Photoacoustic endoscopic imaging assembly, computer equipment and endoscopic imaging method

Abstract

The invention discloses a photoacoustic endoscopic imaging assembly, computer equipment and an endoscopic imaging method. The photoacoustic endoscopic imaging assembly comprises a photoacoustic endoscopic detection system and a photoacoustic endoscopic imaging system. Wherein the photoacoustic endoscopic detection system comprises a balloon, a motion control unit and a photoacoustic endoscopic probe, and the photoacoustic endoscopic imaging system comprises a synthetic aperture image data processing unit. When the photoacoustic endoscopic imaging assembly performs imaging work, the cavity of the balloon is filled with a liquid medium to support the inner wall of an organ to be detected, and the focusing position of the transducer receives echo sound signal original data after tissue excitation response in the balloon. And the synthetic aperture image data processing unit processes the echo sound signal original data and the position and angle information of the transducer by using a synthetic aperture principle to obtain a high-resolution photoacoustic image. According to the invention, organ wrinkles and movement influences are eliminated through balloon support, and a high-resolution photoacoustic image is obtained by using a synthetic aperture principle, so that the diagnosis accuracy of the early cancer of the digestive tract is improved.

Description

Technical Field

[0001] The present application relates to the technical field of photoacoustic endoscopy, and in particular to a photoacoustic endoscopy imaging component, a computer device, and an endoscopy imaging method. Background Art

[0002] Early esophageal cancer and early invasive cancer are high-incidence and high-risk digestive tract tumors in my country, accounting for 50% of the global morbidity and mortality. Early clinical detection and boundary identification are the core and focus of tumor diagnosis. At present, the clinical diagnosis of digestive tract tumors is mainly based on electronic endoscopy and ultrasonic endoscopy. Among them, electronic endoscopes rely on electronic imaging sensors (CCD or CMOS) for real-time imaging. Due to their low sensitivity, they are mainly used for macroscopic imaging; and existing ultrasonic endoscopy directly sends the ultrasonic probe into the digestive tract for detection. Due to the requirements of the acoustic medium, the probe surface needs to be close to the observed tissue, and the observation depth of the existing ultrasonic endoscope is shallow.

[0003] The accuracy of the above two methods for diagnosing early gastrointestinal cancer is low, and there is no effective solution yet. Summary of the invention

[0004] One advantage of the present application is that it provides a photoacoustic endoscopic imaging component, a computer device, and an endoscopic imaging method, which eliminates the effects of wrinkles, shaking of human organs and natural contraction of the esophagus, and utilizes the aperture imaging principle to achieve higher photoacoustic resolution detection under large depth of field in a synthetic detection aperture, thereby improving the accuracy of diagnosis of diseases such as early gastrointestinal cancer.

[0005] Based on this, in order to achieve the above advantages or other advantages and purposes of the present application, the present application provides a photoacoustic endoscopic imaging assembly, including a photoacoustic endoscopic detection system and a photoacoustic endoscopic imaging system connected to the photoacoustic endoscopic detection system, wherein the photoacoustic endoscopic detection system includes: A balloon, wherein when the photoacoustic endoscopic imaging assembly is imaging, the cavity of the balloon is filled with a liquid medium to support the inner wall of the organ to be examined; A photoacoustic endoscopy probe, the photoacoustic endoscopy probe is used to transmit laser signals to surrounding tissues and receive original data of echo acoustic signals after tissue excitation response, one end of the photoacoustic endoscopy probe is covered by the center of the balloon, and a transducer is arranged in the end of the photoacoustic endoscopy probe covered by the balloon, the focusing position of the transducer is in the balloon, and is used to receive original data of echo acoustic signals after tissue excitation response; A motion control unit, which is connected to the photoacoustic endoscopy probe and is used to control the motion of the photoacoustic endoscopy probe and obtain the position and angle information of the transducer; The photoacoustic endoscopic imaging system includes a synthetic aperture image data processing unit, which is respectively connected to the motion control unit and the photoacoustic endoscopic probe of the photoacoustic endoscopic detection system, and is used to receive the original data of the echo acoustic signal and the position and angle information of the transducer, and use the synthetic aperture principle to process the original data of the echo acoustic signal and the position and angle information of the transducer to obtain a high-resolution photoacoustic image.

