Multi-mode dynamic tracking device for oral cavity endoscope

Abstract

The invention relates to a multi-mode dynamic tracking device for an oral cavity endoscope, which belongs to the technical field of medical instruments and comprises a self-adaptive deformation scanning probe, a multi-spectral collaborative imaging system, an intelligent dynamic compensation module and a virtual reality interaction unit. The scanning probe senses the oral cavity contact pressure in real time through the flexible sheath, self-adaptive stretching and angle adjustment are achieved in combination with the adjustable light guide pipe, and the scanning probe is accurately matched with the oral cavity sizes of different patients. The multispectral imaging system emits ultraviolet, visible and infrared light wavebands in a time-sharing manner, synchronously collects mucous membrane surface optical characteristics and bone depth information, and generates a three-dimensional diagnosis model through a fusion algorithm; the dynamic compensation module eliminates image blurring caused by movement of the patient through mechanical adjustment and algorithm interpolation, and ensures that a real-time image is stable and clear; the virtual reality interaction unit integrates image zooming, focus marking and historical data comparison functions, and a doctor realizes coherent operation without sight switching through the intelligent handle controller and the immersive display interface.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an oral endoscope multi-modal dynamic tracking device. Background Art

[0002] Oral examination is an important means for diagnosing diseases of teeth, gums, etc. However, the internal structure of the oral cavity is complex, with both soft mucosal tissues and hard teeth and bones, which poses high requirements for the imaging ability of examination equipment. Traditional oral examination tools (such as ordinary endoscopes) can only provide simple two-dimensional images, unable to capture tissue characteristics under different lights simultaneously (such as blood changes in inflamed areas, subtle demineralization marks of early dental caries), and it is also difficult to keep the picture clear when the patient moves slightly. These problems lead to some early lesions being easily overlooked, such as leukoplakia of the mucosa, hidden dental caries, etc., which may delay the best treatment opportunity.

[0003] There are several obvious problems with common current oral examination devices: Firstly, when the patient's tongue or head moves slightly, the picture captured by the camera is prone to blurring, and the existing anti-shake technology mainly relies on software processing, with a reaction speed that is not fast enough to keep up with actual body movements; Secondly, the device can only provide images under ordinary visible light and cannot reveal deeper tissue states through light of different wavelengths (such as infrared light, ultraviolet light), making it difficult for doctors to comprehensively judge the condition; In addition, when examining, the doctor needs to operate the instrument while turning to look at the display screen beside, which is not only easy to be distracted but also causes visual fatigue after long-term work; Finally, the size of the examination head is fixed, and children may feel uncomfortable due to the instrument being too large, while in the posterior tooth area of adults, the examination may be incomplete due to the instrument being unable to reach deep enough.

[0004] In response to these problems, most existing improvement schemes only solve a single defect, such as simply increasing the camera pixel or adding a wireless screen transmission function, but these improvements cannot fundamentally meet the requirements of modern medicine for efficient and accurate examinations. In particular, existing devices cannot obtain multiple key data simultaneously in a single examination - such as color changes of the mucosa, three-dimensional shape of the teeth, pressure distribution of the instrument contacting the tissue, etc. The lack of this information makes it difficult for doctors to make a comprehensive judgment quickly. Therefore, there is an urgent need for a new type of examination device that can adjust the imaging angle in real time, automatically compensate for patient movement, integrate multiple detection modes, and help doctors complete the diagnosis efficiently through a more intuitive display method. Summary of the Invention

[0005] In view of this, the object of the present invention is to propose an intraoral endoscope multi-modal dynamic tracking device, which integrates an adjustable scanning head with adaptive deformation pressure feedback, an imaging module that combines multi-spectral light source and depth sensing, a mechanical-algorithm combined dynamic compensation system, a virtual reality interaction unit, and a sterilization-compatible quick-release structure, and combines multi-modal data fusion algorithms and low-latency transmission technologies to solve the technical problems of blurred images caused by patient movement in existing oral examinations, missed detection of lesions in a single imaging mode, low efficiency of human-computer interaction, insufficient device adaptability, and complex disinfection processes, and realizes high-precision, multi-dimensional, and immersive real-time diagnosis and operation of oral diseases.

