Detection Device, Detection Method and Storage Medium for Autofluorescent Tissue

Abstract

The present application provides a detection device, detection method, and storage medium for autofluorescent tissue. The detection device includes: a laser emitter that irradiates a tissue under examination with a laser having a modulation frequency of f and a wavelength of λ; a collection device that collects light signals surrounding the tissue under examination irradiated by the laser; a grating spectrometer optically connected to the collection device and capable of splitting the light signals from the collection device according to wavelength, leaving only light signals within the wavelength range of λ1 to λ2; a processor connected to the laser emitter, the collection device, and the grating spectrometer; a memory connected to the processor and storing instructions and data for the processor to execute operations; and a notification device connected to the processor to notify the processor of the detection results.

Description

Technical Field

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

[0002] Scientific research has shown that some human tissues exhibit fluorescence properties, emitting fluorescence when stimulated by light within a certain wavelength range. These tissues are known as autofluorescent tissues. These tissues are often very small and difficult to identify with the naked eye, making them often misdirected during surgery, endangering the patient's postoperative well-being and even their lives. For example, the human body has two pairs of parathyroid glands, brownish-yellow in color and shaped like soybeans, located in the middle and lower portions of the dorsal surface of (or embedded within) the left and right lobes of the thyroid gland. Their primary function is to secrete parathyroid hormone (PTH), which regulates calcium and phosphorus metabolism in the body. Hypoparathyroidism or complete removal of the parathyroid glands leads to insufficient PTH secretion, causing a gradual decrease in blood calcium and an increase in blood phosphorus, leading to hypocalcemic convulsions and even death. The parathyroid glands are very small, weighing 35-45 mg and measuring approximately 5 x 3 x 1 mm. Furthermore, their location varies: the superior parathyroid glands are relatively stable, with approximately 77% located near the cricothyroid joint, 22% posterior to the superior pole of the thyroid gland, and only about 1% located behind the pharynx or esophagus. The inferior parathyroid glands are located in a highly variable position, with 42% located anterior to or posterior to the inferior pole of the thyroid gland, 39% located in the thymic tongue (using the sternal ligament to locate the inferior parathyroid glands), 2% located within the thymus in the superior mediastinum, 15% located in the tracheoesophageal groove near the thyroid body, and 2% exhibiting significant variation. Therefore, during thyroidectomy, it is difficult to visually distinguish the parathyroid glands from surrounding tissues such as the thyroid gland and fat, potentially damaging the parathyroid glands or even accidentally removing them, presenting significant surgical risks.

[0003] It is known that the parathyroid glands can produce fluorescence with a peak wavelength between 820nm and 830nm when excited by a 785nm laser. Methods for detecting and identifying parathyroid glands have been developed that exploit this property. For example, a modulated excitation laser is used to illuminate human tissue. Fluorescence is detected and analyzed, along with properties such as fluorescence intensity, to determine whether the tissue is a parathyroid gland. This technology enables real-time detection and identification of parathyroid glands during surgery, minimizing damage to the glands and improving surgical success rates.

[0004] However, in practical applications such as surgery, various interference factors inevitably exist around autofluorescent tissue. For example, surgery often involves the presence of equipment such as shadowless lamps, which can 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 device for detecting autofluorescent tissues 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] an acquisition device for acquiring optical signals around the tissue under examination irradiated by the laser;

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

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

[0011] a memory, coupled 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 wavelength 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 recorded as F(i);

[0017] T i is the horizontal coordinate, F(i) is the vertical coordinate, and the fitted two-dimensional curve is drawn;

[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 signals within the wavelength range of λ1 to λ2. If the energy of the interference signal is mainly concentrated outside this band, then this method can filter out most of the interference signal and also filter out the excitation laser.

[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 The value (k) corresponding to the modulation frequency f can further reduce the influence of interfering light (such as a shadowless lamp, etc.) whose frequency is far different from the modulation frequency, thereby greatly enhancing 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 existing technology of judging only by a single fluorescence intensity value, the two-dimensional curve contains a larger amount of data and has a higher fault 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 tissue under examination with a laser having a modulation frequency of f and a wavelength of λ, and sampling the optical signal around the tissue under examination;

[0024] The collected optical signals are split according to wavelength 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 wavelength T of each 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 recorded as F(i);

[0029] T i is the horizontal coordinate, F(i) is the vertical coordinate, and the fitted two-dimensional curve is drawn;

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

[0031] According to a third aspect, a computer-readable storage medium stores a computer program, wherein the program executes the above-mentioned 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 accompanying drawings, embodiments of the application are illustrated 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 representing wavelength and the vertical axis representing 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 following will be combined with the embodiments of the present application and the accompanying drawings to clearly and completely describe the technical solutions of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Those skilled in the art can construct or obtain other embodiments based on the described embodiments without having to make any creative efforts. Therefore, the described embodiments are merely illustrative and not restrictive.

