Multi-modal fusion probe, endoscope and imaging method

Abstract

The embodiment of the invention provides a multi-modal fusion probe, an endoscope and an imaging method. The multi-modal fusion probe comprises a sleeve and at least two probes, the at least two probes are arranged in the sleeve; the at least two probes comprise at least one imaging probe, the at least one imaging probe comprises a scanning optical fiber imaging probe, and the scanning optical fiber imaging probe comprises an optical fiber scanner and a collecting optical fiber.

Description

Multimodal fusion probe, endoscope and imaging method

[0001] Cross-references

[0002] This application claims priority to Chinese application No. 202211214146.7 filed on September 30, 2022, the entire contents of which are incorporated herein by reference.

[0003] The present specification relates to the field of optical endoscopy technology, and in particular to a multimodal fusion probe, an endoscope, and an imaging method.

[0004] With the rapid development of medical information technology, endoscopes, as a key medical device for collecting, analyzing information and assisting treatment, are becoming more and more important. Endoscopes provide doctors with intuitive optical images of the human body, with low damage and high resolution, and are therefore widely used to observe and diagnose lesions in tissues or organs such as the digestive tract, reproductive tract and respiratory tract. The diameter and flexibility of the endoscope are crucial to endoscopic imaging technology, which determines the target imaging area that the endoscope can reach and the degree of discomfort to the user and trauma to the tissue. Therefore, endoscopes that rely on tiny probes can flexibly penetrate deep into living tissues to image tissues and cells, driving medical endoscopes to develop in the direction of fiber optics, miniaturization, greater flexibility and high resolution.

[0005] Traditional endoscopes use white light irradiation imaging mode for imaging. Due to the single imaging mode, they can only perform planar imaging on the area illuminated by the probe, making it difficult to detect other information on the surface of the detected object, such as early cell canceration. They lack tissue depth information, cannot perform early cancer inspections, cannot determine the depth of tumor infiltration, cannot divide tumor boundaries, and cannot achieve simple laser cutting, burning and other functions. In addition, traditional endoscope probes require a separate light path illumination channel, which is not conducive to reducing the overall size of the endoscope.

[0006]

[0007] Some embodiments of the present specification provide a multimodal fusion probe, comprising a sleeve and at least two probes; the at least two probes are arranged in the sleeve; the at least two probes include at least one imaging probe, the at least one imaging probe includes a scanning fiber imaging probe, and the scanning fiber imaging probe includes a fiber scanner and a collecting fiber.

[0008] In some embodiments, the at least two probes are imaging probes.

[0009] In some embodiments, the at least two probes include at least two of a fiber scanning imaging probe, a Raman imaging probe, and an OCT imaging probe.

[0010] In some embodiments, the imaging probe includes a light source generator that provides laser light to the imaging probe.

[0011] In some embodiments, the light source generator is a Nd:YAlO3 laser, and the laser wavelength emitted by the Nd:YAlO3 laser is 930nm; and / or, the light source generator is a Nd 3+ : YAG laser, the Nd 3+ : The laser wavelength emitted by the YAG laser is 1310nm.

[0012] In some embodiments, the at least two probes further include a therapeutic probe.

[0013] In some embodiments, the treatment probe is embedded in the fiber optic scanning imaging probe.

[0014] In some embodiments, the treatment probe comprises a laser cutting probe and / or a laser burning probe.

[0015] In some embodiments, the treatment probe includes a light source generator that provides laser light to the treatment probe.

[0016] In some embodiments, the light source generator is a Nd:YAG laser, and the laser wavelength emitted by the Nd:YAG laser is 0.64 μm; and / or, the light source generator is a Ho:YAG laser, and the laser wavelength emitted by the Ho:YAG laser is 2.94 μm; and / or, the light source generator is an Er:YAG laser, and the laser wavelength emitted by the Er:YAG laser is 2.08 μm; and / or, the light source generator is a semiconductor laser, and the laser wavelength emitted by the semiconductor laser includes at least one of 980 nm, 1470 nm and 1940 nm; and / or, the light source generator is an ArF excimer laser, and the laser wavelength emitted by the ArF excimer laser is 193 nm.

[0017] In some embodiments, the at least two probes are independently disposed within the casing.

[0018] In some embodiments, the at least two probes are detachably connected to the cannula respectively.

[0019] In some embodiments, the casing includes at least two first channels, and the at least two probes are respectively disposed in the first channels.

[0020] In some embodiments, at least one of the first channels is movably connected to the sleeve.

[0021] Some embodiments of the present specification provide an endoscope, comprising the multimodal fusion probe as described in the aforementioned embodiments.

[0022] In some embodiments, the multimodal fusion probe is fixed in the endoscope, or the multimodal fusion probe is disposed in a first probe channel of the endoscope.

[0023] In some embodiments, the sleeve is rotatably disposed in the first probe channel.

[0024] In some embodiments, the sleeve includes at least one supporting channel, and at least one supporting device is disposed in the at least one supporting channel.

[0025] Some embodiments of the present specification provide an endoscope, comprising: a leading end portion and at least two probes; the at least two probes are arranged at the leading end portion; the at least two probes include at least one imaging probe.

[0026] In some embodiments, the at least two probes are imaging probes.

[0027] In some embodiments, the at least two probes include at least two of a fiber scanning imaging probe, a Raman imaging probe, and an OCT imaging probe.

[0028] In some embodiments, the at least two probes further include a therapeutic probe.

[0029] In some embodiments, the at least one imaging probe comprises a fiber optic scanning imaging probe, and the treatment probe is embedded in the fiber optic scanning imaging probe.

[0030] In some embodiments, the treatment probe comprises a laser cutting probe and / or a laser burning probe.

[0031] In some embodiments, the at least two probes are fixed in the tip portion.

[0032] In some embodiments, the tip portion includes at least two second probe channels, and the at least two probes are respectively disposed in the second probe channels.

[0033] In some embodiments, the at least two probes include at least two imaging probes, and the at least two imaging probes are arranged at a preset interval so that the at least two imaging probes can achieve a combined imaging effect.

[0034] In some embodiments, the endoscope further includes a main body, and the tip end is disposed at a distal end of the main body; the tip end is detachably connected to the main body; or, the tip end is integrally formed with the main body.

[0035] In some embodiments, the endoscope further includes a temperature sensor and a temperature control device; the temperature control device adjusts the temperature of the probe based on temperature data collected by the temperature sensor.

[0036] In some embodiments, the endoscope further comprises a catheter pressure sensor and a tip pressure sensor, wherein the catheter pressure sensor is disposed at the tip portion and / or the main body; and the tip pressure sensor is disposed at the tip portion.

[0037] Some embodiments of the present specification provide an imaging method, using an endoscope as described above, wherein the at least two probes include at least one imaging probe, and the method includes: scanning an object to be detected based on a laser emitted by the at least one imaging probe; collecting part of the light scattered and / or reflected back from the object to be detected based on the at least one imaging probe, and generating an imaging image of the object to be detected, wherein the imaging image includes a cross-sectional image along the depth direction of the object to be detected and / or a three-dimensional surface model of the object to be detected.

[0038] In some embodiments, the number of the at least one imaging probe is at least two; the collector based on the at least one imaging probe collects part of the light scattered and / or reflected from the object to be detected, and generates an imaging image of the object to be detected, including: reconstructing the surface three-dimensional model of the object to be detected based on the part of the light respectively collected by the at least two imaging probes.

[0039] In some embodiments, the at least two probes include a treatment probe, and the method further includes: based on the treatment probe, cutting and / or burning the diseased tissue by irradiating the diseased tissue in the object to be detected with a laser.

[0040] In some embodiments, laser parameters irradiated by the treatment probe are determined based on the imaging image.

[0041] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0042] FIG1 is a cross-sectional schematic diagram of a multi-modal probe according to some embodiments of the present specification;

[0043] FIG2 is a cross-sectional schematic diagram of a multi-modal probe according to other embodiments of the present specification;

[0044] FIG3 is a cross-sectional schematic diagram of a multi-modal probe according to some other embodiments of the present specification;

[0045] FIG4 is a cross-sectional schematic diagram of a scanning fiber imaging probe according to some embodiments of the present specification;

[0046] FIG5 is a schematic diagram of the structure of a scanning fiber imaging probe according to some embodiments of the present specification;

[0047] FIG6 is a schematic diagram of the distal end of an endoscope according to some embodiments of the present specification;

[0048] FIG7 is a schematic diagram of the distal end of an endoscope according to other embodiments of the present specification;

[0049] FIG8 is a schematic diagram of a first channel connection method according to some embodiments of this specification;

[0050] FIG9 is a schematic structural diagram of a rotating device according to some embodiments of the present specification;

[0051] FIG10 is a schematic diagram of a support device according to some embodiments of the present specification;

[0052] FIG11 is a schematic diagram of the structure of a support device according to some embodiments of the present specification;

[0053] FIG12 is a schematic structural diagram of the distal end of an endoscope according to other embodiments of the present specification;

[0054] FIG13 is a schematic diagram of the structure of an endoscope according to other embodiments of the present specification;

[0055] FIG. 14 is a schematic diagram of the structure of a flushing channel according to other embodiments of the present specification.