[0006] According to one embodiment of the present application, the photoacoustic endoscopic detection system further includes a balloon catheter, which is connected to the balloon and is used to guide the photoacoustic endoscopic probe head and the balloon into a preset cavity to be tested.

[0007] According to one embodiment of the present application, the balloon is made of soft transparent material.

[0008] According to one embodiment of the present application, the photoacoustic endoscopic detection system further includes a photoacoustic laser light source, which is connected to the other end of the photoacoustic endoscopic probe and is used to emit a laser signal to the photoacoustic endoscopic probe.

[0009] According to an embodiment of the present application, the transducer is a transducer with a single receiving array element.

[0010] According to one embodiment of the present application, the photoacoustic endoscopic imaging system further includes: A display is connected to the synthetic aperture image data processing unit and is used to receive and display the image signal.

[0011] Another embodiment of the present application discloses an endoscopic imaging method, comprising: Delivering the balloon to a preset position in the organ to be tested; Filling the cavity of the balloon with a liquid medium so that the balloon props up the inner wall of the organ to be tested; The motion control unit controls the photoacoustic endoscopy probe to rotate according to a preset angle, move according to a preset step length, and collect the position and angle information of the transducer; At each rotation angle, the photoacoustic endoscopy probe emits a laser signal to the surrounding tissue and the transducer receives the original data of the echo acoustic signal after the tissue excitation response; The original data of the echo acoustic signal and the position and angle information of the transducer are received, and the original data of the echo acoustic signal and the position and angle information of the transducer are processed by using the synthetic aperture principle to obtain a high-resolution photoacoustic image.

[0012] According to one embodiment of the present application, the method further includes: using a balloon catheter to deliver the balloon to a preset position in the organ to be tested.

[0013] According to an embodiment of the present application, the process of obtaining a high-resolution photoacoustic image by processing the original data of the echo acoustic signal and the position and angle information of the transducer using the synthetic aperture principle includes: Converting the original data of the echo sound signal into a digital signal to be synthesized; Define the target imaging point; Calculating the distance between the target imaging point and the focus of the transducer at each rotation angle; According to the different distances, delay compensation is performed on the digital signal; Compensate for the non-integer sampling error caused by delay through interpolation processing; Calculating a weighted value corresponding to the digital signal after delay compensation; Calculating a high-resolution photoacoustic image of a single imaging point according to the weighted value; All imaging points are traversed and calculated to reconstruct the entire image of the organ to be tested.

[0014] Another embodiment of the present application discloses a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it controls the expansion and contraction of a balloon, the movement of a photoacoustic endoscopy probe, the reception and transmission of signals, and the processing and imaging of signals using the synthetic aperture principle.

[0015] Beneficial effects: The photoacoustic endoscopic imaging component, computer equipment, and endoscopic imaging method disclosed in the present application can realize that the organ to be tested is supported by the balloon during imaging, establish a stable detection platform environment, and eliminate the influence of wrinkles, shaking of human organs and natural contraction of the esophagus. At the same time, the focusing position of the transducer is set inside the balloon instead of on the imaging object, and the original data of the echo acoustic signal and the position and angle information of the transducer are processed using the synthetic aperture principle, that is, a higher photoacoustic resolution detection under a large depth of field is achieved by means of a synthetic detection aperture, thereby obtaining a high-resolution photoacoustic image. The photoacoustic endoscopic imaging component, computer equipment, and endoscopic imaging method disclosed in the present application improve the accuracy of early digestive tract cancer diagnosis through high-resolution photoacoustic images, and are universally applicable to the diagnosis of other luminal organoid lesions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1A structural block diagram of a photoacoustic endoscopic imaging component provided for one embodiment of the present application; Figure 2 A partial schematic diagram of a balloon, a photoacoustic endoscope probe, and a transducer combination according to the above embodiment of the present application is shown; Figure 3 A schematic diagram of a photoacoustic endoscopic detection system of a photoacoustic endoscopic imaging assembly according to the above embodiment of the present application is shown; Figure 4 A schematic diagram of a photoacoustic endoscopic detection system of a photoacoustic endoscopic imaging assembly according to the above embodiment of the present application is shown; Figure 5 A schematic diagram of the principle of synthetic aperture for endoscopic imaging according to the above embodiment of the present application is shown; Figure 6 A schematic diagram of a method for obtaining high-resolution photoacoustic images using the synthetic aperture principle provided in another embodiment of the present application.

