Detection device and detection method for autofluorescence tissue, and storage medium

Abstract

The invention provides an autofluorescence tissue detection device, a detection method and a storage medium. The detection device comprises: a laser emitter for irradiating a tissue to be detected with a laser having a modulation frequency f and a wavelength lambda; the collecting device is used for collecting optical signals around the detected tissue irradiated by the laser; the grating light splitting device is optically connected with the acquisition device and can split the light signals from the acquisition device according to the wavelength, so that only the light signals with the wavelength range of lambda1 to lambda2 are left; the processor is connected with the laser transmitter, the acquisition device and the grating light splitting device; the memory is connected with the processor and is used for storing instructions and data for enabling the processor to execute operations; and the notification device is connected with the processor and notifies the detection result.

Description

Technical Field

[0001] The present disclosure relates to the field of medical detection, and in particular, to a device, method and storage medium for detecting autofluorescent tissue. Background Art

[0002] Scientific research shows that some tissues in the human body have fluorescent properties and can emit fluorescence under the stimulation of excitation light within a certain wavelength range. These tissues are called autofluorescent tissues. These tissues are often very small and difficult to be effectively identified by the naked eye. They are often mistakenly cut during surgery, endangering the patient's postoperative life or even life. For example, the human body has two pairs of parathyroid glands, which are brown-yellow and shaped like soybeans. They are located in the middle and lower parts of the back of the left and right lobes of the thyroid gland (or buried in them). Its main function is to secrete parathyroid hormone (PTH for short) to regulate the metabolism of calcium and phosphorus in the body. If the parathyroid glands are hypofunctioning or completely removed, PTH secretion is insufficient, causing blood calcium to gradually decrease and blood phosphorus to gradually increase, leading to hypocalcemic convulsions and even death. Since the parathyroid gland weighs 35-45 mg and is about 5×3×1 mm in size, it is very small, and the location of the parathyroid gland is not fixed: the position of the upper parathyroid gland is relatively constant, about 77% are located near the cricothyroid joint, 22% are located behind the upper pole of the thyroid gland, and only about 1% are located behind the pharynx and esophagus; the position of the lower gland varies greatly, 42% are located in front and back of the lower pole of the thyroid gland, 39% are located in the thymus tongue (i.e., using the sternal ligament to find the lower parathyroid gland), 2% are located in the thymus of the upper mediastinum, 15% are located in the tracheoesophageal groove near the thyroid body, and 2% have variations. Therefore, during thyroidectomy, it is difficult to distinguish the parathyroid gland from surrounding tissues such as the thyroid gland and fat with the naked eye, which may damage the parathyroid gland or even accidentally remove it, bringing great hidden dangers to the operation.

[0003] It is known that the parathyroid gland can generate fluorescence with a peak value of 820nm-830nm under the excitation of a laser with a wavelength of 785nm. There are related parathyroid gland detection and identification methods using this property. For example, a modulated excitation laser is used to illuminate human tissue, and whether the tissue generates fluorescence and the properties such as fluorescence intensity are analyzed to determine whether the tissue is a parathyroid gland. Using such technology, it is possible to detect and identify whether the relevant tissue is a parathyroid gland in real time during surgery, avoid damaging the parathyroid gland, and improve the success rate of surgery.

[0004] However, in actual application scenarios such as surgery, various interferences are unavoidable around autofluorescent tissues. For example, during surgery, there are usually shadowless lamps and other equipment, which will interfere with fluorescence analysis. Therefore, there is still room for improvement in the accuracy of autofluorescent tissue detection. Summary of the invention

[0005] The present application provides a detection device, a detection method and a storage medium for autofluorescent tissue.

