Laser ablation collaborative diagnosis and treatment device based on small animal thermal image real-time feedback

Abstract

The invention relates to the technical field of medical imaging treatment, in particular to a laser ablation collaborative diagnosis and treatment device based on small animal thermal image real-time feedback. Comprising a diagnosis and treatment cavity, a laser point focusing incidence module, a tumor thermal imaging module, a machine vision imaging module, an automatic tracking and aligning laser module and a small animal gaseous anesthesia module, the laser point focusing incidence module and the tumor thermal imaging module are aligned with the automatic tracking alignment laser module, the machine vision imaging module is arranged above the diagnosis and treatment cavity, the bottom of the machine vision imaging module extends into the diagnosis and treatment cavity, and the small animal gaseous anesthesia module is connected with the diagnosis and treatment cavity through a pipeline. The device monitors and feeds back the temperature of tissues in the small animal body in real time in the treatment process, laser ablation parameters are dynamically adjusted according to thermal imaging data, and the treatment accuracy and the treatment effect are improved. The method is mainly applied to laser ablation collaborative diagnosis and treatment of thermal image real-time feedback.

Description

Technical Field

[0001] The present invention relates to the field of medical imaging therapy technology, and more specifically, to a laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals. Background Art

[0002] At present, thermal imaging and laser thermal ablation technology have been widely used in small animal model research, but the existing technology has certain limitations. Traditional laser ablation technology mostly relies on single laser irradiation and lacks real-time monitoring and feedback mechanisms, which can easily lead to excessive thermal effects or insufficient ablation effects during treatment. Especially in small animal experiments, the accuracy of tissue structure and treatment site is high, making it difficult to achieve precise targeted treatment.

[0003] Existing thermal imaging technology is mainly used for temperature monitoring of small animals, but most of them use independent thermal imaging equipment for imaging and analysis, and cannot be effectively linked with the laser ablation process. Even though some studies have tried to combine thermal imaging with laser thermal ablation, the existing technology lacks an integrated system that can adjust laser ablation parameters through real-time feedback from thermal images. This makes the existing technology still have a high error rate during the treatment process, affecting the accuracy and effect of the treatment. For example, some studies use infrared thermal imaging systems to monitor the body temperature of small animals and combine them with laser ablation technology for treatment, but these systems are often separate and lack a unified feedback mechanism to adjust the intensity and time of laser irradiation in real time. At the same time, the applicability and stability of existing multimodal imaging technologies (such as optical imaging combined with laser treatment) in small animal experiments still face great challenges, and it is difficult to achieve high-precision and high-efficiency treatment and monitoring in complex biological tissues.

[0004] Therefore, the existing technology has problems such as insufficient accuracy in the coordinated work of thermal image feedback and laser ablation in small animals, and difficulty in real-time evaluation and adjustment of treatment effects. These problems seriously restrict the effectiveness and progress of applications such as tumor treatment in small animal experiments. Summary of the invention

[0005] In order to overcome the deficiencies in the above-mentioned prior art, the present invention provides a laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals. The device combines real-time feedback of thermal images of small animals with laser ablation technology, and can achieve real-time monitoring and feedback of the temperature of tissues in small animals during treatment, thereby dynamically adjusting laser ablation parameters according to thermal imaging data, improving the accuracy of treatment, avoiding excessive or insufficient ablation, and improving treatment effects.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: The laser ablation collaborative diagnosis and treatment device based on real-time feedback of small animal thermal images includes a diagnosis and treatment cavity, a laser point focusing incident module, a tumor thermal imaging module, a machine vision imaging module, an automatic tracking and alignment laser module and a small animal gas anesthesia module, the automatic tracking and alignment laser module is arranged at the inner bottom of the diagnosis and treatment cavity, the laser point focusing incident module and the tumor thermal imaging module are arranged in the diagnosis and treatment cavity, the laser point focusing incident module and the tumor thermal imaging module are aligned with the automatic tracking and alignment laser module, the machine vision imaging module is arranged above the diagnosis and treatment cavity, the bottom of the machine vision imaging module extends into the diagnosis and treatment cavity, the small animal gas anesthesia module is arranged at one side of the diagnosis and treatment cavity, and the small animal gas anesthesia module is connected to the diagnosis and treatment cavity through a pipeline.

