is used at the same time to achieve the coaxial, high spatial overlap coherent beam combining output of multi-wavelength lasers, when the number of output wavelength channels is changed, the spatial distribution characteristics of the output laser will not be affected, and the output laser brightness will not be lost due to beam combining. Therefore, multi-wavelength laser combined, high uniformity, and high time-effectiveness treatment of the same wound area can be achieved under any time domain and wavelength combination, improving the treatment effect for different types of trauma. Thus, while ensuring a compact structure, flexible time domain modulation of the output lasers of each wavelength is achieved. When the number of output wavelength channels is changed, the spatial distribution characteristics of the output laser will not be affected, and the output laser brightness will not be lost due to beam combining, improving the treatment effect for different types of trauma.

[0047] Further references Figure 6, which shows a schematic structural diagram 600 of some embodiments of the medical laser device according to the present disclosure. Figure 6 The medical laser device includes a medical laser device body 61 and a multi-wavelength laser 62. The medical laser device body 61 includes a power supply unit 611 and a main control unit 612.

[0048] In some embodiments, the medical laser device 600 includes a medical laser device body 61 and a Figure 1 The multi-wavelength laser described. The medical laser device body 61 includes a power supply unit 611 and a main control unit 612. The power supply unit 611 may include a power storage device. The main control unit 612 may be a central processing unit. The multi-wavelength laser 62 is connected to the main control unit 612 for communication. Here, the communication connection may be a wired connection or a wireless connection.

[0049] Optionally, the medical laser device body 61 may also include, but is not limited to: a storage device, a read-only memory, a random access memory, a bus, an interface, and a communication device.

[0050] Optionally, the medical laser device may further include a laser head, a camera device and a mechanical arm. The laser head is used to output the laser emitted by the multi-wavelength laser. The camera device may be a camera. The camera device may be configured to capture wound surface images. The laser head is disposed at the mobile end of the mechanical arm. The main control unit may be configured to perform the following steps:

[0051] The first step is to perform backup processing on the wound surface image collected by the camera device to obtain a backup wound surface image. In practice, the main control unit can perform copy processing on the wound surface image to obtain a backup wound surface image.

[0052] The second step is to perform denoising on the backup wound surface image to obtain a denoised wound surface image. In practice, the main control unit may perform denoising on the backup wound surface image using a wavelet denoising method to obtain a denoised wound surface image.

[0053] The third step is to smooth the denoised wound surface image to obtain a smoothed wound surface image. In practice, the main control unit may use a Gaussian filter to smooth the denoised wound surface image to obtain a smoothed wound surface image.

[0054] The fourth step is to generate the gradient direction and gradient magnitude of each pixel in the above-mentioned smooth wound surface image. In practice, the above-mentioned main control unit can use the sobel operator to generate the gradient direction and gradient magnitude of each pixel. The gradient direction can be divided into: vertical direction, horizontal direction, and diagonal direction.

[0055] The fifth step is to perform homogenization processing on each pixel in the above-mentioned smooth wound surface image that does not meet the preset boundary conditions according to the gradient direction and gradient magnitude of each pixel in the above-mentioned smooth wound surface image, so as to obtain an initial wound surface boundary image. The above-mentioned preset boundary condition may be that the gradient magnitude of the pixel is the maximum value among the gradient magnitudes of each pixel with the same gradient direction around it. In practice, the above-mentioned main control unit may update the pixel value of each pixel in the above-mentioned smooth wound surface image that does not meet the preset boundary condition to a preset pixel value, so as to perform homogenization processing and obtain an initial wound surface boundary image. For example, the above-mentioned preset pixel value may be 0.

[0056] Step 6: Perform homogenization processing on each pixel in the initial wound boundary image that does not meet the preset threshold condition to obtain a wound boundary image. The preset threshold condition may be that the grayscale gradient of the pixel is greater than the preset maximum value, or the grayscale gradient of the pixel is greater than or equal to the preset minimum value and less than or equal to the preset maximum value and is connected to the target boundary pixel. The target boundary pixel may be a pixel whose grayscale gradient is greater than the preset maximum value.

[0057] Step 7: Determine the pixel coordinates of each pixel in the wound surface boundary image that meets a preset pixel condition. The preset pixel condition may be that the pixel value of the pixel is not the preset pixel value. The pixel coordinates may be image coordinates.

[0058] In the eighth step, the wound surface image is segmented according to the determined pixel coordinates to obtain a segmented wound surface image. The segmented wound surface image shows the wound surface area. In practice, the main control unit can use the pixel coordinates as boundaries, retain the pixel values ​​within the boundaries, and update the pixel values ​​of the pixels outside the boundaries to preset pixel values ​​to segment the wound surface image to obtain a segmented wound surface image.