[0006] In a first aspect, a detection device for autofluorescent tissue comprises:

[0007] A laser transmitter, which irradiates the examined tissue with a laser having a modulation frequency of f and a wavelength of λ;

[0008] A collection device for collecting light signals around the examined tissue irradiated by the laser;

[0009] A grating spectrometer, optically connected to the collection device, capable of splitting the optical signal from the collection device according to wavelength, so that only the optical signal with a wavelength range of λ1 to λ2 is left;

[0010] A processor connected to the laser emitter, the acquisition device and the grating spectrometer;

[0011] A memory, connected to the processor, storing instructions and data for the processor to perform operations;

[0012] a notification device, connected to the processor, and notifying the detection result,

[0013] In the sampling period of the grating spectrometer, data of J different wavelengths are extracted, and each wavelength is recorded as T i The corresponding fluorescence intensity is recorded as D i , where 0≤i≤J-1, extract the data of N consecutive sampling periods to obtain the wavelengths T within a period of time i The time series x iN (k), where 0≤k≤N-1;

[0014] The processor performs the following processing based on the data from the grating spectrometer:

[0015] For each T i The time series x iN (k) Perform Fourier transform to obtain the wavelength T i The spectrum sequence X iN (k);

[0016] For X iN (k), extract the value at frequency f as the wavelength T i The fluorescence intensity value is denoted as F(i);

[0017] T i As the horizontal coordinate, F(i) as the vertical coordinate, draw the fitted two-dimensional curve;

[0018] Based on the two-dimensional curve, whether the examined tissue is a target autofluorescent tissue is determined as a detection result.

[0019] First, the grating spectrometer can only retain the signal within the wavelength range of λ1 to λ2. If the energy of the interference signal is mainly concentrated outside this wavelength band, most of the interference signal can be filtered out in this way, and the excitation laser can also be filtered out at the same time.

[0020] Furthermore, if the frequency of the interfering light is different from the modulation frequency f, the component value of the interfering light corresponding to the modulation frequency f is very small and can even be ignored. i The spectrum sequence X iN (k) The value corresponding to the modulation frequency f can further reduce the influence of interfering light (such as shadowless lamp, etc.) whose frequency is far different from the modulation frequency, and greatly enhance the anti-interference performance.

[0021] Furthermore, the two-dimensional curve fitted in the above method is used to determine whether the examined tissue is the target autofluorescent tissue. Compared with the prior art which only uses a single fluorescence intensity value to determine, the two-dimensional curve contains a larger amount of data and has a higher error tolerance, thereby further improving the accuracy of autofluorescent tissue detection.

[0022] In a second aspect, a method for detecting autofluorescent tissue comprises the following steps:

[0023] irradiating the inspected tissue with a laser having a modulation frequency of f and a wavelength of λ, and sampling the optical signal around the inspected tissue;

[0024] The collected optical signals are split according to wavelengths using a grating spectrometer, so that only optical signals with wavelengths in the range of λ1 to λ2 are left;

[0025] In one sampling period, data of J different wavelengths are extracted, and each wavelength is recorded as T i The corresponding fluorescence intensity is recorded as D i , where 0≤i≤J-1;

[0026] Extract the data of N consecutive sampling periods to obtain the wavelengths T within a period of time. i The time series x iN (k), where 0≤k≤N-1;

[0027] For each T i The time series x iN (k) Perform Fourier transform to obtain the wavelength T i The spectrum sequence X iN (k);

[0028] For X iN (k), extract the value at frequency f as the wavelength T i The fluorescence intensity value is denoted as F(i);

[0029] T i As the horizontal coordinate, F(i) as the vertical coordinate, draw the fitted two-dimensional curve;

[0030] Based on the two-dimensional curve, it is determined whether the examined tissue is a target autofluorescent tissue.

[0031] In a third aspect, a computer-readable storage medium stores a computer program, wherein the program executes the above detection method when executed by a processor.

[0032] The method for detecting autofluorescent tissue of the second aspect and the computer-readable storage medium of the third aspect can achieve the same beneficial technical effects as the above-mentioned detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In the drawings, embodiments of the application are shown by way of example and not limitation.

[0034] Figure 1 A flow chart of a method for detecting autofluorescent tissue according to an embodiment of the present application is shown.

[0035] Figure 2 This is an example of a fitted two-dimensional curve with the horizontal axis being the wavelength and the vertical axis being the fluorescence intensity.