[0007] The laser point focusing injection module includes a femtosecond laser and a laser focusing optical system. The laser wavelength emitted by the femtosecond laser is 1030nm, which can provide laser irradiation to meet the photothermal treatment of tumors in small animals; the spatial resolution of the laser focusing optical system is 10μm.

[0008] The femtosecond laser has a pulse width of 500fs, a single pulse energy greater than 200uJ, a repetition frequency adjustable within the range of 50KHz to 5MHz, and a spot diameter of ≤3mm.

[0009] The tumor thermal imaging module uses a mid-infrared surface array CCD detector with a temperature detection range of -20°C to 120°C and a mid-infrared thermal imaging band of 8 to 14 μm. Through mid-infrared band thermal imaging, the temperature changes of tumors and surrounding tissues in small animals can be monitored in real time.

[0010] The thermal imaging field of view of the tumor thermal imaging module is 12.5×12.5 cm².

[0011] The machine vision imaging module includes a CMOS camera, an LED white light source and a Kohler illumination module. The CMOS camera has a resolution of 5440×3648 pixels and a pixel size of 2.4 μm. The CMOS camera captures images at a speed of 15fps, and the exposure time is adjustable in the range of 0.1ms to 15s.

[0012] The automatic tracking and alignment laser module includes a three-dimensional electric translation stage and a CCD imaging system. The three-dimensional electric translation stage has an XY axis travel of 100mm×100mm, a minimum step length of 50nm, a repeatability of 1μm, and a maximum speed of 500mm / s; the Z axis travel is 30mm, the minimum step length is 100nm, the accuracy is 1μm, and the maximum load is 3kg.

[0013] The small animal gas anesthesia module adopts a gas anesthesia machine.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The device achieves high-precision positioning and treatment of tumors in small animals by combining a femtosecond laser with a precise three-dimensional electric translation stage. The spatial resolution of the laser point focus reaches 10μm, allowing the laser to accurately irradiate the tumor area without affecting the surrounding healthy tissue, thereby improving the treatment effect and safety. The system supports mid-infrared thermal imaging in the 8~14μm band and can monitor temperature changes in small animals in real time. Through real-time feedback of thermal imaging data, the system can dynamically adjust the laser irradiation position and intensity to ensure accurate energy distribution during treatment, effectively avoid excessive or insufficient ablation, and ensure the high efficiency of treatment. The device integrates laser ablation, thermal imaging, machine vision and automatic tracking and alignment technology to achieve a fully automated treatment process. The machine vision module can accurately locate the tumor and automatically track the laser irradiation, eliminating errors caused by manual operation and improving the efficiency and accuracy of treatment. Equipped with a dual-input laser interface, users can freely switch the laser source according to treatment needs, which improves the flexibility of treatment. The high-precision positioning capability of the three-dimensional stepper motor and the automatic adjustment function of the laser focus allow the treatment to be accurately adjusted according to different tumor locations and treatment needs, further improving the treatment effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention; In the figure: 1 is the laser point focusing incident module, 2 is the tumor thermal imaging module, 3 is the machine vision imaging module, 4 is the automatic tracking and alignment laser module, and 5 is the small animal gas anesthesia module. DETAILED DESCRIPTION

[0016] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0017] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from the description. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0018] like Figure 1As shown, a laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals includes a diagnosis and treatment cavity, a laser point focusing incident module 1, a tumor thermal imaging module 2, a machine vision imaging module 3, an automatic tracking and alignment laser module 4 and a small animal gas anesthesia module 5. The automatic tracking and alignment laser module 4 is arranged at the inner bottom of the diagnosis and treatment cavity, the laser point focusing incident module 1 and the tumor thermal imaging module 2 are arranged in the diagnosis and treatment cavity, the laser point focusing incident module 1 and the tumor thermal imaging module 2 are aligned with the automatic tracking and alignment laser module 4, the machine vision imaging module 3 is arranged above the diagnosis and treatment cavity, the bottom of the machine vision imaging module 3 extends into the diagnosis and treatment cavity, the small animal gas anesthesia module 5 is arranged at one side of the diagnosis and treatment cavity, and the small animal gas anesthesia module 5 is connected to the diagnosis and treatment cavity through a pipeline.