[0018] Figure numerals: 1. photoacoustic endoscopic detection system; 11. balloon; 111. balloon cavity; 12. photoacoustic endoscopic probe; 121. transducer; 13. motion control unit; 14. balloon catheter; 15. photoacoustic laser light source; 2. photoacoustic endoscopic imaging system; 21. synthetic aperture image data processing unit; 3. inner wall of the organ to be measured. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0020] Considering that the existing technology can realize endoscopic imaging of organs in the human body, it has the problems of low sensitivity or shallow depth of observation, and the overall imaging effect is poor. Research has found that since neither electronic endoscopes nor ultrasonic endoscopy examinations take into account the impact of human organ jitter and natural contraction of the esophagus on imaging accuracy, the poor diagnostic accuracy is the result. In order to solve this problem, the present application provides a photoacoustic endoscopy component, which can eliminate the impact of human organ jitter and natural contraction of the esophagus, and achieve higher photoacoustic resolution detection under large depth of field by means of a synthetic detection aperture, thereby obtaining high-resolution photoacoustic images, thereby solving the above problems.

[0021] This embodiment discloses a photoacoustic endoscopic imaging assembly, such as Figure 1As shown, it includes a photoacoustic endoscopic detection system 1 and a photoacoustic endoscopic imaging system 2 connected to the photoacoustic endoscopic detection system 1 .

[0022] Wherein, the photoacoustic endoscopy detection system 1 comprises: The balloon 11 comprises a supporting side wall and a balloon cavity. The balloon can be filled with liquid. Especially when the photoacoustic endoscopic imaging component is imaging, the cavity of the balloon 11 will be filled with liquid medium to support the inner wall of the organ to be tested, thereby eliminating the effects of shaking of human organs and natural contraction of the esophagus.

[0023] The photoacoustic endoscopy probe 12 is used to transmit laser signals to surrounding tissues and receive echo acoustic signals after tissue excitation response. Figure 2 As shown, one end of the photoacoustic endoscopic probe 12 is covered by the center of the balloon 11, and a transducer 121 is provided in the end of the photoacoustic endoscopic probe 12 covered by the balloon 11. The focusing position of the transducer 121 is in the balloon 11, and is used to receive the original data of the echo sound signal after the tissue excitation response.

[0024] The motion control unit 13 is connected to the photoacoustic endoscopy probe 12 and is used to control the motion of the photoacoustic endoscopy probe 12 and obtain the position and angle information of the transducer 121 .

[0025] The photoacoustic endoscopic imaging system 2 includes a synthetic aperture image data processing unit 21, which is respectively connected to the motion control unit 13 and the photoacoustic endoscopic probe 12 of the photoacoustic endoscopic detection system 1, and is used to receive the original data of the echo acoustic signal and the position and angle information of the transducer 121, and process the original data of the echo acoustic signal and the position and angle information of the transducer 121 using the synthetic aperture principle to obtain a high-resolution photoacoustic image.

[0026] The photoacoustic endoscopic imaging assembly disclosed in this embodiment supports the organ to be tested by the balloon during imaging, establishes a stable detection platform environment, and eliminates the influence of the shaking of human organs and the natural contraction of the esophagus. At the same time, the focus position of the transducer is set inside the balloon instead of on the imaging object, and then the raw data of the echo acoustic signal and the position and angle information of the transducer are processed using the synthetic aperture principle, that is, a higher photoacoustic resolution detection under a large depth of field is achieved by means of a synthetic detection aperture, thereby obtaining a high-resolution photoacoustic image.

[0027] Another embodiment of the present invention discloses another photoacoustic endoscopic imaging assembly, including a photoacoustic endoscopic detection system and a photoacoustic endoscopic imaging system connected to the photoacoustic endoscopic detection system.