[0036] Figure 3 A schematic diagram of a device for detecting autofluorescent tissue according to an embodiment of the present application is shown.

[0037] Figure 4 A schematic diagram of an embodiment of a device for detecting autofluorescent tissue according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0038] The technical solution of the present application will be clearly and completely described below in conjunction with the embodiments of the present application and the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Those skilled in the art can construct or obtain other embodiments based on the described embodiments without having to pay creative work. Therefore, the described embodiments are merely exemplary and non-restrictive.

[0039] See also Figure 1 As shown, the figure shows a flow chart of the method for detecting autofluorescent tissue according to an embodiment of the present application. In the description of the embodiment of the present application, the parathyroid gland is sometimes used as an example of autofluorescent tissue, but it is obvious that the method of the present application is not limited to the parathyroid gland, but can be applied to the detection of all autofluorescent tissues.

[0040] The method for detecting autofluorescent tissue according to the embodiment of the present application starts at step S101. In step S101, the tissue under examination is irradiated with laser light having a modulation frequency of f and a wavelength of λ, and the optical signal around the tissue under examination is sampled.

[0041] The device for emitting laser light may be any of various laser emitters, for example, a solid-state laser, a gas laser, and the like.

[0042] If the examined tissue is an autofluorescent tissue, the examined tissue may generate fluorescence under laser excitation. For example, if the examined tissue is a parathyroid gland, the parathyroid gland may generate 800-900nm fluorescence under the excitation of a 760-800nm ​​laser. Therefore, if the target autofluorescent tissue is a parathyroid gland, λ may be set to a wavelength between 760-800nm, preferably λ is 785nm.

[0043] In a surgical scenario, in addition to the fluorescence that may be emitted by the examined tissue, the light signal around the examined tissue may also include laser reflected by the examined tissue and interference light from the surrounding environment. Interference light may be generated by a device such as a shadowless lamp. Of course, there may be other ambient light signals, which are not limited in this application.

[0044] The collection device for collecting the fluorescence generated by the examined tissue may be, for example, an optical fiber probe. In a surgical scenario, a medical worker may hold a laser transmitter in one hand and an optical fiber probe in the other hand, and use the optical fiber probe to collect the light signal around the examined tissue while the laser transmitter irradiates the examined tissue with modulated laser light.

[0045] As another method, a technical solution can be adopted in which the output optical fiber and the receiving optical fiber are simultaneously arranged in the same probe. That is, the probe includes a laser output optical fiber and a receiving optical fiber. The laser output optical fiber is connected to the laser transmitter, and the laser emitted from the laser transmitter is emitted through the front end of the output optical fiber. At the same time, the receiving optical fiber receives the optical signal around the inspected tissue. The optical signal may include laser, fluorescence, interference light, etc. During operation, by contacting the probe with the inspected tissue, laser emission and optical signal collection can be easily realized, further simplifying the operation.

[0046] In step S102, a grating spectrometer is used to split the received optical signal according to wavelength, so that only optical signals with a wavelength range of λ1 to λ2 are left.

[0047] For example, a spectrometer is a common grating spectrometer that can separate required wavelengths or wavelength bands and measure light intensity at the required wavelengths or wavelength bands.

[0048] For the fluorescence generated by autofluorescent tissue, the energy may be concentrated in a specific band, so by filtering the light signal using a grating spectrometer, such as bandpass filtering, the interfering light signal can be removed to a certain extent. For example, if the parathyroid gland is excited by a modulated laser of 760-800nm, the parathyroid gland will produce fluorescence with energy concentrated in 800-900nm. In this case, if the range of λ1~λ2 is set to 800-900nm, only the signal in this band can be left. If the energy of the interfering signal is mainly concentrated outside this band, most of the interfering signal can be filtered out in this way, and the excitation laser will also be filtered out.

[0049] According to the sampling theorem, if the modulation frequency of the laser is f, then the frequency f at which the grating spectrometer samples and processes the optical signal is s Should satisfy f s ≥2f.

[0050] Next, in step S103, data of J different wavelengths are extracted in one sampling period, and each wavelength is recorded as T i The corresponding fluorescence intensity is recorded as D i , where 0≤i≤J-1.