[0019] The laser point focusing incident module 1 is used to emit high-precision femtosecond laser with a laser wavelength of 1030nm, and performs photothermal therapy by focusing and accurately irradiating the target area; the tumor thermal imaging module 2 uses mid-infrared band thermal imaging to monitor the temperature changes of tumors and surrounding tissues in small animals in real time to ensure accurate feedback during the treatment process; the machine vision imaging module 3 uses a CMOS camera combined with a machine vision algorithm to capture the position of small animal tumors in real time and reconstruct a three-dimensional position information map to support precise positioning of the tumor; the automatic tracking and alignment laser module 4 combines a three-dimensional electric translation stage and a CCD imaging module to automatically adjust the laser focus to achieve precise alignment of the laser irradiation area with the tumor position; the small animal gas anesthesia module 5 provides stable gas anesthesia support to ensure that the small animal remains in an anesthetized state during treatment, avoids motion interference, and ensures the stability and safety of the experimental process.

[0020] Preferably, the laser point focusing incident module 1 includes a femtosecond laser and a laser focusing optical system. The laser wavelength emitted by the femtosecond laser is 1030nm, which can provide laser irradiation to meet the requirements of photothermal therapy of tumors in small animals. The spatial resolution of the laser focusing optical system is 10μm.

[0021] Preferably, the femtosecond laser has a pulse width of 500fs, a single pulse energy greater than 200uJ, a repetition frequency adjustable in the range of 50KHz to 5MHz, and a spot diameter of ≤3mm. This ensures accurate laser irradiation without affecting surrounding healthy tissue. The laser point focusing spatial resolution is 10μm, which ensures the accuracy of the laser focus point during photothermal therapy and avoids damage to surrounding healthy tissue. The laser is connected via a dual-input laser interface, and users can switch the laser source as needed.

[0022] Preferably, the tumor thermal imaging module 2 uses a mid-infrared surface array CCD detector with a temperature detection range of -20°C to 120°C, a mid-infrared thermal imaging band of 8 to 14 μm, and a resolution of 640×480. It can clearly obtain temperature distribution data in small animals, and through mid-infrared band thermal imaging, it can monitor the temperature changes of tumors and surrounding tissues in small animals in real time, providing accurate reference for photothermal therapy.

[0023] Preferably, the thermal imaging field of view of the tumor thermal imaging module 2 is 12.5×12.5 cm², which can cover the target area in the small animal and ensure accurate monitoring of the tumor site.

[0024] Preferably, the machine vision imaging module 3 includes a CMOS camera, an LED white light source and a Kohler illumination module, which provide uniform illumination through the LED white light source and the Kohler illumination optical path module to ensure high-quality visible light imaging. The CMOS camera has a resolution of 5440×3648 pixels and a pixel size of 2.4μm. The CMOS camera captures images at a speed of 15fps, and the exposure time is adjustable in the range of 0.1ms to 15s. It can quickly capture the location information of the tumor in the small animal, and combine the electric translation stage and the machine vision algorithm to reconstruct the three-dimensional position information map of the small animal in real time. This information map is used to accurately locate the tumor position and automatically adjust the position of the treatment laser according to the thermal imaging data.

[0025] Preferably, the automatic tracking and alignment laser module 4 includes a three-dimensional electric translation stage and a CCD imaging system. The three-dimensional electric translation stage has an XY axis travel of 100mm×100mm, a minimum step length of 50nm, a repeatability of 1μm, and a maximum speed of 500mm / s; the Z axis travel is 30mm, the minimum step length is 100nm, the accuracy is 1μm, and the maximum load is 3kg. The motor is combined with the imaging CCD to accurately adjust the laser focus position. The system's high-precision positioning in the X, Y, and Z axis directions can achieve a minimum positioning accuracy of 1μm, ensuring that the laser treatment is accurately aligned with the tumor site, and the focal plane position can be adjusted according to the treatment needs to complete accurate photothermal therapy. The focal plane position can be adjusted according to the treatment needs, thereby achieving accurate treatment of tumors at different depths.