[0056] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0057] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural, unless the context clearly indicates an exception. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The term "based on" means "at least partially based on". The term "some embodiments" means "at least one embodiment"; the term "other embodiments" means "at least one other embodiment", and the relevant definitions of other terms will be given in the description below.

[0058] Since the position of the product in this specification can be changed at will, the directional words such as "upper", "lower", "left", "right", "front", "back" and so on described in this specification only indicate the relative position relationship, and are not used to limit the absolute position relationship. In addition, the "front end" and "distal end" described in this specification refer to the end away from the surgical operator, and the "rear end", "proximal end" and "end" refer to the end close to the surgical operator.

[0059] The present specification provides a multimodal fusion probe, which is composed of at least two probes. The types and functions of the at least two probes can be the same or different. The operator can select appropriate probes for combination as needed to make the multimodal fusion probe have specific functions (for example, detection and / or treatment) to meet the needs of different usage environments.

[0060] In some embodiments, the endoscope used in the cavity of the natural opening of the human body (for example, the oral cavity), for example, the distal outer diameter of the electronic gastroenteroscope is less than or equal to 8.9 mm, the outer diameter of the electronic colonoscope is less than or equal to 13.2 mm, and the inner diameter of the internal instrument channel for accommodating surgical instruments is greater than or equal to 3.7 mm. For smaller pipes in the body, the outer diameter requirements of the endoscope are more stringent. Just as an example, the maximum size of the insertion end of the disposable bile and pancreatic duct imaging catheter is 3.6 mm, and the minimum size of its instrument channel is 1.2 mm. If a CCD imaging probe or a CMOS imaging probe is used, an additional lighting channel needs to be opened, which will greatly compress the space inside the endoscope, and also make the instrument channel space narrower, increasing the difficulty of manufacturing the surgical instruments that match it, and at the same time, it is not conducive to the replacement of surgical instruments and increases the operation time. When a scanning fiber optic imaging probe is used, the overall size of the scanning fiber optic imaging probe can be controlled within 1-2mm, which greatly saves space inside the probe. When the outer diameter of the original insertion end is maintained at ≥3.6mm, the size of the instrument channel can be maintained within 1.2-1.8mm, reducing the difficulty of manufacturing surgical instruments that match it, and is more conducive to the replacement of surgical instruments and shortening the operation time. Based on the above reasons, the multimodal fusion probe of the present specification includes at least one scanning fiber optic imaging probe. Since the design of the scanning fiber optic imaging probe does not require an additional lighting channel, the space occupied by the scanning fiber optic imaging probe and the multimodal fusion probe can be effectively reduced, and the size of the multimodal fusion probe can be effectively reduced. In some embodiments, the multimodal fusion probe can be combined with an endoscope. By connecting the multimodal fusion probe to the distal end of the endoscope, the endoscope can be adapted to different usage scenarios.

[0061] FIG. 1 is a cross-sectional schematic diagram of a multimodal probe according to some embodiments of the present specification. In some embodiments, as shown in FIG. 1 , a multimodal fusion probe 100 may include a sleeve 11 and at least two probes 12, and at least two probes 12 are arranged in the sleeve 11. At least two probes 12 include at least one imaging probe 13, and at least one imaging probe 13 includes a scanning fiber imaging probe 131, and the scanning fiber imaging probe 131 includes a fiber scanner 132 and a collection fiber 133 (see FIG. 4 ). Among them, the sleeve 11 can be used to support and fix at least two probes 12. The imaging probe 13 can image the detected object based on a specific imaging mode. For example, the scanning fiber imaging probe 131 can be imaged based on a fiber imaging mode by a fiber scanner 132 and a collection fiber 133 (see FIG. 4 ). The fiber scanner 132 can be used to scan the emitted laser to form a light spot on the plane of the detected object and form a field of view (such as a two-dimensional circular field of view). The collecting optical fiber 133 can be used to collect part of the detection light scattered or reflected from the detected object through a lens (for example, the lens 1325 shown in FIG. 4 ) and transmit it to a photoelectric detection device (not shown in the figure) for detection and imaging. For more details about the scanning optical fiber imaging probe 131, please refer to FIG. 4-5 and its embodiments.

[0062] In some embodiments, in addition to the scanning fiber imaging probe 131, the imaging probe 13 may also include a Raman imaging probe, an OCT imaging probe, a fluorescence imaging probe, an ultrasound imaging probe, a white light imaging probe, etc. Different imaging probes 13 can perform imaging in different imaging modes to achieve different functions. As an example only, the Raman imaging probe can be used to detect tissue components on the surface of the detected object. The OCT imaging probe can be used to obtain a cross-sectional image along the depth direction of the detected object, thereby obtaining depth information of the detected object.

[0063] In some embodiments, the multimodal fusion probe 100 may include at least two imaging probes 13. For example, the multimodal fusion probe 100 may include a scanning fiber imaging probe 131 and an OCT imaging probe. For another example, the multimodal fusion probe 100 may include a scanning fiber imaging probe 131 and a Raman imaging probe.

[0064] In some embodiments, at least two imaging probes 13 may be arranged at a preset interval so that at least two imaging probes 13 can achieve a combined imaging effect. FIG. 2 is a cross-sectional schematic diagram of a multimodal probe according to other embodiments of the present specification. As an example only, as shown in FIG. 2 , the multimodal fusion probe 100 may include three probes 12, namely a first probe 121, a second probe 122, and a third probe 123, wherein the first probe 121 and the third probe 123 are both scanning fiber imaging probes 131, and the two scanning fiber imaging probes 131 are arranged at a preset interval. Since a distance difference is formed between the two scanning fiber imaging probes 131, based on the triangulation principle of binocular vision, the two scanning fiber imaging probes 131 can be used to reconstruct a three-dimensional model of the surface of the detected object. In this embodiment, the preset interval may refer to the distance between the center points of the probes 12, for example, the distance between the center point of the first probe 121 and the center point of the third probe 123 in FIG. 2 . In some embodiments, when multiple probes 12 are arranged in the sleeve 11, the smaller the spacing between the probes 12, the more conducive it is to form a multi-modal fusion probe 100 with a smaller overall structural size. In some embodiments, the sleeves outside the multiple probes 12 can be closely fitted and fixedly connected by gluing, welding, etc., so that the preset interval can be less than 3 mm. In some embodiments, the preset interval can be less than 2 mm. In some embodiments, the preset interval can be less than 1 mm.

[0065] In some embodiments, at least two probes 12 may include at least two of a scanning fiber imaging probe 131, a Raman imaging probe, and an OCT imaging probe to detect multiple dimensional information of the detected object. As an example only, as shown in FIG2 , the first probe 121 and the third probe 123 may both be scanning fiber imaging probes 131, and the second probe 122 may be a Raman imaging probe. By combining the scanning fiber imaging probe 131 and the Raman imaging probe, not only can the surface three-dimensional model of the detected object be reconstructed, but the surface tissue components of the surface three-dimensional model of the detected object can also be detected using the Raman imaging probe, thereby achieving the purpose of detecting biochemical changes of the tissue at the molecular level. In another example, as shown in FIG2 , the first probe 121 and the third probe 123 are still scanning fiber imaging probes 131, and the second probe 122 may be an OCT imaging probe. By combining the scanning fiber imaging probe 131 and the OCT imaging probe, not only can the surface three-dimensional model of the detected object be reconstructed, but the OCT imaging probe can also be used to obtain the depth information of the surface tissue of the surface three-dimensional model of the detected object, which can be used for the detection of early alienation and canceration of the surface tissue, thereby facilitating the auxiliary diagnosis of diseases such as tumors and atherosclerosis.

[0066] In some embodiments, the imaging probe 13 includes a light source generator, which provides laser light to the imaging probe for imaging. For example, the imaging probe 13 emits laser light through the light source generator, and collects part of the light scattered or reflected from the detected object through a lens and transmits it to the photoelectric detection device, thereby performing detection imaging. In some embodiments, the light source generator can be connected to the optical fiber of the imaging probe 13, and the laser light is transmitted through the optical fiber.

[0067] In some embodiments, the light source generator is a Nd:YAlO3 laser, and the wavelength of the laser emitted by the Nd:YAlO3 laser is 930nm. 3+ : YAG laser, Nd 3+ The wavelength of the laser emitted by the YAG laser is 1310 nm. In some embodiments, the imaging probe 13 may also include any other feasible light source generator.