[0051] For example, for an optical signal in the 800-900 nm band, J can be set to 10, 15, 20, etc. The larger the value of J is, the more data the grating spectrometer processes, but the spectrum obtained subsequently is more accurate, which is conducive to fitting a two-dimensional curve.

[0052] In step S104, the above step S103 is repeated for N consecutive sampling periods to obtain the wavelengths T of each wavelength within a period of time. i The time series x iN (k), where 0≤k≤N-1.

[0053] Thus, through steps S103 and S104, the wavelengths T i Time series data x iN (k).

[0054] Next, in step S105, for each wavelength T i The time series x iN (k) Perform Fourier transform to obtain the spectrum sequence X iN (k) In order to reduce the amount of calculation, it is preferred to use fast Fourier transform to obtain the spectrum sequence.

[0055] In step S106, each wavelength T is extracted i The spectrum sequence X iN (k) The value corresponding to the modulation frequency f, denoted as F(i), is used as the wavelength Ti The fluorescence intensity value.

[0056] If the frequency of the interfering light is different from the modulation frequency, the component value of the interfering light corresponding to the modulation frequency f is very small and can even be ignored. i The spectrum sequence X iN (k) The component value corresponding to the modulation frequency f can reduce the influence of interfering light (such as shadowless lamp, etc.) whose frequency is far different from the modulation frequency, and greatly enhance the anti-interference performance.

[0057] In step S107, T i As the horizontal coordinate, F(i) as the vertical coordinate, draw a discrete graph, and draw a fitted two-dimensional curve based on it. The curve fitting method can adopt any existing method. In order to facilitate analysis and comparison, the two-dimensional curve can also be normalized.

[0058] In step S108, based on the two-dimensional curve, it is determined whether the examined tissue is a target autofluorescent tissue.

[0059] In one example of the above method, the modulation frequency f is set to 200 Hz, λ is 785 nm, λ1 is 800 nm, λ2 is 900 nm, J is 10, N is 256, and the sampling frequency f of the grating spectrometer is s is 2000Hz. Take each wavelength T i The spectrum sequence X iN (k) The value at the modulation frequency f, i.e. 200 Hz, is taken as the wavelength T i The fluorescence intensity value.

[0060] like Figure 2 As shown in FIG. 1 , an example of a fitted two-dimensional curve is shown when the examined tissue is a parathyroid gland. In the figure, the horizontal axis is the wavelength, ranging from 800nm ​​to 900nm. The vertical axis is the fluorescence intensity, in units of au, and the maximum fluorescence intensity is 100. Some features of the parathyroid gland fluorescence spectrum can be seen from the figure, for example, the peak of the curve appears at 815nm to 825nm.

[0061] As a method of judgment, the fluorescence intensity F' at a certain wavelength T' can be compared with the fluorescence intensity F" of other nearby tissues at the wavelength T' measured in advance under the same conditions, and based on the comparison result, it can be judged whether the examined tissue is the target autofluorescent tissue. For example, under the same conditions, the fluorescence intensity stimulated by the parathyroid gland is much higher than that of other nearby tissues (such as the thyroid gland). Therefore, if the target autofluorescent tissue is the parathyroid gland, then if the difference between F' and F" is more than 3 times, it can be considered that the examined tissue is the parathyroid gland.

[0062] In addition, as another alternative to the judgment method, the result S of summing each F(i) in the two-dimensional curve is compared with the sum S' of the fluorescence intensity of other nearby tissues at each wavelength measured in advance under the same conditions, and whether the examined tissue is the target autofluorescent tissue is judged based on the comparison result. For example, if the target autofluorescent tissue is the parathyroid gland, then if S differs from S' by more than 3 times, it can be considered that the examined tissue is the parathyroid gland. Compared with single-point comparison, this summation method can further improve the accuracy of judgment and identification.