[0059] The ninth step is to input the segmented wound image into a pre-trained image classification model to obtain the wound category to which each pixel in the wound area belongs. The image classification model may include an input layer, an encoder, a decoder, and an output layer. The encoder includes various encoding layers. Each encoding layer includes a convolution layer and a pooling layer. The convolution layer can be used to extract features, and the same convolution method can be used. The pooling layer can use the max Pooling method and record the index of the value taken. The decoder includes various decoding layers, each decoding layer includes an upsampling layer and a convolution layer, and the encoding layer in each of the encoding layers corresponds to a decoding layer in each of the decoding layers. The upsampling layer uses an indexed method for upsampling. The output layer can receive the output of the last decoding layer, classify each pixel independently, and output K channels, each channel representing a category. The wound category can characterize the level of wound damage.

[0060] Step 10: For each wound category obtained after deduplication, perform the following steps:

[0061] The first sub-step is to determine the number of pixels belonging to the above wound surface category.

[0062] The second sub-step is to determine the wound area corresponding to the wound category by using the above number. Thus, the wound area of ​​the wound category can be represented by the number of pixels.

[0063] In the third sub-step, the pixel coordinates of each pixel belonging to the above-mentioned wound surface category are determined as a pixel coordinate group.

[0064] The fourth sub-step is to determine the wound type, the wound area and the pixel coordinate group as wound information.

[0065] In the eleventh step, according to the determined wound surface information, a laser output information group corresponding to each wound surface information in the above wound surface information is determined. Wherein, each laser output information in the above laser output information group corresponds to a laser chip identifier. That is, one laser output information corresponds to one laser chip. The laser output information may be parameter-related information for controlling the laser chip to emit laser. The laser output information may include: laser chip identifier, laser output parameters.

[0066] In the twelfth step, the determined laser output information groups are sorted according to the corresponding wound surface categories to obtain a laser output information group queue. In practice, the main control unit can sort the determined laser output information groups in ascending order according to the corresponding wound surface categories to obtain a laser output information group queue. In this way, the parts with less severe injuries can be treated first, allowing the patient user to gradually adapt.

[0067] Step 13: for each laser output information group in the laser output information queue, perform the following steps:

[0068] In the first sub-step, the wound surface category corresponding to the laser output information group is determined as the target wound surface category.

[0069] The second sub-step is to determine the pixel coordinate group corresponding to the target wound surface category as the target pixel coordinate group.

[0070] The third sub-step is to sort the target pixel coordinate group according to a preset arrangement to obtain a target pixel coordinate sequence. The preset arrangement may be an arcuate arrangement that cycles from top to bottom, from left to right, and then from right to left. This arrangement can reduce the moving path of the robot arm.

[0071] The fourth sub-step is to perform coordinate conversion processing on each target pixel coordinate in the target pixel coordinate sequence to obtain a conversion coordinate sequence. In practice, the main control unit can convert each target pixel coordinate in the target pixel coordinate sequence to a coordinate system referenced when the robot moves to obtain a conversion coordinate sequence.

[0072] The fifth sub-step is to determine the movement information sequence of the above-mentioned robot arm according to the above-mentioned conversion coordinate sequence and the irradiation area of ​​the above-mentioned laser head. The movement information in the above-mentioned movement information sequence includes the center coordinates, the movement direction and the movement step length. The movement information sequence can be each movement information that satisfies the preset complete coverage condition. The preset complete coverage condition can be that the robot arm moves at least according to each movement information so that the irradiation area of ​​the laser head covers the area corresponding to the above-mentioned conversion coordinate sequence. The center coordinates can be the coordinates to which the robot arm needs to move. For example, the shape of the above-mentioned irradiation area can be circular.

[0073] The sixth sub-step is to control the multi-wavelength laser to emit laser light according to the laser output information group, and to control the mechanical arm to drive the laser head to move according to the movement information sequence. In practice, the multi-wavelength laser can be controlled to emit laser light after the movement stops.

[0074] The above-mentioned first step to the thirteenth step, as an inventive point of an embodiment of the present invention, solves the second technical problem mentioned in the background technology, "manual laser operation has problems of jitter and accidental touch, which will cause damage to non-traumatic skin and lead to poor safety". The factors that lead to poor safety are often as follows: manual laser operation has problems of jitter and accidental touch, which will cause damage to non-traumatic skin and lead to poor safety. If the above factors are solved, the effect of improving safety can be achieved. In order to achieve this effect, the present invention first determines the overall outline of the wound, and then crops the wound image according to the outline, and then divides and classifies the wound image into regions, and different regions represent different degrees of wound categories. Secondly, the laser parameters corresponding to each region are determined, and finally the laser is emitted according to the laser parameters, and the robotic arm is controlled to automatically move the laser head to realize automatic laser irradiation without manual operation, thereby improving safety.