[0028] Among them, Figure 3 As shown, the photoacoustic endoscopic detection system comprises: The balloon 11 includes a balloon cavity 111 and a supporting side wall. The balloon 11 can be filled with liquid. In particular, when the photoacoustic endoscopic imaging assembly is imaging, the balloon cavity 111 of the balloon 11 will be filled with liquid medium to support the inner wall 3 of the organ to be tested, thereby eliminating the impact of the shaking of human organs and the natural contraction of the esophagus. The balloon 11 is made of soft transparent material to facilitate expansion and contraction in the presence of liquid medium.

[0029] The photoacoustic endoscopy probe 12 is used to emit laser signals to the surrounding tissues and receive echo acoustic signals after tissue excitation response. One end of the photoacoustic endoscopy probe 12 is covered by the center of the balloon 11, and a transducer 121 is arranged in the end of the photoacoustic endoscopy probe 12 covered by the balloon 11. The focusing position of the transducer 121 is in the balloon 11, and is used to receive the original data of the echo acoustic signal after the tissue excitation response. The transducer 121 is preferably a transducer with a single receiving array element.

[0030] The motion control unit 13 is connected to the photoacoustic endoscopy probe 12 and is used to control the motion of the photoacoustic endoscopy probe 12 and obtain the position and angle information of the transducer 121. In actual operation, the motion control unit 13 controls the motion of the photoacoustic endoscopy probe 12 to mainly rotate and move forward and backward, and the final expression is spiral retraction scanning or circular scanning followed by retraction movement, to ensure that no omission occurs during the detection process.

[0031] The balloon catheter 14 is connected to the balloon 11 and is made of a hard material, and is used to guide the photoacoustic endoscope probe 12 and the balloon 11 into a preset cavity to be tested. Specifically, the balloon catheter 14 is concentrically arranged with the balloon 11 to ensure that the balloon 11 and the balloon catheter 14 maintain stability when the balloon 11 is propped up. When the balloon catheter 14 is arranged, the photoacoustic endoscope probe 12 can be preferably arranged in the inner cavity of the balloon catheter 14 to realize the linkage between the balloon catheter 14, the balloon 11 and the photoacoustic endoscope probe 12.

[0032] The photoacoustic endoscopic imaging system includes a synthetic aperture image data processing unit, which is respectively connected to the motion control unit and the photoacoustic endoscopic probe of the photoacoustic endoscopic detection system, and is used to receive the original data of the echo acoustic signal and the position and angle information of the transducer, and use the synthetic aperture principle to process the original data of the echo acoustic signal and the position and angle information of the transducer to obtain a high-resolution photoacoustic image.

[0033] like Figure 4 As shown, the photoacoustic endoscopy detection system in this embodiment further includes a photoacoustic laser light source 15, which is connected to the other end of the photoacoustic endoscopy probe 12 and is used to emit a laser signal to the photoacoustic endoscopy probe 12. The photoacoustic laser light source 15 can be integrated with the photoacoustic endoscopy probe 12, or can be connected by an optical fiber wire to achieve a split setting.

[0034] In another embodiment, the photoacoustic endoscopic imaging system further includes a display, which is connected to the synthetic aperture image data processing unit and is used to receive and display the image signal.

[0035] The application of synthetic aperture principle in the present invention is as follows Figure 5 As shown. It can be seen that by using a balloon filled with liquid medium and cleverly setting the transducer focusing position inside the balloon, combined with the synthetic aperture method, a high-resolution photoacoustic image with a large depth of field is obtained, which can achieve high-quality and high-resolution accurate detection of the target area, providing strong support for improving the accuracy of disease diagnosis.

[0036] In addition, in one embodiment, the balloon is guided into the cavity to be tested by a balloon catheter, but this method is not the only one. Optionally, in one embodiment, the balloon and photoacoustic endoscopy probe assembly can also enter the organ to be tested in the form of an in vivo microrobot. In this case, the photoacoustic endoscopy detection system and the photoacoustic endoscopy imaging system are connected wirelessly.

[0037] It should also be noted that the soft transparent material used to make the balloon can be a single material or a composite material, and its purpose is to maintain good light transmittance and ensure the transmission quality of the laser signal. In addition, the outer surface of the soft transparent material used to make the balloon can be coated with an oily substance or a paste that can enhance lubrication and reduce gaps, and an interlayer can be set inside the outer wall of the balloon, and drugs can be added to the interlayer to achieve simultaneous inspection and treatment.