[0063] In addition, it is known in the art that the fluorescence spectrum is invariant without being affected by the excitation wavelength. Therefore, for the normalized two-dimensional curve, the curve characteristics of the two-dimensional curve can also be analyzed, and based on the analysis results, it can be determined whether the examined tissue is the target autofluorescent tissue.

[0064] For example, the curve characteristics of the parathyroid fluorescence spectrum may include the peak wavelength of the curve, the half-peak wavelength below the peak wavelength, and the half-peak wavelength above the peak wavelength, etc. By comparing the curve characteristics of the above two-dimensional curve with the curve characteristics of the parathyroid, it can be used to determine whether the examined tissue is the parathyroid.

[0065] In addition, as another alternative to curve feature comparison, the above two-dimensional curve can be compared with a standard curve of the target autofluorescent tissue for similarity, and based on the comparison result, it can be determined whether the examined tissue is the target autofluorescent tissue.

[0066] For example, the two-dimensional curve is compared with the standard curve of parathyroid gland for similarity. Such comparison can use methods known in the field of curve comparison. For example, the Pearson correlation coefficient method can be used. The two-dimensional curve is recorded as X, and the standard curve is recorded as Y. The Pearson correlation coefficient of X and Y is:

[0067]

[0068] Among them, cov is the covariance and δ is the standard deviation.

[0069] Simplifying the formula we can get:

[0070]

[0071] When the absolute value of the correlation coefficient r is above 0.8, it can be considered to be extremely strongly correlated, and when it is between 0.6 and 0.8, it is considered to be strongly correlated.

[0072] Alternatively, the distance least squares method can be used to measure the distance between the two-dimensional curve and the standard curve.

[0073] Alternatively, the two-dimensional curve and the standard curve can be regarded as two independent images, and on this basis, the image matching method is used to determine the curve contours of the above two-dimensional curve and the standard curve. If the matching degree is high, it is judged that the examined tissue is the target autofluorescent tissue, otherwise it is judged that the examined tissue is not the target autofluorescent tissue.

[0074] The embodiment of the present application also provides a device for detecting autofluorescent tissue.

[0075] like Figure 3 As shown, the detection device 10 includes a processor 20, a memory 30, a laser transmitter 40, a collection device 50, a grating spectrometer 60, and a notification device 70. The processor 20, the memory 30, the laser transmitter 40, the collection device 50, the grating spectrometer 60, the notification device 70, etc. can be communicatively connected via a bus 100 or other means.

[0076] The processor 20 controls each component in the detection device 10 to perform the operations in the aforementioned method and perform the calculations described in each step of the aforementioned method. The processor 20 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0077] Of course, the processor 20 of the detection device 10 may also be a cloud server, etc. After sampling and processing, the grating spectrometer 60 transmits the data to the cloud server, which performs control and calculation.

[0078] The memory 30 is used to store instructions and data for the processor 20 to perform operations. The memory 30 may include a read-only memory, a random access memory, and the like.

[0079] The laser emitter 40 can irradiate modulated laser light having a modulation frequency f and a wavelength λ toward the tissue to be examined.

[0080] The acquisition device 50 acquires optical signals around the examined tissue irradiated by the laser. The acquisition device 50 may be provided separately from the laser emitter 40, or may be provided in one component or integrated with the laser emitter 40. The optical signals acquired by the acquisition device 50 may include fluorescence emitted by the examined tissue, reflected laser light, and interference light in the surrounding environment. The interference light may be shadowless light, etc.

[0081] The grating spectrometer 60 is optically connected to the collection device 50, and the optical signal collected by the collection device 50 is split according to the wavelength. In order to comply with the sampling theorem, the sampling frequency f of the grating spectrometer 60 is s Should satisfy f s≥2f. After sampling and processing the optical signal by the aforementioned method, the grating spectrometer 60 sends the signal to the processor 20. In order to increase the detection accuracy, a filter, preferably a long-pass filter, can be provided between the acquisition device 50 and the grating spectrometer 60 to pre-filter the optical signal entering the grating spectrometer 60.