[0006] The present invention is realized through the following technical solutions:

[0007] An intraoral endoscope multi-modal dynamic tracking device, comprising a scanning module, an imaging module, a control module, and an interaction module;

[0008] The scanning module includes a front-end adjustable scanning head, a telescopic light guide tube, and a deformable sheath covering the outer wall of the light guide tube. The telescopic light guide tube is connected to an electric push rod;

[0009] The imaging module includes a micro camera disposed at the front end of the telescopic light guide tube and a multi-spectral light source array surrounding the outer wall of the telescopic light guide tube;

[0010] The control module includes a central processing unit and a wireless transmission unit. The central processing unit is connected to the micro camera and the electric push rod through a data line;

[0011] The interaction module includes a detachable virtual reality glasses and a handle controller integrated on the telescopic light guide tube. The virtual reality glasses are connected to the control module through a magnetic interface.

[0012] Further, the front end of the telescopic light guide tube is connected to the adjustable scanning head through a threaded interface. The rear end of the telescopic light guide tube is fixed to the telescopic end of the electric push rod through a hinge. The inner wall of the telescopic light guide tube is provided with a light guide channel. An annular clamping groove is provided on the outer wall of the telescopic light guide tube. The multi-spectral light source array is fixed in the annular clamping groove through a buckle.

[0013] Further, the deformable sheath is made of medical silicone material. An annular pressure sensor array is embedded in the inner layer of the deformable sheath. The annular pressure sensor array is connected to the central processing unit through a flexible circuit board. Anti-slip patterns are provided on the outer surface of the deformable sheath. The inner surface of the deformable sheath is fixed to the outer wall of the telescopic light guide tube through a medical adhesive.

[0014] Further, the base of the electric push rod is fixed inside the device housing. The telescopic end of the electric push rod is connected to the telescopic light guide tube through a universal joint. The moving direction of the electric push rod is parallel to the axis of the telescopic light guide tube. The central processing unit is built-in with a motion compensation algorithm, and controls the telescopic amount of the electric push rod according to the data of the annular pressure sensor array and the displacement signal of the micro camera.

[0015] Further, a pupil distance adjustment slide rail is provided inside the frame of the virtual reality glasses. The lens is connected to the slide rail through a magnetic attraction structure. An ambient light sensor is integrated at the nose pad of the virtual reality glasses. The signal of the ambient light sensor is fed back to the central processing unit through a wireless transmission unit.

[0016] Further, the handle controller is integrated into the rear holding part of the telescopic light guide tube. The handle controller includes a zoom button, a marking knob and a mode switching switch. The mechanical stroke of the zoom button is linked with the telescopic amount of the telescopic light guide tube. When the button is pressed down, it triggers the telescopic light guide tube to slightly extend.

[0017] Further, the device housing is provided with a sterilization-compatible quick-release interface. The sterilization-compatible quick-release interface includes a self-locking thread structure and a waterproof sealing ring. The adjustable scanning head, the telescopic light guide tube and the deformable sheath form a detachable unit and are separated from the device housing through the sterilization-compatible quick-release interface.

[0018] Further, the central processing unit is built-in with a multi-modal data fusion algorithm, which superimposes the multi-spectral image and the depth point cloud data to generate a three-dimensional model. The display screen of the virtual reality glasses synchronously displays the real-time image and the historical medical record data in a split-screen form.

[0019] The beneficial effects of the present invention are as follows:

[0020] By integrating dynamic adaptive scanning imaging, multi-modal data real-time fusion and immersive interactive operation technologies, the present invention can synchronously obtain high-precision multi-spectral tissue features and three-dimensional structure information under the natural movement state of the patient's oral cavity, effectively overcoming the problems of image distortion and lesion missed detection caused by patient movement in traditional examinations; combined with virtual reality display and intelligent handle control, doctors can complete lesion positioning, magnification marking and historical data comparison without switching their line of sight, significantly improving the diagnostic coherence and operation efficiency; the modular quick-release design simplifies the disinfection process while ensuring the stability of the equipment, avoiding the risk of cross-infection, taking into account the comfort inspection needs of children and adults, and overall realizing accurate, efficient and safe diagnosis and treatment of oral diseases, reducing the misdiagnosis rate and the burden of medical operations. Brief Description of the Drawings

[0021] Figure 1 It is an overall assembly structure diagram;

[0022] Figure 2 It is a structural diagram of a virtual reality glasses;

[0023] Figure 3 It is a structural diagram of a scanning module without a multispectral light source array;

[0024] Figure 4 It is a structural diagram of a scanning module without a deformable sheath as a whole;

[0025] Figure 5 It is a structural diagram of a scanning module covered with a deformable sheath;

[0026] Figure 6 It is an enlarged view of the deformable sheath structure.