[0075] In some optional implementations of some embodiments, the main control unit may determine the laser output information group corresponding to each wound surface information in the wound surface information according to the determined wound surface information through the following steps:

[0076] The first step is to extract the wound area from the above wound information.

[0077] In the second step, the sum of the above-mentioned wound areas is determined as the total wound area.

[0078] The third step is to generate a wound area threshold value based on the total wound area. In practice, the execution entity may determine the wound area threshold value by multiplying the total wound area by a preset ratio. For example, the preset ratio may be 1 / 2. The preset ratio may also be a ratio greater than 1 / 2 and less than 1. Thus, at least half of the total wound area may be used as the wound area threshold value.

[0079] The fourth step is to sort the above wound surface information in descending order according to the corresponding wound surface area to obtain a wound surface information sequence.

[0080] The fifth step is to determine the first wound surface information in the above wound surface information sequence as the target wound surface information.

[0081] Step 6: According to the wound surface information sequence and target wound surface information, the following loop steps are performed:

[0082] The first sub-step is to determine whether the sum of the wound area included in the target wound information and the target wound area is greater than the wound area threshold. The initial value of the target wound area may be 0.

[0083] In the second sub-step, in response to determining that the sum of the wound area included in the target wound information and the target threshold is greater than or equal to the above-mentioned wound area threshold, each wound information after the target wound information in the above-mentioned wound information sequence is determined as a wound information set.

[0084] The third sub-step, in response to determining that the sum of the wound area included in the target wound information and the target threshold is less than the above-mentioned wound area threshold, determines the wound area included in the target wound information as the target wound area, and determines the adjacent wound information after the target wound information in the above-mentioned wound information sequence as the target wound information, and executes the above-mentioned loop step again.

[0085] In the seventh step, for each target wound surface information among the determined target wound surface information, the laser output information input by the user is determined as the laser output information group corresponding to the target wound surface information. Thus, for the wound surface with the largest area and the largest proportion, the laser output information set by the user can be used to control each laser chip to emit laser.

[0086] Step 8: for each wound surface information in the determined wound surface information set, perform the following steps according to each laser output information input by the user:

[0087] The first sub-step is to determine each adjustment coefficient information according to the wound category included in the wound information and the wound category corresponding to each laser output information. Among them, the adjustment coefficient information in each adjustment coefficient information corresponds to the laser output information in each laser output information. Here, each adjustment coefficient information from each wound category to other wound categories can be pre-set. The adjustment coefficient information can include each adjustment coefficient, and the adjustment coefficient can be used to multiply the laser output parameter corresponding to the adjustment coefficient in the adjusted laser output information. When the adjustment coefficient is greater than 1, it can indicate that the laser output parameter needs to be increased. When the adjustment coefficient is less than 1, it can indicate that the laser output parameter needs to be decreased.

[0088] The second sub-step is to adjust the laser output information for each of the laser output information according to the adjustment coefficient information corresponding to the laser output information in the adjustment coefficient information. For each laser output parameter included in the laser output information, the laser output parameter can be multiplied by the adjustment coefficient corresponding to the adjustment coefficient information in the adjustment coefficient information to adjust the laser output parameter.

[0089] The third sub-step is to determine the adjusted laser output information as a laser output information group corresponding to the wound surface information.

[0090] The above-mentioned first step to the eighth step, as an inventive point of the embodiment of the present disclosure, solves the technical problem three mentioned in the background technology: "After the user determines the laser parameters, the entire wound surface can only be irradiated according to the unified laser parameters. In fact, the wound surface has different degrees of trauma. The matching of irradiation according to the unified laser parameters is poor, and the injury of the wound surface area with a lighter degree of injury will be aggravated." The factors that lead to aggravated injuries are often as follows: After the user determines the laser parameters, the entire wound surface can only be irradiated according to the unified laser parameters. In fact, the wound surface has different degrees of trauma. The matching of irradiation according to the unified laser parameters is poor, and the injury of the wound surface area with a lighter degree of injury will be aggravated. If the above factors are solved, the effect of reducing the damage caused by the mismatch of laser parameters can be achieved. In order to achieve this effect, the present disclosure still irradiates the area with a relatively large proportion of the wound surface area according to the laser parameters set by the user, and gradually adjusts other areas according to the degree of injury of the wound surface, so that the corresponding laser parameters can be irradiated in different areas based on the parameters set by the user. In this way, the matching of the laser parameters with each wound surface area is improved, and the damage caused by the mismatch of laser parameters is reduced.