[0082] The notification device 70 is used to notify the detection result of the detection method. For example, the notification device 70 can be a display device that notifies the detection result in the form of text or graphics. Or the notification device 70 can be an acoustic device that notifies the detection result in the form of sound. The detection result can be a judgment result of whether the examined tissue belongs to the target autofluorescent tissue. In a surgical scenario, for example, if the examined tissue belongs to the target autofluorescent tissue, such as the parathyroid gland, then the notification device 70 can display the result on the display screen through text or graphics, such as "The examined tissue is a parathyroid gland" or a graphic prompt mark, or play a prompt sound to the user.

[0083] Of course, the notification device 70 can also display other information, such as displaying the fitted two-dimensional curve, or displaying the background value standard two-dimensional curve of the target autofluorescence tissue. In addition, the notification device 70 can also be used as an input component, for example, the user can input the parameters used in the detection device 10 through the notification device 70.

[0084] Figure 4 A schematic diagram of an embodiment of a device for detecting autofluorescent tissue according to an embodiment of the present application is shown.

[0085] As shown in the figure, the control system is an embodiment of the processor 20. The control system is connected to the spectroscopic device based on the grating spectroscopic principle and the laser transmitter, and collects optical signals through optical fibers and serves as a path for emitting laser light outward. Specifically, optical signals such as fluorescence and laser light are collected through the optical fiber end 1-1, and enter the spectroscopic device based on the grating spectroscopic principle at the optical fiber end 1-2. The spectroscopic device based on the grating spectroscopic principle splits the optical signal according to the wavelength, performs the sampling and other operations described in the aforementioned method, and then sends the signal to the control system. On the other hand, the laser emitted by the laser transmitter enters the optical fiber through the optical fiber end 2-2, and then exits through the optical fiber end 2-1. The control system performs the operation of the aforementioned method and sends a notification through the HMI human-machine interface when necessary. The HMI human-machine interface is an embodiment of the above-mentioned notification device 70. The HMI human-machine interface is used to notify the detection results. For example, the HMI human-machine interface notifies in the form of text or graphics. Or the HMI human-machine interface notifies in the form of sound. The content of the detection result can be the judgment result of whether the examined tissue belongs to the target autofluorescent tissue. The HMI human-machine interface can also display other information, such as displaying the fitted two-dimensional curve and / or the background value standard two-dimensional curve. In addition, the HMI human-machine interface can also be used as an input component, such as inputting parameters of the detection device.

[0086] In addition, the embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps described in the above method embodiment are executed. The storage medium may be a volatile or non-volatile computer-readable storage medium, etc.

[0087] The method in the embodiment of the present application can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the present application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, a core network device, an OAM or other programmable device.

[0088] The computer program or instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; it may also be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0089] Through the description of the above embodiments, the content of the present application becomes clear. It should be understood by those skilled in the art that the above detailed description is only illustrative and not restrictive. Therefore, the scope of the present application should be determined with reference to the attached claims.

Claims

1. A detection device for autofluorescent tissue, comprising: A laser transmitter, which irradiates the examined tissue with a laser having a modulation frequency of f and a wavelength of λ; A collection device for collecting light signals around the examined tissue irradiated by the laser; A grating spectrometer, optically connected to the collection device, capable of splitting the optical signal from the collection device according to wavelength, so that only the optical signal with a wavelength range of λ1 to λ2 is left; A processor connected to the laser emitter, the acquisition device and the grating spectrometer; A memory, connected to the processor, storing instructions and data for the processor to perform operations; a notification device, connected to the processor, and notifying the detection result, In the sampling period of the grating spectrometer, data of J different wavelengths are extracted, and each wavelength is recorded as T i The corresponding fluorescence intensity is recorded as D i , where 0≤i≤J-1, extract the data of N consecutive sampling periods to obtain the wavelengths T within a period of time i The time series x iN (k), where 0≤k≤N-1; The processor performs the following processing based on the data from the grating spectrometer: For each T i The time series x iN (k) Perform Fourier transform to obtain the wavelength T i The spectrum sequence X iN (k); For X iN (k), extract the value at frequency f as the wavelength T i The fluorescence intensity value is denoted as F(i); T i As the horizontal coordinate, F(i) as the vertical coordinate, draw the fitted two-dimensional curve; Based on the two-dimensional curve, whether the examined tissue is a target autofluorescent tissue is determined as a detection result.