[0027] Explanation of reference numerals:

[0028] 1. Scanning module; 101. Adjustable scanning head; 102. Telescopic light guide tube; 103. Deformable sheath; 104. Ring-shaped pressure sensor array; 105. Electric push rod; 106. Universal joint; 201. Miniature camera; 202. Multispectral light source array; 203. Light-transmitting hole; 204. LED; 301. Central processing unit; 401. Virtual reality glasses; 402. Handle controller; 403. Interpupillary distance adjustment slide rail; 404. Ambient light sensor; 405. Zoom button; 406. Marking knob; 501. Sterilization-compatible quick-release interface; 601. Medical silicone layer; 602. Anti-slip texture; 603. Ring-shaped card slot. Detailed implementation manners

[0029] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0031] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0032] In the above description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "one side" and "the other side" is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, terms such as "first" and "second" are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0033] In addition, terms such as "identical" do not mean that the components are required to be absolutely identical, but there can be slight differences. The term "perpendicular" only means that the positional relationship between components is more perpendicular relative to "parallel", and does not mean that the structure must be completely perpendicular, but can be slightly inclined.

[0034] As Figure 1-6 shown, an embodiment provided by the present invention:

[0035] Structure and working logic of the scanning module

[0036] The scanning module is composed of an adjustable scanning head 101, a telescopic light guide tube 102, a deformable sheath 103 and an electric push rod 105. Its core function is to adapt to the oral cavity morphology and dynamically compensate for patient movement:

[0037] The front end of the adjustable scanning head 101 is designed in an arc shape, and the surface is covered with a medical silica gel layer 601, which is connected to the front end of the light guide tube 102 through a threaded interface. When the scanning head 101 contacts the oral mucosa, the flexible material of the silica gel layer 601 can reduce friction, and at the same time, its arc profile fits the dental arch morphology to avoid pressing on soft tissues.

[0038] The telescopic light guide tube 102 is provided with a light guide channel, and a multi-spectral light source array 202 is fixed in the annular card slot 603 on the outer wall. The rear end of the light guide tube 102 is connected to the telescopic end of the electric push rod 105 through a universal joint 106, and the base of the electric push rod 105 is fixed inside the device housing. When the patient's oral cavity moves, the central processing unit 301 drives the electric push rod 105 to drive the light guide tube 102 to swing in the opposite direction according to the displacement signal of the camera 201 to achieve mechanical displacement compensation.

[0039] The deformable sheath 103 covers the outer wall of the light guide tube 102, and its inner layer annular pressure sensor array 104 monitors the contact pressure in real time. When the sheath 103 is deformed by pressure, the sensor 104 sends a signal to the central processing unit 301 through a flexible circuit board, and the system automatically shortens or lengthens the light guide tube 102 to avoid discomfort caused by excessive intrusion to the patient.

[0040] Multi-modal data acquisition of the imaging module

[0041] The imaging module includes a micro camera 201 and a multi-spectral light source array 202, and its working process is as follows:

[0042] The LED 204 units of the multi-spectral light source array 202 emit ultraviolet light, visible light and infrared light in a time-sharing manner. Ultraviolet light can enhance the texture details of the mucosal surface, visible light can restore natural colors, and infrared light can penetrate superficial tissues to display the distribution of deep blood vessels. The light source light diffuses outward through the light-transmitting holes 203 on the outer wall of the light guide 102, covering oral areas of different depths.

[0043] The micro camera 201 is fixed to the central axis of the front end of the light guide 102, and synchronously collects RGB images and depth point cloud data. When the light source switches the band, the frame rate of the camera 201 is strictly synchronized with the switching frequency of the light source to ensure the time alignment of different spectral data. The collected raw data is transmitted to the central processing unit 301 through a flexible circuit board, and a three-dimensional model is generated through a multimodal data fusion algorithm. The model also includes mucosal optical properties, bone structure and biomechanical contact parameters.

[0044] Dynamic compensation mechanism of control module

[0045] The central processing unit 301 and the wireless transmission unit of the control module realize data fusion and real-time control:

[0046] The central processing unit 301 has a built-in motion compensation algorithm, and its working logic is: when the camera 201 detects the displacement of the light guide 102, the algorithm predicts the movement trend through Kalman filtering, and drives the electric push rod 105 to swing the light guide 102 in the opposite direction, while interpolating to generate transition frame images to eliminate image blur.