[0068] In some embodiments, at least two probes 12 may both be imaging probes 13, that is, each probe 12 of the multimodal fusion probe 100 may be an imaging probe 13. In some embodiments, at least two probes 12 may be the same type of imaging probe 13. For example, as shown in FIG2 , the first probe 121 and the third probe 123 may both be scanning fiber imaging probes 131, which are only used to perform three-dimensional reconstruction of the surface of the detected object. For another example, at least two probes 12 may both be OCT imaging probes.

[0069] FIG3 is a cross-sectional schematic diagram of a multimodal probe according to some other embodiments of the present specification. In some embodiments, as shown in FIG3 , at least two probes 12 may also include a treatment probe 14, and the treatment probe 14 may be used to treat diseased tissue. For example, the number of probes 12 may be two, one of which is a scanning fiber imaging probe 131, and the other is a treatment probe 14. The operator may observe the detected object through the scanning fiber imaging probe 131, and use the treatment probe 14 to treat the observed diseased tissue.

[0070] In some embodiments, the treatment probe 14 may include a laser cutting probe and a laser burning probe, and the treatment method may include cutting the diseased tissue by the laser cutting probe or burning the diseased tissue by the laser burning probe. In some embodiments, at least two probes 12 may include one of the laser cutting probe and the laser burning probe. As an example only, the number of probes 12 may be two, including a scanning fiber imaging probe 131 and a laser cutting probe. In some embodiments, at least two probes 12 may include both a laser cutting probe and a laser burning probe. As an example only, as shown in FIG. 3, the first probe 121 may be a laser cutting probe, the second probe 122 may be a scanning fiber imaging probe 131, and the third probe 123 may be a laser burning probe.

[0071] In some embodiments, the probe 12 may include at least two imaging probes 13 and at least one treatment probe 14, and the at least two imaging probes 13 may be arranged at a preset interval so that the at least two imaging probes 13 can achieve a combined imaging effect. As an example only, based on the embodiment shown in FIG. 3 , the first probe 121 and the second probe 122 may both be set as scanning fiber imaging probes 131, and the second probe 122 may be set as a treatment probe 14 (laser cutting probe or laser burning probe). After setting up two scanning fiber imaging probes 131, the surface three-dimensional model of the detected object is reconstructed by the two scanning fiber imaging probes 131, and the diseased tissue is treated by the treatment probe 14, which can effectively improve the treatment accuracy.

[0072] Fig. 4 is a cross-sectional schematic diagram of a scanning fiber imaging probe according to some embodiments of the present specification. Fig. 5 is a structural schematic diagram of a scanning fiber imaging probe according to some embodiments of the present specification. In some embodiments, as shown in Fig. 5, the treatment probe 14 may include a treatment fiber 141 and a light source generator (not shown) connected to the proximal end of the treatment fiber 141. The light source generator may provide the treatment fiber 141 with a laser of a required wavelength band, and the laser may act on the diseased tissue through the treatment fiber 141 to burn or cut.

[0073] In some embodiments, the laser cutting probe and the laser burning probe can be the same treatment probe 14. As an example only, the treatment probe 14 can include one or more concentrated optical fibers, and can perform cutting treatment by emitting a single beam of laser or concentrated laser. Similarly, burning treatment can also be performed by emitting lasers emitted by the one or more concentrated optical fibers.

[0074] In some embodiments, the laser cutting probe and the laser burning probe can be independent probes 12. As an example only, the laser cutting probe can include a first treatment optical fiber and a first light source generator, and the laser burning probe can include a second treatment optical fiber and a second light source generator, the first light source generator can provide a laser of a first wavelength band, and the second light source generator can provide a laser of a second wavelength band.

[0075] In some embodiments, the treatment probe 14 and the scanning fiber imaging probe 131 can be relatively independently arranged in the casing 11. For example, as shown in FIG3 , the first probe 121, the second probe 122 and the third probe 123 are independently arranged in the casing 11, wherein the first probe 121 is a scanning fiber imaging probe 131, and the second probe 122 and the third probe 123 are laser cutting probes and laser burning probes, respectively.

[0076] In some embodiments, the treatment probe 14 includes a light source generator, which provides laser light to the treatment probe 14 , and the laser light can act on the diseased tissue to burn or cut.

[0077] In some embodiments, the light source generator can be a high-power laser. In some embodiments, the light source generator is a Nd:YAG laser, and the wavelength of the laser emitted by the Nd:YAG laser is 0.64μm. In some embodiments, the light source generator is a Ho:YAG laser, and the wavelength of the laser emitted by the Ho:YAG laser is 2.94μm. In some embodiments, the light source generator is an Er:YAG laser, and the wavelength of the laser emitted by the Er:YAG laser is 2.08μm. In some embodiments, the light source generator is a semiconductor laser, and the wavelength of the laser emitted by the semiconductor laser includes at least one of 980nm, 1470nm and 1940nm. In some embodiments, the light source generator is an ArF excimer laser, and the wavelength of the laser emitted by the ArF excimer laser is 193nm.

[0078] It is to be understood that the embodiments of the number of probes 12 in this specification are for illustrative purposes only and are not intended to limit the number of probes 12. The operator can increase or decrease the number of probes 12 according to actual needs. For example, when only the surface of the detected object needs to be three-dimensionally modeled, only two scanning fiber imaging probes 131 can be set. For another example, in order to improve the accuracy during treatment, the number of probes 12 can be set to three, of which two probes 12 are scanning fiber imaging probes 131, and the other probe 12 is a treatment probe 14. For another example, in order to determine the tissue composition and depth information of the three-dimensional model of the surface of the detected object, the number of probes 12 can be four, of which two probes 12 are scanning fiber imaging probes 131, and the other two probes 12 are Raman imaging probes and OCT imaging probes, respectively. In other examples, the number of probes 12 can also be five, six or more.

[0079] In some embodiments, the treatment probe 14 can be integrated with other probes 12, for example, the treatment probe 14 can be integrated with at least one of a fiber scanning imaging probe, a Raman imaging probe, and an OCT imaging probe. In some embodiments, the treatment probe 14 can be embedded in the scanning fiber imaging probe 131. The embedded setting can mean that the treatment fiber 141 of the treatment probe 14 is set in the support tube 1324 of the scanning fiber imaging probe 131.

[0080] In some embodiments, as shown in combination with FIGS. 4-5 , the fiber scanner 132 may include a micro-electromechanical drive device (PTZ) 1322, a single-mode optical fiber (SMF) 1323, a lens 1325, and a support tube 1324. The micro-electromechanical drive device 1322, the single-mode optical fiber 1323, and the lens 1325 are all disposed in the cavity of the support tube 1324, and the single-mode optical fiber 1323 and the micro-electromechanical drive device 1322 are both located at the proximal end of the lens 1325.

[0081] In some embodiments, the micro-electromechanical drive device 1322 can be used to drive the single-mode optical fiber 1323 to scan. In some embodiments, the micro-electromechanical drive device 1322 can be a motor actuator, an electrothermal actuator, an electromagnetic actuator or a piezoelectric actuator, or other forms of actuators. In this specification, the micro-electromechanical drive device 1322 can be a piezoelectric actuator, and the piezoelectric actuator can be in the form of a piezoelectric ceramic tube. In some embodiments, the single-mode optical fiber 1323 can be fixedly arranged on the piezoelectric ceramic tube, and a portion of the protrusion extends at the far end of the piezoelectric ceramic tube, and the extended portion of the single-mode optical fiber 1323 can vibrate freely under the drive of the piezoelectric ceramic tube. Therefore, in this specification, based on the working principle of the single-mode optical fiber 1323 and the micro-electromechanical drive device 1322, the single-mode optical fiber 1323 and the micro-electromechanical drive device 1322 can be collectively referred to as a vibration component 1321. In some embodiments, the piezoelectric ceramic tube is driven by an alternating voltage of a specific frequency (e.g., ±50v) to drive the extended portion of the single-mode optical fiber 1323 to scan a two-dimensional plane in a resonance mode. Since the lens 1325 is disposed at the far end of the extended portion of the single-mode optical fiber 1323 , it can be used to focus the divergent light emitted from the single-mode optical fiber 1323 to form an image on the detected object.

[0082] In some embodiments, the maximum outer diameter of the scanning fiber imaging probe 131 is less than or equal to 1.5 mm. The maximum outer diameter of the scanning fiber imaging probe 131 may refer to the maximum outer diameter of the support tube 1324 of the scanning fiber imaging probe 131. In some embodiments, the maximum outer diameter of the scanning fiber imaging probe 131 is less than or equal to 1.3 mm. In some embodiments, the maximum outer diameter of the scanning fiber imaging probe 131 is less than or equal to 1.1 mm.