[0039] See also Figure 1 , which shows a flow chart of a method for detecting autofluorescent tissue according to an embodiment of the present application. In the description of the embodiments of the present application, the parathyroid gland is sometimes used as an example of autofluorescent tissue, but it is clear 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 an embodiment of the present application begins with step S101. In step S101, a laser with a modulation frequency of f and a wavelength of λ is used to irradiate the tissue under examination, and a light signal around the tissue under examination is sampled.

[0041] The device that emits laser light may be any of various laser emitters, such as a solid-state laser, a gas laser, and the like.

[0042] If the tissue being examined is autofluorescent, it will produce fluorescence under laser excitation. For example, if the parathyroid gland is the target tissue, it will produce fluorescence at 800-900 nm under excitation by a 760-800 nm laser. Therefore, if the target autofluorescent tissue is the parathyroid gland, λ can be set to a wavelength between 760-800 nm, preferably 785 nm.

[0043] In scenarios such as surgery, in addition to the fluorescence emitted by the examined tissue, the light signals surrounding the examined tissue may also include laser light reflected by the examined tissue and interference light from the surrounding environment. Interference light may be generated by devices such as shadowless lamps. Of course, other ambient light signals may also exist, and this application does not limit them.

[0044] The device used to collect the fluorescence generated by the examined tissue can be, for example, a fiber optic probe. During surgery, a medical professional can hold a laser transmitter in one hand and a fiber optic probe in the other. While the laser transmitter irradiates the tissue with modulated laser light, the fiber optic probe collects the light signals surrounding the tissue.

[0045] Alternatively, a technical solution can be adopted in which both the output fiber and the receiving fiber are placed in the same probe. That is, the probe includes a laser output fiber and a receiving fiber. The laser output fiber is connected to a laser transmitter, and the laser emitted from the laser transmitter is emitted through the front end of the output fiber. Simultaneously, the receiving fiber receives the optical signal surrounding the tissue under examination. The optical signal may include laser light, fluorescence, interference light, etc. During operation, by bringing the probe into contact with the tissue under examination, laser emission and optical signal acquisition can be conveniently achieved, 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 remain.

[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] The fluorescence generated by autofluorescent tissue may have energy concentrated within a specific wavelength band. Therefore, by filtering the optical signal using a grating spectrometer, such as bandpass filtering, interfering light signals 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 the 800-900nm range. In this case, if the range of λ1 to λ2 is set to 800-900nm, only the signal within this wavelength band will be retained. If the energy of the interfering signal is primarily concentrated outside this wavelength band, this method can be used to filter out most of the interfering signal, while also filtering out the excitation laser.

[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 optical signals in the 800-900 nm band, J can be set to 10, 15, 20, etc. The larger J is set, the more data the grating spectrometer processes, but the subsequent spectrum obtained is more accurate, which is conducive to fitting the two-dimensional curve.

[0052] In step S104, the above step S103 is repeated in N consecutive sampling periods to obtain the wavelengths T in 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 The value of (k) at the modulation frequency f is denoted as F(i), which 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 a shadowless lamp) whose frequency is far different from the modulation frequency, greatly enhancing the anti-interference performance.

[0057] In step S107, T i With ∂(i) as the horizontal axis and F(i) as the vertical axis, a discrete graph is plotted, and based on this, a fitted two-dimensional curve is drawn. The curve fitting method can be any existing method. For ease of 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 the 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 set to 1000 Hz. 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 Figure 1 shows an example of a fitted two-dimensional curve for a parathyroid gland. The horizontal axis represents wavelength, ranging from 800 nm to 900 nm. The vertical axis represents fluorescence intensity, measured in au, with a maximum fluorescence intensity of 100. This figure reveals some characteristics of the parathyroid gland fluorescence spectrum, such as the curve peak occurring between 815 nm and 825 nm.

[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 wavelength T' measured in advance under the same conditions. Based on the comparison results, it can be determined whether the examined tissue is the target autofluorescent tissue. For example, under the same conditions, the fluorescence intensity excited 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] As another alternative, the summation result S of each F(i) in the two-dimensional curve is compared with the sum S' of the fluorescence intensities at various wavelengths of other nearby tissues measured under the same conditions. Based on this comparison, the determination of whether the examined tissue is the target autofluorescent tissue is made. For example, if the target autofluorescent tissue is the parathyroid gland, then if S differs from S' by more than three times, the examined tissue can be considered to be the parathyroid gland. Compared to single-point comparison, this summation approach can further improve the accuracy of identification.

[0063] In addition, it is known in the art that the fluorescence spectrum is invariant and is not affected by the excitation wavelength. Therefore, for the normalized two-dimensional curve, the curve characteristics of the two-dimensional curve can also be analyzed to determine whether the examined tissue is the target autofluorescent tissue based on the analysis results.

[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. By comparing the curve characteristics of the above two-dimensional curve with the curve characteristics of the parathyroid gland, it can be used to determine whether the examined tissue is the parathyroid gland.