[0038] The photoacoustic endoscopic imaging component disclosed in the present invention supports the organ to be tested by the balloon during imaging, establishes a stable detection platform environment, and eliminates the influence of the shaking of human organs and the natural contraction of the esophagus. At the same time, the focusing position of the transducer is set inside the balloon instead of on the imaging object, and the raw data of the echo acoustic signal and the position and angle information of the transducer are processed using the synthetic aperture principle, that is, a higher photoacoustic resolution detection under a large depth of field is achieved by means of a synthetic detection aperture, thereby obtaining a high-resolution photoacoustic image. Subsequently, the accuracy of early digestive tract cancer diagnosis is improved through high-resolution photoacoustic images, and it is also applicable to the diagnosis of other luminal organoid lesions.

[0039] Another embodiment of the present invention discloses an endoscopic imaging method implemented according to the above embodiment, comprising: The balloon is sent to a preset position in the organ to be tested, which can be entered in the form of an in vivo microrobot or guided by a balloon catheter.

[0040] The cavity of the balloon is filled with liquid medium, so that the balloon supports the inner wall of the organ to be tested. At this time, since the balloon supports the organ to be tested, a stable detection platform environment will be established, eliminating the influence of the shaking of human organs and the natural contraction of the esophagus.

[0041] The motion control unit controls the photoacoustic endoscopy probe to rotate according to a preset angle, move according to a preset step length, and collect the position and angle information of the transducer. One of the motion modes is spiral retreat scanning, that is, the motion control unit controls the photoacoustic endoscopy probe to rotate according to a preset angle sequence from angle 1, angle 2, ..., angle N and then back to angle 1, angle 2, ..., angle N and repeats the rotation. At the same time, the motion control unit also controls the photoacoustic endoscopy probe to move according to a preset moving step length to achieve a spiral scan of the target area. There can also be another motion mode, which is to collect data by first scanning in a circular manner and then retreating. That is, first rotate to collect circular data, then retreat according to the set step length, and then perform a second circle of scanning, and so on, until the collection of all target areas is completed.

[0042] At each rotation angle, the photoacoustic endoscopy probe emits a laser signal to surrounding tissues and the transducer receives raw data of echo acoustic signals after tissue excitation response.

[0043] The original data of the echo acoustic signal and the position and angle information of the transducer are received, and the original data of the echo acoustic signal and the position and angle information of the transducer are processed by using the synthetic aperture principle to obtain a high-resolution photoacoustic image.

[0044] like Figure 6 As shown, the specific steps include: S1. Convert the original data of the echo sound signal into a digital signal to be synthesized.

[0045] After receiving the original data of the echo sound signal, it is first amplified by a low-noise amplifier to ensure that the signal strength is high enough for subsequent processing; to ensure that the signal will not attenuate due to distance or material differences, time gain compensation is used to compensate for the attenuation of the signal with depth. Then, a bandpass filter is used to remove high-frequency or low-frequency noise in the non-target frequency range, retaining the useful sound signal frequency range. Then, the original data of the echo sound signal processed by the above steps is converted into a digital signal to be synthesized through an analog-to-digital converter, which is convenient for subsequent calculation, processing and storage.

[0046] S2. Define the target imaging point. The so-called target imaging point can be understood as an imaging point of interest, which is actually the target area to be detected.

[0047] S3. Calculate the distance between the target imaging point and the focus of the transducer at each rotation angle.

[0048] Specifically, if the method of first circular scanning and then retreating is used to collect data, in the collected two-dimensional spatial coordinate image, any point on any scanning line can be understood as the target point of detection. is the coordinate of the target imaging point in the two-dimensional plane. The focus of the transducer element rotates around a center point on the plane. The focus rotation radius, that is, the fixed distance of the focus relative to the center point, is r , the rotation angle is , the distance from the target imaging point to the transducer focus can be calculated d :

[0049] If the spiral backscan method is used to collect data, the collected data can be mapped to a three-dimensional space coordinate image. is the three-dimensional coordinate of the target imaging point, and the focus of the transducer element rotates around a fixed axis. At this time, its rotation angle is , the elevation angle is 0, then the distance from the target imaging point to the transducer focus can be calculated d :

[0050] It should be noted that there is no clear order between step S1 and step S2 and step S3.