[0026] Preferably, the small animal gas anesthesia module 5 uses a gas anesthesia machine. It is used to anesthetize mice to ensure stability during the experiment and safety of operation. The concentration and flow of the anesthetic gas can be adjusted to ensure that the small animals maintain an appropriate anesthesia state during the treatment process and avoid treatment errors caused by animal movement or reaction. The gas anesthesia system is equipped with an automatic monitoring function, which provides real-time feedback on data such as anesthetic concentration and gas flow to ensure the stability and safety of the experiment.

[0027] This system realizes closed-loop control through real-time feedback of thermal imaging data combined with adjustment of laser irradiation, ensuring accurate distribution of laser energy during treatment and avoiding over-ablation or under-ablation. The system highly integrates laser ablation, thermal imaging, machine vision and automatic tracking and alignment technology to realize a fully automated and precise treatment process, greatly improving the treatment efficiency and effect in small animal experiments. The three-dimensional electric translation stage and stepper motor are used in combination with machine vision algorithms to perform high-precision positioning of small animals, and the automatic tracking system is used to ensure accurate alignment of the tumor position, greatly improving the effect and accuracy of photothermal therapy.

[0028] Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention, and various changes should be included in the protection scope of the present invention.

Claims

1. Laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals, characterized by: The invention comprises a diagnosis and treatment cavity, a laser point focusing incident module (1), a tumor thermal imaging module (2), a machine vision imaging module (3), an automatic tracking and alignment laser module (4) and a small animal gas anesthesia module (5), wherein the automatic tracking and alignment laser module (4) is arranged at the inner bottom of the diagnosis and treatment cavity, the laser point focusing incident module (1) and the tumor thermal imaging module (2) are arranged in the diagnosis and treatment cavity, the laser point focusing incident module (1) and the tumor thermal imaging module (2) are aligned with the automatic tracking and alignment laser module (4), the machine vision imaging module (3) is arranged above the diagnosis and treatment cavity, the bottom of the machine vision imaging module (3) extends into the diagnosis and treatment cavity, the small animal gas anesthesia module (5) is arranged at one side of the diagnosis and treatment cavity, and the small animal gas anesthesia module (5) is connected to the diagnosis and treatment cavity via a pipeline.

2. The laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals according to claim 1 is characterized by: The laser point focusing injection module (1) comprises a femtosecond laser and a laser focusing optical system. The laser wavelength emitted by the femtosecond laser is 1030 nm, which can provide laser irradiation to meet the requirements of photothermal treatment of tumors in small animals. The spatial resolution of the laser focusing optical system is 10 μm.

3. The laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals according to claim 2 is characterized by: The femtosecond laser has a pulse width of 500fs, a single pulse energy greater than 200uJ, a repetition frequency adjustable within the range of 50KHz to 5MHz, and a spot diameter of ≤3mm.

4. The laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals according to claim 1, characterized in that: The tumor thermal imaging module (2) adopts a mid-infrared surface array CCD detector with a temperature detection range of -20°C to 120°C and a mid-infrared thermal imaging band of 8 to 14 μm. By means of mid-infrared thermal imaging, temperature changes of tumors and surrounding tissues in small animals can be monitored in real time.

5. The laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals according to claim 4 is characterized in that: The thermal imaging field of view of the tumor thermal imaging module (2) is 12.5×12.5 cm².

6. The laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals according to claim 1, characterized in that: The machine vision imaging module (3) comprises a CMOS camera, an LED white light source and a Kohler illumination module. The CMOS camera has a resolution of 5440×3648 pixels and a pixel size of 2.4 μm. The CMOS camera captures images at a speed of 15 fps, and the exposure time is adjustable within a range of 0.1 ms to 15 s.

7. The laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals according to claim 1 is characterized by: The automatic tracking and alignment laser module (4) comprises a three-dimensional electric translation stage and a CCD imaging system. The three-dimensional electric translation stage has an XY axis travel of 100 mm×100 mm, a minimum step length of 50 nm, a repeatability of 1 μm, and a maximum speed of 500 mm / s; a Z axis travel of 30 mm, a minimum step length of 100 nm, an accuracy of 1 μm, and a maximum load of 3 kg.

8. The laser ablation collaborative diagnosis and treatment device based on real-time feedback of thermal images of small animals according to claim 1, characterized in that: The small animal gas anesthesia module (5) adopts a gas anesthesia machine.

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