[0083] In some embodiments, the collection optical fiber 133 may be disposed in the cavity of the support tube 1324 and located at the proximal end of the lens 1325. In some embodiments, the collection optical fiber 133 may be disposed between the vibration component 1321 and the support tube 1324. In some embodiments, the collection optical fiber 133 may include a plurality of collection optical fibers, and the plurality of collection optical fibers 133 may be arranged in regular shapes such as a rectangular array, a circular array, a divergent array, or other irregular shapes. As an example only, as shown in FIGS. 4-5 , a plurality of collection optical fibers 133 may be arranged in a uniform manner to form a tubular collection optical fiber array, and the collection optical fiber 133 array is arranged around the vibration component 1321 and the support tube 1324. The uniform arrangement means that the individual collection optical fibers 133 of the collection optical fiber array are equally spaced on the circumference of the collection optical fiber array. In some embodiments, the plurality of collection optical fibers 133 may be arranged in a non-uniform manner to form a tubular collection optical fiber array. The non-uniform arrangement means that the intervals of the individual collection optical fibers 133 of the collection optical fiber array on the circumference of the collection optical fiber array are partially or completely different.

[0084] In some embodiments, as shown in FIGS. 4-5 , a vibration component fixing cavity 13241 and a collection optical fiber fixing cavity 13242 may be provided in the support tube 1324. The vibration component fixing cavity 13241 may be used to install the vibration component 1321 (including the single-mode optical fiber 1323 and the micro-electromechanical drive device 1322), and the collection optical fiber fixing cavity 13242 may be used to install the collection optical fiber 133. In some embodiments, the vibration component fixing cavity 13241 may be coaxial with the central axis of the support tube 1324. In some embodiments, there are at least two collection optical fiber fixing cavities, and at least two collection optical fiber fixing cavities 13242 may be uniformly arranged circumferentially relative to the central axis of the support tube 1324, and each collection optical fiber 133 is respectively disposed in each collection optical fiber fixing cavity 13242. In some embodiments, the collection optical fiber 133 may be a plastic optical fiber, or the collection optical fiber 133 may be any other feasible material.

[0085] In some embodiments, as shown in FIG5 , the treatment probe 14 may include a treatment fiber 141 embedded between the single-mode fiber 1323 and the collection fiber 133, and the input end of the treatment fiber 141 is connected to the light source generator. In some cases, when the treatment probe 14 is embedded in the scanning fiber imaging probe 131, the scanning fiber imaging probe 131 can integrate the diagnosis and treatment functions, and there is no need to additionally set the treatment probe 14 in the casing 11, which can effectively save the space inside the multi-modal fusion probe 100.

[0086] In some embodiments, based on the scanning fiber imaging probe 131 shown in FIG5 , the input end of the collection fiber 133 can be selectively connected to a light source generator or a light source receiver. When the input end of the collection fiber 133 is connected to the light source receiver, the collection fiber 133 can be used to collect part of the detection light scattered or reflected from the detected object through the lens 1325 and transmit it to the photoelectric detection device for detection and imaging. When the input end of the collection fiber 133 is connected to the light source generator, the light source generator can provide a laser of the first wavelength band or a laser of the second wavelength band that can be used for treatment, thereby enabling the scanning fiber imaging probe 131 to have a treatment function. In some cases, by selectively connecting the input end of the collection fiber 133 of the scanning fiber imaging probe 131 to the light source generator or the light source receiver, the scanning fiber imaging probe 131 can have a treatment function, and since there is no need to additionally set up a treatment fiber 141, the size of the scanning fiber imaging probe 131 can be further reduced.

[0087] In some embodiments, at least two probes 12 are independently disposed in the casing 11. For example, each probe 12 may include an outer sleeve (for example, the outer sleeve of the scanning fiber imaging probe 131 is the support tube 1324), each outer sleeve is disposed in the casing 11 and is independent of each other, and other components of the probe 12 may be disposed in the cavity of the corresponding outer sleeve.

[0088] In some embodiments, at least two probes 12 may be arranged in a mutually fitting manner in the casing 11. For example, the outer casings of two adjacent probes 12 may be fitted together by bonding, clamping, bundling, etc. In some embodiments, at least two probes 12 may be arranged in a mutually spaced manner in the casing 11. For example, in the embodiment shown in FIG. 1 , the first probe 121, the second probe 122, and the third probe 123 are arranged mutually spaced. In some embodiments, the spacing distance between two adjacent probes 12 may be the same. In some embodiments, the spacing distance between two adjacent probes 12 may be different.

[0089] In some embodiments, at least two probes 12 may be arranged in a specific form to adapt to the contour shape of the casing 11. As an example only, as shown in FIG1 , the contour shape of the casing 11 is circular, and the first probe 121, the second probe 122, and the third probe 123 are arranged adjacent to each other in a triangular array, and the spacing between two adjacent probes 12 is the same to adapt to the contour shape of the casing 11. In some embodiments, the contour shape of the casing 11 may also be other shapes, such as a triangle, a quadrilateral, or a polygon, and the at least two probes 12 may be adaptively arranged in casings 11 of different shapes.

[0090] In some embodiments, at least two probes 12 may be fixed to each other and then fixedly installed in the casing 11. As an example only, the casing 11 may be a hollow structure, and at least two probes 12 may be fixed together by bundling and clamped in the casing 11 by a clamp.

[0091] In some embodiments, at least two probes 12 can be detachably connected to the sleeve 11, for example, connected in a nested manner. In some embodiments, at least two probes 12 can be nested in the sleeve 11, and the installation stability is maintained by the interaction between the probes 12 and the probes 12, and between the probes 12 and the sleeve 11; if one of the probes 12 is damaged, the probe 12 can be pulled out and replaced separately without taking out all the probes 12 or the entire sleeve 11 for replacement.

[0092] The embodiment of the present specification can realize the separate maintenance and replacement of each probe 12 of the at least two probes 12 disposed in the casing 11 through the detachable connection, so as to reduce the use cost.

[0093] FIG6 is a schematic diagram of the distal end of an endoscope according to some embodiments of the present specification. In some embodiments, as shown in FIG6 , the sleeve 11 may include at least two first channels 111, and at least two probes 12 may be respectively arranged in different first channels 111. In some embodiments, the probe 12 is detachably arranged in the first channel 111. Since the probe 12 is detachable relative to the sleeve 11, it is more convenient for the operator to replace or repair the probe 12, effectively improving the operating efficiency. Exemplary detachable connection methods may include magnetic connection, snap connection, etc. For example, a magnetic element may be provided on the side wall of the probe 12, and a magnet may be provided on the inner wall of the first channel 111, and the probe 12 is connected to the first channel 111 through the magnet and the magnetic element. In some embodiments, the inner diameter of the first channel 111 may be slightly smaller than the outer diameter of the probe 12, so that the probe 12 and the first channel 111 are interference fit. In some embodiments, the probe 12 may be fixedly arranged in the first channel 111. Exemplary fixed connection methods may include bonding, welding, integral molding, etc.

[0094] In some embodiments, at least one first channel 111 is movably connected to the sleeve 11, so that the setting interval between at least two probes 12 can be adjusted according to actual needs, thereby obtaining a better combined imaging effect. FIG. 7 is a schematic diagram of the distal end of an endoscope according to other embodiments of the present specification. FIG. 8 is a schematic diagram of the first channel connection method according to some embodiments of the present specification. For example, as shown in FIG. 7 and FIG. 8, at least one slide rail 410 can be provided in the sleeve 11, and at least one slide rail 410 is fixedly connected to the sleeve 11. Each first channel 111 is connected to a corresponding slide rail 410, and a chain 420 is provided on the slide rail 410, and the chain 420 can slide along the slide rail, and the first channel 111 is fixedly connected to the chain 420, and the probe 12 is provided in the first channel 111. At least one gear 430 is also provided in the sleeve 11, and the gear 430 can be connected to a power device, such as a motor, etc., and the power device can also be a rotating device described below, and the gear 430 can be driven to rotate by the power device. Each gear is meshed with a chain, and the corresponding chain is driven to move on the slide rail by the rotation of the gear, so that the corresponding first channel 111 can move on the slide rail, thereby adjusting the interval between at least two first channels 111, so that the interval between the probes 12 installed in at least two first channels 111 is adjusted accordingly. The probes 12 installed in at least two first channels 111 include at least one imaging probe 13, so that a better combined imaging effect can be obtained by adjusting the interval between the imaging probe 13 and other probes 12.

[0095] In some embodiments, at least one first channel 111 can be movably connected to the sleeve 11 in any other feasible manner. For example, at least one first channel 111 can be installed in a slide groove provided in the sleeve 11, and the first channel 111 can move along the slide groove, thereby adjusting the interval between at least two first channels 111.