[0047] The wireless transmission unit uses millimeter wave communication technology to transmit the processed image data in real time to the virtual reality glasses 401. During the transmission process, the data stream is divided into two paths: one is a low-latency image stream for real-time display; the other is high-precision three-dimensional model data for lesion annotation and historical data comparison.

[0048] Immersive operation of interactive modules

[0049] The interaction module realizes natural human-computer interaction through virtual reality glasses 401 and handle controller 402:

[0050] The pupil distance adjustment rail 403 of the virtual reality glasses 401 is driven by a micro-stepping motor. After the doctor wears it, the system automatically detects the pupil distance and slides the lens to the fitting position. The lens display screen is divided into two areas: the left area is a real-time multi-spectral image, and the right area is a three-dimensional model with historical medical records superimposed. The ambient light sensor 404 dynamically reduces the display brightness according to the light intensity of the consulting room to avoid glare interference.

[0051] The zoom button 405 of the handle controller 402 is mechanically linked to the light guide tube 102: when the button is pressed, the light guide tube 102 is slightly extended, and at the same time, the virtual screen synchronously enlarges the target area. The rotation angle of the marking knob 406 is mapped to different marking tools, and the marking data is saved in real time and bound to the patient ID.

[0052] Operation of the sterilization-compatible quick-release interface

[0053] The sterilization-compatible quick-release interface 501 enables modular disinfection:

[0054] When disassembling, rotate the self-locking thread counterclockwise to separate the detachable unit (including the scanning head 101, the light guide tube 102, and the sheath 103) from the main body. The data cable inside the light guide tube 102 adopts a quick-insert interface design, and the electrical connection is automatically disconnected when separated.

[0055] The detachable unit is placed as a whole into a high-temperature and high-pressure sterilization cabinet. The silicone material of the sheath 103 and the carbon fiber structure of the light guide tube 102 are both resistant to high temperatures. When reinstalling after sterilization, the guide groove of the quick-release interface 501 ensures accurate alignment of the module, avoiding mechanical misalignment from affecting the optical performance.

[0056] Example of key function coordination

[0057] Taking the inspection of posterior tooth occlusal caries as an example, the device working process is as follows:

[0058] The doctor inserts the light guide tube 102 into the patient's mouth. After the sheath 103 touches the buccal mucosa, the pressure sensor 104 detects that the local pressure exceeds the limit, and the system automatically shortens the light guide tube by 5 mm.

[0059] The multi-spectral light source array 202 switches to 850 nm infrared light to penetrate the enamel and display the deep demineralized area, and the camera 201 collects abnormal reflection signals.

[0060] When the patient turns their head slightly, the motion compensation algorithm drives the electric push rod 105 to swing the light guide tube 102 to keep the camera 201 aligned with the target tooth position.

[0061] The doctor presses the zoom button 405 of the handle 402 twice, the light guide tube 102 extends by 2 mm, the virtual reality screen enlarges the caries area, and the marking knob 406 rotates to 30° to lock the yellow high-light marking.

[0062] After the inspection is completed, disassemble the detachable unit for sterilization, and the virtual marking data automatically generates a diagnostic report and uploads it to the hospital system.

[0063] Device usage steps

[0064] Equipment preparation and patient positioning

[0065] Equipment initialization and disinfection

[0066] The doctor assembles the adjustable scanning head and the light guide through the quick-release interface and tightens the self-locking thread to ensure the light path is sealed. The curved surface of medical silicone at the front end of the scanning head can reduce friction with the oral mucosa. The outer wall of the light guide is covered with a deformable sheath, and the pressure sensor inside the sheath monitors the contact force in real time.

[0067] Before use, the detachable module (including the scanning head, light guide and sheath) should be sterilized with high temperature and high pressure to avoid cross infection.

[0068] Patient positioning

[0069] The patient sits on the examination chair, with his head resting on an adjustable headrest and a mouth opener to help keep his mouth open. The doctor uses virtual reality glasses to observe the external shape of the patient's mouth and preliminarily plans the insertion path of the light guide.

[0070] Adaptive scanning and dynamic imaging

[0071] Light guide insertion and adaptive adjustment

[0072] The doctor holds the light guide handle and slowly inserts the scanning head into the patient's mouth. When the sheath contacts the buccal or lingual mucosa, the inner pressure sensor detects the local pressure distribution. If the pressure exceeds the safety threshold (such as a narrow oral space in a child), the system automatically shortens the light guide extension length; in adult mode, the light guide is extended to cover the posterior teeth area.