[0051] S4. Perform delay compensation on the digital signal according to the different distances.

[0052] Depending on the distance from the imaging point to the transducer focus, the time at which the echo sound signal reaches the transducer focus is different. Time delay correction is used to align the signals at different detection positions so that they can be compared and synthesized on the same time basis to ensure the accuracy of the image.

[0053] S5. Compensate for the non-integer sampling error caused by the delay through interpolation processing.

[0054] In the case of sampling error caused by the calculated delay time not being an integer multiple of the sampling points, the non-integer sampling error caused by the delay is compensated by interpolation processing.

[0055] S6. Calculate a weighted value corresponding to the digital signal after delay compensation.

[0056] assumed It is i The delay-compensated signal received by the transducer at each rotation angle is: is the delay time, It is a weighted value that compensates for signal strength at different angles and distances.

[0057] S7. Calculate a high-resolution photoacoustic image of a single imaging point according to the weighted value.

[0058] Calculate the weighted superposition signal of the imaging point;

[0059] According to application requirements, a coherence factor CF is applied to the superimposed signal to reduce artifacts and noise:

[0060] The coherence factor is determined by the N beams of signals used for synthesis:

[0061] S8, traverse and calculate all imaging points to reconstruct the entire image of the organ to be tested. That is, according to the above beamforming steps, traverse and calculate all imaging points to obtain the entire photoacoustic image and reconstruct the entire image of the organ to be tested.

[0062] After the entire image of the organ to be tested is reconstructed, it can be post-processed to enhance the display effect of the entire image.

[0063] Specifically, the steps include: Enhance edge details through high-pass filter and smooth noise through low-pass filter to improve image quality; Adjust the dynamic range of the image and highlight the features of important tissues (such as blood vessels) through normalization, contrast increase and logarithmic display; Artifact removal is performed through interpolation correction; Enhance the visualization of specific structures by adding pseudo-color mapping, improving visual effects and information readability.

[0064] Finally, the image can be output and displayed through a display device such as a monitor.

[0065] In actual testing, the photoacoustic endoscope probe can be controlled to move to the specified position, rotate a certain angle appropriately, and then control the photoacoustic endoscope probe to emit laser signals and receive the original data of the echo acoustic signal of the target tissue. After the test, the imaging operation can confirm whether the imaging orientation is appropriate, help to correctly reconstruct the image orientation, and ensure the accuracy of the photoacoustic imaging orientation.

[0066] The endoscopic imaging method disclosed in this embodiment can be used for the detection of human esophageal tissue, and can also be used for the imaging and detection of other lumens of the human body, including the intestines, rectum, esophagus, vagina and other environments. A balloon filled with a liquid medium can support such luminal organs, eliminate luminal wrinkles, avoid the influence of organ contraction and organ pulsation, establish a stable detection environment, and obtain high-quality detection data. The imaging method implemented using the synthetic aperture principle can achieve high-resolution photoacoustic images in a large depth of field environment, thereby achieving high-quality and high-resolution precise detection of the target area.

[0067] Another embodiment of the present invention discloses a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it controls the balloon expansion and contraction, the movement of the photoacoustic endoscopy probe, the signal transmission and reception, and the signal processing and imaging using the synthetic aperture principle. Specifically, when the processor executes the computer program, the endoscopic imaging method described in the above embodiment is implemented.

[0068] It should be noted that the computer program is flexible and adaptable, so that the execution steps can be adjusted according to different inputs and conditions, so as to adapt to the ever-changing needs and technical environment and maintain the advancement and practicality of the computer program. In addition, the architecture of the computer device allows the realization of multiple functions, so that the program in the memory can contain multiple functional modules, and the computer program can be executed by the processor to meet different application needs, thereby improving the function of the computer program and enhancing the integration of the computer device.

[0069] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0070] In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or equipment.