[0091] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

Claims

1. A multi-wavelength laser, comprising a laser chip array, a multi-channel laser driving assembly, a spectral beam combining device and a coupling output mirror, wherein: Each laser chip in the laser chip array corresponds to a respective wavelength, each laser chip is arranged on a substrate assembly and shares a common cathode, and an anode of each laser chip is respectively connected to a separate anode; The multi-channel laser driving assembly is electrically connected to each of the laser chips; In a working state, the spectral beam combining device is used to overlap the lasers output by the various laser chips in the working state in space, and emit the overlapped lasers to the coupling output mirror in the same transmission direction; The coupling output mirror is used to reflect a portion of the received laser light back to the respective laser chips to form oscillations, and to form another portion of the laser light into a multi-wavelength oscillation output laser light that completely overlaps in space; The spectral beam combining device includes a collimating optical system, a first grating, and a second grating, and the multi-wavelength laser also includes a fiber coupling mirror, an optical fiber, and a fiber collimating mirror; The collimating optical system comprises fast and slow axis collimating mirrors corresponding to the laser chips. The lasers emitted by the laser chips pass through the corresponding fast and slow axis collimating mirrors to form parallel laser beams that are emitted to the first grating. The angle between the first grating and the optical axis of each incident laser beam is a preset angle, and each laser beam is transmitted to the second grating at various diffraction angles after passing through the first grating; The second grating is parallel to the first grating, and each incident laser beam overlaps on the diffraction surface of the second grating. Each laser beam incident at each diffraction angle forms a multi-wavelength laser beam parallel to the output optical axis of each laser chip after being diffracted by the second grating. The parameters of the second grating are the same as those of the first grating. When the multi-wavelength laser reaches the coupling output mirror, a portion of the multi-wavelength laser is reflected by the coupling output mirror back to the optical path and reaches the corresponding laser chips to form oscillation, and another portion of the multi-wavelength laser passes through the coupling output mirror to form a multi-wavelength combined beam output laser; The optical fiber coupling mirror is used to couple the multi-wavelength beam combining output laser into the optical fiber for transmission; The optical fiber collimator can adjust the multi-wavelength combined output laser transmitted through the optical fiber to a preset size.

2. The multi-wavelength laser according to claim 1, wherein: The multi-wavelength laser also includes an interactive device, which is used for allowing a user to select a laser chip and configure the laser output parameters of each selected laser chip. In a working state, the chip identification of the selected laser chip and the configured laser output parameters are sent to the multi-channel laser driving component through the single-chip microcomputer in the interactive device to drive the selected laser chip to work.

3. The multi-wavelength laser according to claim 1, wherein: The multi-wavelength laser further comprises an optical fiber, which is used to transmit the multi-wavelength oscillation output laser output by the coupling output mirror.

4. The multi-wavelength laser according to claim 1, wherein: The multi-wavelength laser also includes an optical adjustment system, which is used to adjust the multi-wavelength oscillating output laser output by the coupling output mirror into a laser beam matching a preset shape, wherein the preset shape corresponds to the shape of the wound to be treated.

5. The multi-wavelength laser according to claim 1, wherein: The multi-channel laser driving component includes a single-chip microcomputer and a laser driving array. The laser drivers in the laser driving array correspond to the laser chips in the laser chip array. The cathodes of the laser drivers included in the laser driving array are electrically connected, and the anodes of the laser drivers are respectively connected to the separate anodes. The laser driving array and the laser chips share a negative electrode.

6. The multi-wavelength laser according to claim 1, wherein: The spectral beam combining device comprises various multi-mode interference beam combining waveguides, coupled output waveguides and partial transmission elements; Each of the multi-mode interference beam combining waveguides is used to couple laser beams of different wavelengths emitted by each laser chip into one path; The coupled output waveguide is used to couple the lasers outputted from the multi-mode interference beam combining waveguides into one channel; The partially transparent element is used to reflect a portion of the laser output from the coupled output waveguide back to the optical path to reach the corresponding laser chips to form oscillation, and is also used to transform the other portion of the laser into multi-wavelength oscillating output lasers that completely overlap in space.

7. The multi-wavelength laser according to claim 1, wherein: Each laser chip in the laser chip array is arranged on a substrate assembly by means of a patch, and the number of laser chips that can be accommodated on the substrate assembly is greater than or equal to the number of each laser chip included in the laser chip array.

8. The multi-wavelength laser according to claim 1, wherein: The multi-wavelength laser further comprises a thermistor, which is used to limit the increase of current magnitude after detecting a temperature rise in a working state.

9. A medical laser device, wherein: The medical laser device comprises a medical laser device body and the multi-wavelength laser according to any one of claims 1 to 8, wherein the medical laser device body comprises a power supply unit and a main control unit, and the multi-wavelength laser is communicatively connected to the main control unit.

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