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

[0066] For example, the two-dimensional curve is compared with the parathyroid standard curve for similarity. Such a comparison can be performed using methods known in the art of curve comparison. For example, the Pearson correlation coefficient method can be used. The two-dimensional curve is denoted as X, and the standard curve is denoted as Y. The Pearson correlation coefficient between 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 as an extremely strong correlation, and when it is between 0.6 and 0.8, it is considered as a strong correlation.

[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 the image matching method is used to determine the curve profiles of the two-dimensional curve and the standard curve. If the matching degree is high, the examined tissue is judged to be the target autofluorescent tissue; otherwise, the examined tissue is judged not to be the target autofluorescent tissue.

[0074] An 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 emitter 40, a collection device 50, a grating spectrometer 60, and a notification device 70. The processor 20, the memory 30, the laser emitter 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 the various components of the detection device 10 so that they execute the operations in the aforementioned method and perform the calculations described in each step of the aforementioned method. The aforementioned 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, or 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 and a random access memory.

[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 collects optical signals surrounding the laser-irradiated tissue under examination. The acquisition device 50 can be provided separately from the laser emitter 40, or it can be provided in a single component or integrated with the laser emitter 40. The optical signals collected by the acquisition device 50 may include fluorescence emitted by the tissue under examination, reflected laser light, and interference light from the surrounding environment. Interference light can include, for example, shadowless light.

[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 using the aforementioned method, the grating spectrometer 60 sends the signal to the processor 20. To increase detection accuracy, a filter, preferably a long-pass filter, may 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 the 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 a fitted two-dimensional curve or a standard two-dimensional curve of the background value of the target autofluorescent tissue. Furthermore, the notification device 70 can also be used as an input component, for example, a user can input 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 processor 20. The control system is connected to a spectrometer based on the grating spectrometry principle and a laser emitter, and uses optical fibers to collect optical signals and serve as a pathway for outgoing laser light. Specifically, optical signals such as fluorescence and laser light are collected through optical fiber end 1-1 and enter the spectrometer based on the grating spectrometry principle at optical fiber end 1-2. The spectrometer based on the grating spectrometry principle separates the optical signals according to wavelength, performs sampling and other operations described in the aforementioned method, and then transmits the signals to the control system. Meanwhile, laser light emitted by the laser emitter enters the optical fiber through optical fiber end 2-2 and exits through optical fiber end 2-1. The control system performs the operations described in the aforementioned method and, when necessary, sends notifications via an HMI (human-machine interface). The HMI is an embodiment of the aforementioned notification device 70. The HMI is used to notify detection results. For example, the HMI may notify via text, graphics, or audio. The detection result may include determining whether the examined tissue is the target autofluorescent tissue. The HMI can also display other information, such as a fitted two-dimensional curve and / or a background value standard two-dimensional curve. In addition, the HMI can also be used as an input component, such as inputting parameters of the detection device.

[0086] In addition, embodiments of the present application further provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, executes the steps described in the above method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium, etc.

[0087] The methods in the embodiments of the present application can be implemented in whole or in part through software, hardware, firmware, or any combination thereof. When implemented using software, they 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 instructions are loaded and executed on a computer, the processes or functions described in this application are performed 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 equipment, 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 via a wired or wireless method. 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; an optical medium, such as a digital video disk; or 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 appended claims.

Claims

1. A device for detecting 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; an acquisition device for acquiring optical signals around the tissue under examination irradiated by the laser; a grating spectrometer, optically connected to the acquisition device, capable of splitting the optical signal from the acquisition device according to wavelength, so that only the optical signal with a wavelength range of λ1 to λ2 remains; a processor connected to the laser emitter, the acquisition device, and the grating spectrometer; a memory, coupled 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 wavelength 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 recorded as F(i); T i is the horizontal coordinate, F(i) is the vertical coordinate, and the fitted two-dimensional curve is drawn; Based on the result of comparing the two-dimensional curve with the characteristics of the target autofluorescent tissue or other tissues, it is determined whether the inspected tissue is the target autofluorescent tissue as a detection result.

2. The detection device according to claim 1, characterized in that Determining 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 determining 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 Determining 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 sum S' of the corresponding 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 Determining whether the examined tissue is the target autofluorescent tissue based on the two-dimensional curve includes: determining 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 Determining whether the inspected 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 determining whether the inspected 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, and 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 F" or S is more than three times 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 the 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 any one of claims 1 to 6, characterized in that: A filter is provided 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 tissue under examination with a laser having a modulation frequency of f and a wavelength of λ, and sampling the optical signal around the tissue under examination; The collected optical signals are split according to wavelength 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 wavelength T of each 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 recorded as F(i); T i is the horizontal coordinate, F(i) is the vertical coordinate, and the fitted two-dimensional curve is drawn; Based on the result of comparing the two-dimensional curve with the characteristics of the target autofluorescent tissue or other tissues, it is determined whether the examined tissue is the 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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