[0096] In some embodiments, at least one first channel 111 and the sleeve 11 may be sealed in any feasible manner, so that when the interval between at least two first channels 111 is adjusted, at least two probes 12 and the sleeve 11 are in a real-time sealed state. For example, at least one first channel 111 and the sleeve 11 may be sealed with an elastic material having good softness.

[0097] This specification also provides an endoscope, and FIG6 shows a schematic diagram of the end face of the distal end of the endoscope. As shown in FIG6, the endoscope 200 may include a multimodal fusion probe 100. More descriptions of the multimodal fusion probe 100 can be found in other embodiments of this specification. In this embodiment, the operator can combine one or more probes 12 of different functional types into a multimodal fusion probe 100 with different functions as needed, thereby enabling the endoscope 200 to be applicable to more application scenarios.

[0098] In some embodiments, the multimodal fusion probe 100 may be fixedly disposed in the endoscope 200. Exemplarily, the endoscope 200 may include a tube body (not shown in the figure), the tube body may be a hollow structure, and the multimodal fusion probe may be disposed together with the tube body of the endoscope 200 by integral molding (e.g., hot melt molding). In some embodiments, as shown in FIG6 , the endoscope 200 may include a first probe channel 210, and the multimodal fusion probe 100 may be disposed in the first probe channel 210 of the endoscope 200. In some embodiments, the multimodal fusion probe 100 is detachably disposed in the first probe channel 210 of the endoscope 200, for example, connected in the first probe channel 210 of the endoscope 200 by means of magnetic suction connection, snap connection, etc.

[0099] In some embodiments, since there are certain requirements for the location of probes of different functional types (e.g., probe 12 in FIG. 1 ) and the arrangement between probes in the actual clinical operation, before the multimodal fusion probe 100 is connected to the endoscope 200, at least two probes of the multimodal fusion probe 100 may be relatively fixedly connected to the sleeve 11 of the multimodal fusion probe 100 in a specific form. As an example only, if it is necessary to perform three-dimensional modeling of the detected object, two scanning fiber imaging probes (e.g., scanning fiber imaging probe 131 in FIG. 1 ) may be first connected to the sleeve (e.g., sleeve 11 in FIG. 1 ) at a preset interval, and then the sleeve is connected to the first probe channel 210 of the endoscope 200.

[0100] In some embodiments, the sleeve 11 can be rotatably disposed in the first probe channel 210. By adjusting the rotation angle of the sleeve 11, the angle of the multimodal fusion probe 100 fixedly connected to the sleeve can be adjusted, so that the shooting range is wider and the imaging angle is better, thereby making the imaging result clearer.

[0101] FIG9 is a schematic diagram of the structure of the rotating device according to some embodiments of the present specification. In some embodiments, as shown in FIG9 , the sleeve 11 can achieve relative rotation with the first probe channel 210 through the rotating device. The rotating device is a device for providing rotational power, which can realize the rotation of the sleeve 11. In some embodiments, as shown in FIG9 , the rotating device may include a commutator 510, at least one armature 520, two brushes 550, and two curved magnets 540. Among them, the two curved magnets 540 are symmetrically arranged based on a preset spacing distance, surrounded to form a cavity, at least one armature 520 is arranged in the cavity, one end of which is connected to the commutator 510, and brushes 550 are respectively arranged on both sides of the commutator 510. The brushes 550 are used to conduct current between the rotating parts (such as the armature 520, etc.) and the stationary parts (such as the power supply, etc.), and the brushes 550 are connected to the wires, and the electrical connection with the power supply is realized through the wires. In some embodiments, the preset spacing distance can be a preset value, an empirical value, etc., which can be determined based on actual conditions.

[0102] In some embodiments, the rotating device may further include an insulating device 530, which is disposed at the other end of the armature. The insulating device 530 is used to achieve a detachable connection between at least one armature 520 and the sleeve 11, including but not limited to a snap connection, bonding, etc.

[0103] In some embodiments, the rotating device can be fixedly connected to the first probe channel 210. When the wire of the rotating device is connected to the power supply, at least one armature 520 is magnetized to generate a magnetic field, which interacts with the external magnetic field formed by the two curved magnets 540 to generate a torque, thereby rotating at least one armature 520. The rotation of at least one armature 520 can drive the sleeve 11 detachably connected thereto to rotate. By adjusting the magnitude and direction of the current, the rotation of the sleeve 11 can be precisely controlled by controlling the speed and direction of the rotating device.

[0104] In some embodiments, the rotating device may have any other feasible structure. For example, the rotating device may include an annular structure connected to the sleeve 11 by snap connection, bonding, etc., the annular structure is connected to the output shaft of the rotating motor, and the rotation of the output shaft of the rotating motor drives the annular structure to rotate, thereby rotating the sleeve 11.

[0105] In some embodiments, the sleeve 11 can also achieve relative rotation with the first probe channel 210 of the endoscope 200 through other structures. For example, a bearing structure is provided between the sleeve 11 and the first probe channel 210.

[0106] FIG. 10 is a schematic diagram of a support device according to some embodiments of the present specification. FIG. 11 is a schematic diagram of a structure of a support device according to some embodiments of the present specification. In some embodiments, as shown in FIG. 10 and FIG. 11, the sleeve 11 may further include at least one support channel 610, and at least one support device 620 is provided in at least one support channel. The support channel 610 may be used to accommodate the support device 620. The support channel 610 may be provided with a first valve (not shown in the figure) and electrically connected to the external control device. The first valve is used to open or close the support channel 610. When the support device 620 is not needed, the support channel 610 can be closed by closing the first valve; when the support device 620 is needed, the support channel 610 can be opened by opening the first valve to facilitate the extension of the support device 620. The external control device can be used to control the operation of the components of the endoscope 200. For example, the external control device can be used to start or pause the rotating device; for another example, the external control device can be used to control the opening and closing of the first valve. In some embodiments, the external control device may include a programmable controller, a programmable regulator, etc.

[0107] The support device 620 can be used to support human tissue around the target imaging area of ​​the endoscope 200, so as to isolate a certain space between the multimodal fusion probe 100 and the human tissue to avoid the human tissue from obstructing the imaging. The target imaging area refers to the planned shooting area of ​​the multimodal fusion probe 100. For example, the target imaging area may include but is not limited to the lesion area, etc.

[0108] In some embodiments, the support device 620 may include a support body and a connecting device 623. The support body refers to the main structure of the support device 620. In some embodiments, the support body includes a support body front end 621 and a support body rear end 622. The support body front end 621 can be used to directly contact the human tissue around the target imaging area to support the human tissue. In some embodiments, the support body front end 621 can be made of a material with lower hardness (e.g., silicone, etc.) so that it can protect the human tissue while contacting the human tissue to prevent it from being damaged. The support body rear end 622 can be used to support the support body front end 621. In some embodiments, the support body rear end 622 can be made of a material with higher hardness (e.g., rubber, etc.) so that it can better support the support body front end 621. In some embodiments, one end of the support body rear end 622 can be fixedly connected to the support body front end 621, and the other end of the support body rear end 622 can be threadedly connected to the connecting device 623. Exemplarily, an internal thread can be set in the other end of the rear end 622 of the support body, and a matching external thread can be set on the circumference of one end of the connecting device 623. Based on the matching of the internal thread and the external thread, the other end of the rear end 622 of the support body is threadedly connected to the connecting device 623.

[0109] The connecting device 623 is used to connect the support body with a power device, such as a motor. The power device can also be the rotating device mentioned above. In some embodiments, one end of the connecting device 623 is threadedly connected to the other end of the rear end 622 of the support body, and the other end of the connecting device 623 is transmission-connected to the power device. The power device can drive the connecting device 623 to rotate, so that the support body can move along the extension direction of the thread, so that the support body can extend out of the support channel 610 or retract into the support channel 610. The rotation direction of the connecting device 623 can be changed by adjusting the power device, so that the moving direction of the support body can be switched.

[0110] In some embodiments, the connecting device 623 may also adopt any other feasible structure.

[0111] It should be noted that the structural dimensions and configuration of the support device 620 can be designed based on actual needs. For example, the support device 620 can be determined based on the dimensions and configuration of the cannula 11 and the multimodal fusion probe 100 .

[0112] In some embodiments, when it is necessary to support the human tissue in the target imaging area so that the multimodal fusion probe 100 can be better used for shooting and imaging, the first valve can be opened by controlling the external control device, and the power device can be controlled to rotate so that the support body moves out of the support channel 610 until the front end 621 of the support body contacts the human tissue in the target imaging area and stops rotating. Since the support device 620 supports the human tissue in the target imaging area, the support device 620 can protect the multimodal fusion probe 100 to a certain extent, and the multimodal fusion probe 100 can better shoot to obtain imaging results at more angles or better angles, which is conducive to obtaining more comprehensive detection information and helping the operator to diagnose and analyze the disease. In addition, since the support device 620 is arranged in the sleeve 11, it does not increase the overall volume of the endoscope 200.