2. The detection device according to claim 1, characterized in that: Judging whether the examined tissue is the target autofluorescent tissue based on the two-dimensional curve includes: comparing the fluorescence intensity value F' corresponding to a given wavelength T' in the two-dimensional curve with the fluorescence intensity value F" corresponding to the wavelength T' measured in advance for other tissues near the target autofluorescent tissue under the same conditions, and judging whether the examined tissue is the target autofluorescent tissue based on the comparison result.

3. The detection device according to claim 1, characterized in that: Judging whether the examined tissue is a target autofluorescent tissue based on the two-dimensional curve includes: summing the result S of each F(i) in the two-dimensional curve and comparing the sum of each wavelength T measured in advance for other tissues near the target autofluorescent tissue under the same conditions. i The corresponding sum S' of the fluorescence intensity values ​​is compared, and based on the comparison result, it is determined whether the examined tissue is the target autofluorescent tissue.

4. The detection device according to claim 1, characterized in that: Judging whether the examined tissue is the target autofluorescent tissue based on the two-dimensional curve includes: judging whether the examined tissue is the target autofluorescent tissue based on a curve feature of the two-dimensional curve.

5. The detection device according to claim 1, characterized in that: Judging whether the examined tissue is the target autofluorescent tissue based on the two-dimensional curve includes: performing a similarity comparison between the two-dimensional curve and a standard curve of the target autofluorescent tissue, and judging whether the examined tissue is the target autofluorescent tissue based on the comparison result.

6. The detection device according to claim 5, characterized in that: The similarity comparison uses at least one of a Pearson correlation coefficient algorithm, a distance least squares method, and an image matching comparison method.

7. The detection device according to any one of claims 1 to 6, characterized in that: The target autofluorescent tissue is the parathyroid gland, λ is set between 760-800 nm, λ1 is 800 nm, and λ2 is 900 nm.

8. The detection device according to claim 2 or 3, characterized in that: The target autofluorescent tissue is the parathyroid gland. When F' is more than three times of F" or S is more than three times of S', the examined tissue is determined to be the parathyroid gland.

9. The detection device according to claim 4, characterized in that: The target autofluorescent tissue is a parathyroid gland, and the curve characteristics of the two-dimensional curve include a curve peak wavelength, a half-peak wavelength lower than the peak wavelength, and a half-peak wavelength higher than the peak wavelength.

10. The detection device according to claim 1, characterized in that: The grating spectrometer is a spectrometer.

11. The detection device according to claims 1-6, characterized in that: An optical filter is arranged between the collecting device and the grating spectrometer.

12. The detection device according to claim 11, characterized in that: The optical filter is a long pass filter.

13. A method for detecting autofluorescent tissue, comprising the following steps: irradiating the inspected tissue with a laser having a modulation frequency of f and a wavelength of λ, and sampling the optical signal around the inspected tissue; The collected optical signals are split according to wavelengths using a grating spectrometer so that only optical signals with wavelengths in the range of λ1 to λ2 are left; In one sampling period, data of J different wavelengths are extracted, and each wavelength is recorded as T i The corresponding fluorescence intensity is recorded as D i , where 0≤i≤J-1; Extract the data of N consecutive sampling periods to obtain the wavelengths T within a period of time. i The time series x iN (k), where 0≤k≤N-1; For each T i The time series x iN (k) Perform Fourier transform to obtain the wavelength T i The spectrum sequence X iN (k); For X iN (k), extract the value at frequency f as the wavelength T i The fluorescence intensity value is denoted as F(i); T i As the horizontal coordinate, F(i) as the vertical coordinate, draw the fitted two-dimensional curve; Based on the two-dimensional curve, it is determined whether the examined tissue is a target autofluorescent tissue.

14. A computer-readable storage medium storing a computer program, wherein the program is executed by a processor to perform the method according to claim 13.

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