[0071] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0072] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0073] The technical features of the above embodiments can be combined without changing the basic principles of the present application. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. A photoacoustic endoscopic imaging assembly, comprising a photoacoustic endoscopic detection system and a photoacoustic endoscopic imaging system connected to the photoacoustic endoscopic detection system, characterized in that: The photoacoustic endoscopic detection system comprises: A balloon, wherein when the photoacoustic endoscopic imaging assembly is imaging, the cavity of the balloon is filled with a liquid medium to support the inner wall of the organ to be examined; A photoacoustic endoscopy probe, the photoacoustic endoscopy probe is used to transmit laser signals to surrounding tissues and receive original data of echo acoustic signals after tissue excitation response, one end of the photoacoustic endoscopy probe is covered by the center of the balloon, and a transducer is arranged in the end of the photoacoustic endoscopy probe covered by the balloon, the focusing position of the transducer is in the balloon, and is used to receive original data of echo acoustic signals after tissue excitation response; A motion control unit, which is connected to the photoacoustic endoscopy probe and is used to control the motion of the photoacoustic endoscopy probe and obtain the position and angle information of the transducer; The photoacoustic endoscopic imaging system includes a synthetic aperture image data processing unit, which is respectively connected to the motion control unit and the photoacoustic endoscopic probe of the photoacoustic endoscopic detection system, and is used to receive the original data of the echo acoustic signal and the position and angle information of the transducer, and use the synthetic aperture principle to process the original data of the echo acoustic signal and the position and angle information of the transducer to obtain a high-resolution photoacoustic image.

2. The photoacoustic endoscopic imaging assembly according to claim 1, characterized in that: The photoacoustic endoscopy detection system further comprises a balloon catheter, which is connected to the balloon and is used to guide the photoacoustic endoscopy probe and the balloon into a preset cavity to be detected.

3. The photoacoustic endoscopic imaging assembly according to claim 1, characterized in that: The balloon is made of soft transparent material.

4. The photoacoustic endoscopic imaging assembly according to claim 1, characterized in that: The photoacoustic endoscopy detection system further comprises a photoacoustic laser light source, which is connected to the other end of the photoacoustic endoscopy probe and is used to emit a laser signal to the photoacoustic endoscopy probe.

5. The photoacoustic endoscopic imaging assembly according to claim 1, characterized in that: The transducer is a transducer with a single receiving array element.

6. The photoacoustic endoscopic imaging assembly according to claim 1, characterized in that: The photoacoustic endoscopic imaging system further comprises: A display is connected to the synthetic aperture image data processing unit and is used to receive and display the high-resolution photoacoustic image.

7. An endoscopic imaging method using the photoacoustic endoscopic imaging assembly according to claim 1, characterized in that: include: Delivering the balloon to a preset position in the organ to be tested; Filling the cavity of the balloon with a liquid medium so that the balloon props up the inner wall of the organ to be tested; The motion control unit controls the photoacoustic endoscopy probe to rotate according to a preset angle, move according to a preset step length, and collect the position and angle information of the transducer; At each rotation angle, the photoacoustic endoscopy probe emits a laser signal to the surrounding tissue and the transducer receives the original data of the echo acoustic signal after the tissue excitation response; The original data of the echo acoustic signal and the position and angle information of the transducer are received, and the original data of the echo acoustic signal and the position and angle information of the transducer are processed by using the synthetic aperture principle to obtain a high-resolution photoacoustic image.

8. The endoscopic imaging method of the photoacoustic endoscopic imaging assembly according to claim 7, characterized in that: Also includes: The balloon is delivered to a preset position in the organ to be tested using a balloon catheter.

9. The endoscopic imaging method of the photoacoustic endoscopic imaging assembly according to claim 7, characterized in that: The process of processing the original data of the echo acoustic signal and the position and angle information of the transducer by using the synthetic aperture principle to obtain a high-resolution photoacoustic image includes: Converting the original data of the echo sound signal into a digital signal to be synthesized; Define the target imaging point; Calculating the distance between the target imaging point and the focus of the transducer at each rotation angle; According to the different distances, delay compensation is performed on the digital signal; Compensate for the non-integer sampling error caused by delay through interpolation processing; Calculating a weighted value corresponding to the digital signal after delay compensation; Calculating a high-resolution photoacoustic image of a single imaging point according to the weighted value; All imaging points are traversed and calculated to reconstruct the entire image of the organ to be tested.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: The processor executes the method described in any one of claims 7 to 9 to control the movement of the photoacoustic endoscopy probe, the signal transmission and reception, and the signal processing and imaging using the synthetic aperture principle.

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