[0113] In some embodiments, the endoscope 200 may further include an instrument channel 220 and a flushing channel 230. The instrument channel 220 may be used to accommodate surgical instruments (not shown in the figure), and the flushing channel 230 may be used to transport flushing fluid, which may be used to flush the multimodal fusion probe.

[0114] FIG. 12 is a schematic diagram of the structure of the distal end of an endoscope according to other embodiments of the present specification. FIG. 13 is a schematic diagram of the structure of an endoscope according to other embodiments of the present specification. The present specification also provides another endoscope, and in combination with FIGS. 12-13, the endoscope 300 may include a tip 310 and at least two probes 12, and the at least two probes 12 may be arranged at the tip 310, and the at least two probes 12 may include at least one imaging probe 13. Among them, the tip 310 may refer to the end of the endoscope 300 away from the operator. The probe 12 in this embodiment may be the same or similar to the probe 12 in other embodiments of the present specification (for example, FIGS. 1-3 and their embodiments), and will not be repeated here.

[0115] In some embodiments, the front end portion 310 may include at least two second probe channels 311 , and at least two probes 12 may be respectively disposed in the second probe channels 311 .

[0116] In some embodiments, as shown in FIG13 , the endoscope 300 may include a main body 320, and a tip portion 310 may be disposed at the distal end of the main body 320. In some embodiments, the tip portion 310 may include at least two second probe channels 311, and the second probe channels 311 may be used to accommodate probes in other embodiments of the present specification (e.g., the imaging probe 13 in FIG1 or the treatment probe 14 in FIG3 ).

[0117] In some embodiments, the tip portion 310 is detachably connected to the main body 320, for example, the tip portion 310 can be connected to the distal end of the main body 320 by means of magnetic attraction, snap connection, threaded connection, etc. In some embodiments, at least two probes 12 can be fixed in the tip portion 310. For example, the tip portion 310 can be made at the distal end of the main body 320 by hot melt molding.

[0118] In some embodiments, at least two probes 12 are imaging probes 13. In some embodiments, at least two probes 12 include at least two of a scanning fiber imaging probe 131, a Raman imaging probe, and an OCT imaging probe. In some embodiments, at least one imaging probe 13 may include a scanning fiber imaging probe 131. In some embodiments, at least two probes 12 may include at least two imaging probes 13, and at least two imaging probes 13 may be arranged at a preset interval so that at least two imaging probes 13 can achieve a combined imaging effect. The imaging probe 13 in this embodiment may be the same or similar to the imaging probe 13 in other embodiments of this specification (e.g., Figures 1-5 and their embodiments), and will not be repeated here.

[0119] In some embodiments, at least two probes 12 may further include a treatment probe 14. In some embodiments, the treatment probe 14 may include a laser cutting probe and / or a laser burning probe. In some embodiments, as shown in FIG. 12 , at least one imaging probe 13 may include a scanning fiber imaging probe 131, and the treatment probe 14 may be embedded in the scanning fiber imaging probe 131. For more details about the treatment probe 14, see other embodiments of this specification (e.g., FIG. 3 , FIG. 5 and their embodiments).

[0120] In some embodiments, the endoscope 300 may further include an instrument channel 220 and a flushing channel 230 . The instrument channel 220 may be used to accommodate surgical instruments (not shown in the figure), and the flushing channel 230 may be used to transport flushing fluid, which may be used to flush the probe.

[0121] In some embodiments, the endoscope 300 may further include a temperature sensor (not shown in the figure) and a temperature control device (not shown in the figure). In some embodiments, the temperature sensor is disposed on the tip portion 310, for example, the temperature sensor is disposed on the end face or side wall of the tip portion 310, and can be used to collect real-time temperature data inside the human body (for example, the target imaging area). The temperature control device can adjust the temperature of the probe 12 based on the temperature data collected by the temperature sensor. For example, the temperature control device can heat or cool the probe 12 so that the temperature of the probe 12 is consistent with the temperature inside the human body, which can avoid fogging of the imaging probe 13 during the imaging process, resulting in unclear imaging results. Among them, the number of temperature sensors can be one or more, such as 2, 3, etc. The temperature control device may include a heating device disposed on the probe 12, such as a heater, etc. The temperature control device may also include a cooling device disposed on the probe 12, such as a cooling plate, etc.

[0122] FIG. 14 is a schematic diagram of the structure of the flushing channel according to other embodiments of the present specification. In some embodiments, as shown in FIG. 14, the temperature control device may include a heating device 231 disposed in the flushing channel 230, and a reflux channel 232 disposed beside the flushing channel 230. One end of the flushing channel 230 is connected to the flushing liquid storage device 235, and the flushing liquid flows into the flushing channel 230 from the flushing liquid storage device 235; one end of the reflux channel 232 is connected to the flushing liquid storage device 235, and the other end is connected to the flushing channel 230. A second valve 233 and a third valve 234 may be provided at the connection between the reflux channel 232 and the flushing channel 230, the second valve 233 being provided in the flushing channel 230, the third valve 234 being provided in the reflux channel 232, and the second valve 233 being provided downstream of the reflux channel 232. Among them, the heating device 231 may be used to heat the flushing channel 230, thereby increasing the temperature of the flushing liquid. In some embodiments, the heating device 231 may include an electric heating coil, an electric heating rod, an electric heating sheet, and the like.

[0123] Exemplarily, the second valve 233 and the third valve 234 are in a normally closed state. When the probe 12 needs to be rinsed, the second valve 233 can be opened, and the rinsing liquid enters the human body through the rinsing channel 230 to clean the probe 12. When the treatment probe 14 (laser cutting probe or laser burning probe) cuts or burns the diseased tissue, causing the temperature of the probe 14 to rise and thus causing the real-time temperature inside the human body to exceed the temperature threshold, the second valve 233 can be closed first, and the third valve 234 can be opened, so that the rinsing liquid can circulate in the rinsing channel 230, the reflux channel 232 and the rinsing liquid storage device 235, thereby reducing the temperature of the rinsing liquid; after the rinsing liquid circulates several times, the third valve 234 is closed, and the second valve 233 is opened, and the rinsing liquid enters the human body through the rinsing channel 230 to clean and cool the probe 12. When the temperature data inside the human body collected by the temperature sensor is lower than the temperature threshold, the rinsing liquid in the rinsing channel 230 can be heated by starting the heating device 231 to avoid discomfort to the patient due to the low temperature of the rinsing liquid. In some embodiments, the temperature threshold may be a pre-set temperature range, which may be determined based on historical data or the like.

[0124] It should be noted that the temperature sensor and the temperature control device (for example, the heating device 231, the second valve 233, the third valve 234, etc.) can be electrically connected to the external control device through wires, and the external control device can control the temperature control device to work according to the internal temperature data of the human body collected by the temperature sensor.

[0125] In some embodiments of the present specification, a temperature sensor and a temperature control device are provided, and the temperature control device is controlled based on the real-time temperature inside the human body collected by the temperature sensor. This can not only effectively prevent the imaging probe from fogging up during the imaging process, resulting in unclear imaging results, but also can flush and cool the treatment probe to prevent damage to the patient due to excessive temperature, and can also heat the flushing fluid to avoid discomfort to the patient due to the low temperature of the flushing fluid.

[0126] In some embodiments, the endoscope 300 may further include a catheter pressure sensor and a tip pressure sensor. The catheter pressure sensor may be disposed at the tip portion 310 and / or the main body 320. For example, the catheter pressure sensor may be disposed at the side wall of the tip portion 310 to obtain the pressure (which may be considered as radial pressure) exerted on the side wall of the tip portion 310. For another example, the catheter pressure sensor may be disposed at the side wall of the main body 320 to obtain the pressure (which may be considered as radial pressure) exerted on the side wall of the main body 320; the tip pressure sensor may be disposed at the tip portion 310. For example, the tip pressure sensor may be disposed on the end face of the tip portion 310 to obtain the pressure (which may be considered as axial pressure) exerted on the front end face of the tip portion 310 of the endoscope 300.

[0127] In some embodiments, when the patient is nervous, the muscles of the patient's internal tissues (for example, the anorectal cavity, etc.) will contract, and the radial pressure on the endoscope 300 will increase. When the pressure value detected by the catheter pressure sensor exceeds the radial pressure threshold, if the endoscope 300 continues to operate (for example, moving back and forth, etc.), it will cause the patient to experience symptoms such as pain, aggravating the patient's discomfort. Therefore, the operation of the endoscope 300 needs to be suspended at this time.

[0128] In some embodiments, after the treatment probe 14 (laser cutting probe or laser burning probe) cuts or burns the diseased tissue, it is necessary to continuously deliver flushing fluid to the patient's internal tissue (e.g., renal pelvis, etc.) to flush the cut or burned tissue and the probe 12 (e.g., imaging probe 13, treatment probe 14) so ​​that the imaging probe 13 has a clear field of view. Although the internal tissue itself has a certain drainage and infiltration function, as the amount of flushing fluid in the internal tissue increases, the pressure in the internal tissue will gradually increase. When the pressure value detected by the end pressure sensor exceeds the axial pressure threshold, if the flushing fluid continues to be delivered to the internal tissue, it will cause the liquid in the internal tissue to reflux and extravasate, causing complications or even death of the patient. Therefore, it is necessary to close the second valve and stop flushing.

[0129] It can be understood that the number of the catheter pressure sensor and the tip pressure sensor can be one or more, and the catheter pressure sensor and the tip pressure sensor are electrically connected to the external control device through a wire, and the external control device can control other components of the endoscope 300 (for example, a temperature control device, etc.) to work according to the pressure values ​​detected by the catheter pressure sensor and the tip pressure sensor. In some embodiments, the catheter pressure sensor and the tip pressure sensor can also be connected and communicated with the external control device in other ways, such as Bluetooth, etc.

[0130] It should be noted that the radial pressure threshold and the axial pressure threshold may be pre-set values, and may be determined based on historical data, simulation, and the like.

[0131] In some embodiments of the present specification, pressure sensors are provided at the tip portion 310 and / or the main body 320 of the endoscope to respectively monitor the radial pressure and axial pressure applied to the endoscope in real time. This allows operators to promptly identify and resolve problems, thereby avoiding harm to the patient and improving the patient's comfort.

[0132] Some embodiments of the present specification provide an imaging method, using the endoscope of any of the aforementioned embodiments, the imaging method comprising: scanning an object to be detected based on a laser emitted by at least one imaging probe; collecting part of the light scattered and / or reflected back from the object to be detected based on at least one imaging probe, and generating an imaging image of the object to be detected; wherein the imaging image comprises a cross-sectional image along the depth direction of the object to be detected and / or a three-dimensional surface model of the object to be detected.

[0133] In some embodiments, the imaging probe may include a scanning fiber imaging probe, which may include a fiber scanner and a collecting fiber. The scanning fiber imaging probe may perform imaging based on a fiber imaging mode. The fiber scanner of the scanning fiber imaging probe may scan the laser emitted by the light source generator to form a light spot on the plane of the detected object and form a field of view. The collecting fiber of the scanning fiber imaging probe may collect part of the detection light scattered or reflected from the detected object through a lens and transmit it to a photoelectric detection device for detection and imaging.

[0134] The imaging probe may also include a Raman imaging probe, an OCT imaging probe, a fluorescence imaging probe, an ultrasound imaging probe, a white light imaging probe, etc. In some embodiments, the OCT imaging probe may obtain a cross-sectional image along the depth direction of the detected object, thereby obtaining depth information of the detected object.

[0135] In some embodiments, the number of imaging probes may be at least two, and the surface three-dimensional model of the detected object may be reconstructed based on the partial light collected by the at least two imaging probes. In some embodiments, at least two imaging probes may be capable of combined imaging, and by setting at least two imaging probes constituting a distance difference, the surface three-dimensional model of the detected object may be reconstructed based on the triangulation principle of binocular vision. The at least two imaging probes may be the same type of imaging probes or different types of imaging probes. For more information on reconstructing a three-dimensional model based on imaging probes, please refer to the above description.

[0136] In some embodiments, the endoscope may include multiple probes of different types to simultaneously generate cross-sectional images and three-dimensional models. For example, the endoscope includes a scanning fiber imaging probe and an OCT imaging probe, and the surface three-dimensional model of the detected object can be reconstructed by the scanning fiber imaging probe, and the depth information of the surface tissue of the surface three-dimensional model of the detected object can be obtained by the OCT imaging probe. In some embodiments, the imaging probe can also detect other information, for example, the surface tissue components of the detected object can be detected by the Raman imaging probe, thereby detecting the biochemical changes of the tissue at the molecular level.

[0137] In some embodiments, the imaging probe can generate an imaging image by emitting a laser with a wavelength of 930 nm through a Nd:YAlO3 laser. 3+ The YAG laser emits a laser with a wavelength of 1310 nm to generate an imaging image. In some embodiments, the imaging probe can also generate an imaging image by emitting a laser with any other feasible wavelength.

[0138] In some embodiments of the present specification, the imaging probe generates a cross-sectional image along the depth direction of the detected object and / or generates a three-dimensional surface model of the detected object, which can analyze the pathological conditions that cannot be seen by conventional imaging, and further analyze and detect. For example, the pathological conditions of the submucosal tissue are analyzed. For another example, the surface tissue components of the three-dimensional surface model of the detected object are further detected, thereby achieving the purpose of detecting biochemical changes of the tissue at the molecular level.

[0139] In some embodiments, at least two probes include a treatment probe, and based on the treatment probe, the diseased tissue in the object to be detected is irradiated with laser to cut and / or burn the diseased tissue.

[0140] In some embodiments, the treatment probe may include a cutting probe (laser cutting probe) and a burning probe (laser burning probe), and the cutting probe may be used to cut the diseased tissue, and the burning probe may be used to burn the diseased tissue. In some embodiments, the probe may include at least one of the cutting probe and the burning probe.

[0141] In some embodiments of the present specification, the removal of diseased tissue is achieved by laser, and bleeding can be avoided during the removal process, and there is no direct contact with the tissue. In some embodiments, laser irradiation also has further medical effects, such as activating the immune ability of diseased tissue, sterilizing and disinfecting diseased tissue, etc.

[0142] In some embodiments, the treatment probe may emit a laser with a wavelength of 0.64 μm through a Nd:YAG laser to perform laser irradiation on the diseased tissue. In some embodiments, the treatment probe may emit a laser with a wavelength of 2.94 μm through a Ho:YAG laser to perform laser irradiation on the diseased tissue. In some embodiments, the treatment probe may emit a laser with a wavelength of 2.08 μm through an Er:YAG laser to perform laser irradiation on the diseased tissue. In some embodiments, the treatment probe may emit a laser with a wavelength of 980 nm, 1470 nm, or 1940 nm through a semiconductor laser to perform laser irradiation on the diseased tissue. In some embodiments, the treatment probe may emit a laser with a wavelength of 193 nm through an ArF excimer laser to perform laser irradiation on the diseased tissue.

[0143] In some embodiments, the laser parameters irradiated by the treatment probe can be determined based on the imaging image. Laser parameters refer to the functional parameters of the light source generator of the treatment probe, including the type of light source generator, laser wavelength, etc. In some embodiments, the endoscope can be connected to the processor signal, and the processor is used to receive and process data related to the endoscope function. The processor may include medical equipment host, computer and other equipment. In some embodiments, the imaging image detected by the imaging probe can be sent to the processor, and the processor can determine the laser parameters irradiated by the treatment probe based on the imaging image in a variety of feasible ways. For example, a correspondence table between the imaging image and the laser parameters can be preset based on experience, so that the correspondence table can be queried based on the imaging image to obtain the laser parameters.

[0144] In some embodiments, the processor may determine the laser parameters based on the imaging image through a parameter determination model. The parameter determination model is a machine learning model, such as a convolutional neural network model, a deep neural network model, etc.

[0145] The input of the parameter determination model may include imaging images and candidate laser parameters, and the output of the parameter determination model may be a therapeutic effect. Among them, the candidate laser parameters include the type of light source generator and its corresponding laser wavelength. There may be multiple candidate laser parameters, and the candidate laser parameters may be determined based on the light source generator and the laser wavelength it can emit. For example, it is known that the laser wavelength emitted by the Nd:YAG laser is 0.64μm, and the candidate laser parameters determined therefrom may be: (Nd:YAG laser, laser wavelength is 0.64μm). The therapeutic effect may refer to the extent to which the therapeutic result reaches the expected level. The therapeutic effect may be represented by a numerical value within the range of 0-100. The higher the numerical value, the closer the therapeutic result is to the expected level and the better the therapeutic effect.

[0146] In some embodiments, the candidate laser parameters corresponding to the best treatment effect (ie, the highest value) output by the parameter determination model may be used as the laser parameters used for irradiation treatment by the treatment probe.

[0147] In some embodiments, the parameter determination model can be trained based on a large number of labeled training samples. Specifically, the labeled training samples are input into the initial parameter determination model, and the parameters of the initial parameter determination model are updated through training to obtain the parameter determination model.

[0148] The training samples include sample imaging images and sample candidate laser parameters. The labels may be treatment effects obtained after treatment under the conditions of the sample imaging images and the sample candidate laser parameters. The labels may be manually annotated.

[0149] In some embodiments of the present specification, laser parameters are determined based on imaging images using a parameter determination model, so that appropriate laser parameters can be easily and accurately determined, and diseased tissues can be irradiated based on the laser parameters, thereby improving the treatment effect.

[0150] The beneficial effects that may be brought by the multimodal fusion probe and endoscope in the embodiments of this specification include but are not limited to: (1) Since the multimodal fusion probe includes at least two probes, and the types and functions of at least two probes can be the same or different, the operator can select appropriate probes to combine according to the needs so that the multimodal fusion probe has specific functions (for example, detection and / or treatment), thereby meeting the needs of different usage environments; (2) Since the design of the scanning fiber imaging probe does not require the opening of an additional lighting channel, the space occupied by the scanning fiber imaging probe and the multimodal fusion probe can be effectively reduced, and the size of the multimodal fusion probe can be effectively reduced; (3) By combining the scanning fiber imaging probe and the Raman imaging probe, not only can the surface three-dimensional model of the detected object be reconstructed, but the surface tissue components of the surface three-dimensional model of the detected object can also be detected by the Raman imaging probe, thereby achieving the purpose of detecting biochemical changes of the tissue at the molecular level; (4) By combining the scanning fiber imaging probe and the OCT probe, not only can the surface three-dimensional model of the detected object be reconstructed, but the depth information of the surface tissue of the surface three-dimensional model of the detected object can also be obtained by the OCT probe, which is used for early alienation and canceration of the surface tissue. The detection of the object under investigation can be carried out to assist in the auxiliary diagnosis of diseases such as tumors and atherosclerosis; (5) by arranging two scanning fiber imaging probes at a preset interval so that a distance difference is formed between the two scanning fiber imaging probes, the two scanning fiber imaging probes can be used to reconstruct a three-dimensional surface model of the detected object based on the triangulation measurement principle of binocular vision; (6) the sleeve can be rotated relative to the first probe channel of the endoscope. By adjusting the rotation angle of the sleeve, the angle of the multimodal fusion probe fixedly connected to the sleeve can be adjusted, so that the shooting range is wider and the imaging angle is better, thereby making the imaging result clearer; (7) by setting the temperature The temperature control device is a sensor and a temperature control device, and the temperature control device is controlled based on the real-time temperature inside the human body collected by the temperature sensor. It can not only effectively prevent the imaging probe from fogging during the imaging process, resulting in unclear imaging results, but also rinse and cool the treatment probe to avoid damage to the patient caused by excessive temperature, and the rinsing fluid can be heated to avoid discomfort to the patient due to excessively low temperature of the rinsing fluid; (8) By setting up a pressure sensor, the radial pressure and the axial pressure are monitored in real time respectively, so that the operator can find and solve the problem in time, avoid causing harm to the patient, and improve the patient's comfort. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other beneficial effects that may be obtained.

[0151] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

Claims

A multimodal fusion probe, characterized in that: It comprises a sleeve and at least two probes; the at least two probes are arranged in the sleeve; the at least two probes include at least one imaging probe, the at least one imaging probe includes a scanning fiber imaging probe, and the scanning fiber imaging probe includes a fiber scanner and a collecting fiber. The multimodal fusion probe according to claim 1, characterized in that: The at least two probes are both imaging probes. The multimodal fusion probe according to claim 2, characterized in that: The at least two probes include at least two of a fiber scanning imaging probe, a Raman imaging probe and an OCT imaging probe. The multimodal fusion probe according to claim 2, characterized in that: The imaging probe includes a light source generator, which provides laser light for the imaging probe. The multimodal fusion probe according to claim 3 is characterized in that: The light source generator is a Nd:YAlO3 laser, and the laser wavelength emitted by the Nd:YAlO3 laser is 930nm; and / or the light source generator is a Nd 3+ : YAG laser, the Nd 3+ : The laser wavelength emitted by the YAG laser is 1310nm. The multimodal fusion probe according to claim 1, characterized in that: The at least two probes also include a treatment probe. The multimodal fusion probe according to claim 6, characterized in that: The treatment probe is embedded in the fiber optic scanning imaging probe. The multimodal fusion probe according to claim 6, characterized in that: The treatment probe includes a laser cutting probe and / or a laser burning probe. The multimodal fusion probe according to claim 6, characterized in that: The treatment probe includes a light source generator, which provides laser light for the treatment probe. The multimodal fusion probe according to claim 9, characterized in that: The light source generator is a Nd:YAG laser, and the laser wavelength emitted by the Nd:YAG laser is 0.64μm; and / or, the light source generator is a Ho:YAG laser, and the laser wavelength emitted by the Ho:YAG laser is 2.94μm; and / or, the light source generator is an Er:YAG laser, and the laser wavelength emitted by the Er:YAG laser is 2.08μm; and / or, the light source generator is a semiconductor laser, and the laser wavelength emitted by the semiconductor laser includes at least one of 980nm, 1470nm and 1940nm; and / or, the light source generator is an ArF excimer laser, and the laser wavelength emitted by the ArF excimer laser is 193nm. The multimodal fusion probe according to claim 1, characterized in that: The at least two probes are independently arranged in the casing. The multimodal fusion probe according to claim 11, characterized in that: The at least two probes are detachably connected to the sleeves respectively. The multimodal fusion probe according to claim 11, characterized in that: The sleeve includes at least two first channels, and the at least two probes are respectively arranged in the first channels. The multimodal fusion probe according to claim 13, characterized in that: At least one of the first channels is movably connected to the sleeve. An endoscope, characterized in that Comprising a multimodal fusion probe as described in any one of claims 1-14. The endoscope according to claim 15, characterized in that The multimodal fusion probe is fixed in the endoscope, or the multimodal fusion probe is arranged in the first probe channel of the endoscope. The endoscope according to claim 16, characterized in that The sleeve is rotatably disposed in the first probe channel. The endoscope according to claim 16, characterized in that The sleeve includes at least one supporting channel, and at least one supporting device is arranged in the at least one supporting channel. An endoscope, characterized in that include: A tip portion and at least two probes; the at least two probes are arranged at the tip portion; The at least two probes include at least one imaging probe. The endoscope according to claim 19, characterized in that The at least two probes are both imaging probes. The endoscope according to claim 20, characterized in that The at least two probes include at least two of a fiber scanning imaging probe, a Raman imaging probe and an OCT imaging probe. The endoscope according to claim 19, characterized in that The at least two probes also include a treatment probe. The endoscope according to claim 22, characterized in that The at least one imaging probe comprises a fiber optic scanning imaging probe, and the treatment probe is embedded in the fiber optic scanning imaging probe. The endoscope according to claim 22, characterized in that The treatment probe includes a laser cutting probe and / or a laser burning probe. The endoscope according to claim 19, characterized in that The at least two probes are fixed in the front end portion. The endoscope according to claim 19, characterized in that The front end portion includes at least two second probe channels, and the at least two probes are respectively arranged in the second probe channels. The endoscope according to claim 19, characterized in that The at least two probes include at least two imaging probes, and the at least two imaging probes are arranged at a preset interval so that the at least two imaging probes can achieve a combined imaging effect. The endoscope according to claim 19, characterized in that The endoscope further comprises a main body, the tip portion is arranged at the distal end of the main body; the tip portion is detachably connected to the main body; or the tip portion is integrally formed with the main body. The endoscope according to claim 19, characterized in that The endoscope further comprises a temperature sensor and a temperature control device; the temperature control device adjusts the temperature of the probe based on the temperature data collected by the temperature sensor. The endoscope according to claim 19, characterized in that The endoscope further comprises a catheter pressure sensor and a tip pressure sensor. The catheter pressure sensor is arranged at the tip portion and / or the main body; the tip pressure sensor is arranged at the tip portion. An imaging method, characterized in that Using the endoscope described in any one of claims 19 to 30, the at least two probes include at least one imaging probe, and the method includes: scanning the object to be detected based on the laser emitted by the at least one imaging probe; collecting part of the light scattered and / or reflected back from the object to be detected based on the at least one imaging probe, and generating an imaging image of the object to be detected, wherein the imaging image includes a cross-sectional image along the depth direction of the object to be detected and / or a three-dimensional surface model of the object to be detected. The method according to claim 31, characterized in that The number of the at least one imaging probe is at least two; the collector based on the at least one imaging probe collects part of the light scattered and / or reflected from the object to be detected, and generates an imaging image of the object to be detected, including: reconstructing the surface three-dimensional model of the object to be detected based on the part of the light collected by the at least two imaging probes respectively. The method according to claim 31, characterized in that The at least two probes include a treatment probe, and the method further includes: based on the treatment probe, cutting and / or burning the diseased tissue by irradiating the diseased tissue in the object to be detected with a laser. The method according to claim 33, characterized in that The laser parameters irradiated by the treatment probe are determined based on the imaging image.

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