[0073] Multispectral lighting and image acquisition

[0074] The multi-spectral light source on the outer wall of the light pipe emits ultraviolet light, visible light and infrared light in different time periods:

[0075] Ultraviolet light enhances the fine texture of the mucosal surface and highlights early lesions (such as leukoplakia);

[0076] Visible light restores the natural color of tissues to assist in determining the extent of inflammation;

[0077] Infrared light penetrates superficial tissues to reveal deep blood vessels and hidden caries.

[0078] The micro camera simultaneously collects images and depth data in different bands, and sends them to the central processing unit in real time through the data transmission channel in the light guide.

[0079] Motion compensation and real-time display

[0080] When the patient moves his head or tongue slightly, the camera detects the displacement signal of the light guide tube, and the central processing unit drives the electric push rod to swing the light guide tube in the opposite direction to offset the displacement error. At the same time, the motion compensation algorithm inserts the transition frame image to eliminate the screen ghosting.

[0081] The processed image data is projected onto a virtual reality headset through low-latency wireless transmission, allowing doctors to observe high-definition images without having to take their eyes off the examination area.

[0082] Immersive Interaction and Lesion Diagnosis

[0083] Image Manipulation and Marking

[0084] Doctors control the image magnification through the zoom button on the light guide tube handle: each time the button is pressed, the light guide tube fine-tunes its elongation, and the virtual image synchronously focuses on the target area.

[0085] By rotating the marking knob on the handle, doctors can circle suspicious areas in the virtual reality image, and the marked data is automatically associated with the patient's electronic medical record.

[0086] Multi-modal Data Fusion Analysis

[0087] The central processing unit fuses the multi-spectral image and the three-dimensional depth data to generate a comprehensive model that includes mucosal reflectivity, bone structure, and biomechanical parameters.

[0088] The virtual reality headset has a split-screen display function: the left screen shows real-time dynamic images, and the right screen overlays historical examination records, allowing doctors to intuitively compare the progression of lesions (such as the degree of gum recession and the trend of cavity enlargement).

[0089] Examination Completion and Equipment Maintenance

[0090] Withdrawal of the Light Guide Tube and Data Saving

[0091] After the examination is completed, the doctor slowly withdraws the light guide tube, and the system automatically saves all image, marking, and three-dimensional model data, and generates a structured report for uploading to the hospital information system.

[0092] Modular Disinfection and Maintenance

[0093] Press the release button of the quick-release interface to detach the scanning head, light guide tube, and sheath as a whole, and place them in a high-temperature and high-pressure sterilization cabinet for treatment. The medical-grade silicone material of the sheath and the carbon fiber structure of the light guide tube are both resistant to repeated sterilization.

[0094] Wipe the contact parts of the nose pad and frame of the virtual reality headset with a medical alcohol wipe; rinse the anti-slip silicone layer of the light guide tube handle with a neutral cleaner and let it dry.

[0095] Periodic Performance Calibration

[0096] Regularly use a standard calibration plate to test the camera distortion rate and color restoration degree to ensure imaging accuracy.

[0097] Verify the dynamic response speed of the electric push rod by simulating the oral movement scenario, and update the motion compensation algorithm parameters if necessary.

[0098] Technical Effects of the Device

[0099] Dynamic adaptive scanning

[0100] The device automatically adapts to the oral anatomical differences of different patients through real-time pressure feedback of the flexible sheath and intelligent telescopic adjustment of the light guide. When examining children, the light guide is shortened to avoid excessive penetration, and in adult mode, it is extended to cover the posterior teeth area, achieving blind-area scanning when the patient opens his mouth naturally, significantly reducing omissions in examinations or patient discomfort caused by inappropriate instrument size.

[0101] Multimodal data fusion diagnosis

[0102] Multi-spectral light source time-sharing irradiation combined with depth sensing technology can simultaneously obtain the optical properties of the mucosal surface (such as the hemoglobin absorption characteristics of the inflammatory area) and the three-dimensional structure data of the bone. Through algorithm fusion to generate a comprehensive diagnostic model, it can intuitively display lesions such as early caries demineralization and mucosal leukoplakia that are difficult to distinguish with the naked eye, greatly improving the lesion detection rate and diagnostic accuracy.

[0103] Real-time dynamic compensation imaging

[0104] The electric push rod works in conjunction with the motion compensation algorithm. When the patient moves slightly, the light guide angle is mechanically adjusted and combined with image interpolation technology to eliminate image smear and blur. Doctors always obtain stable and clear visual data in the virtual reality screen, avoiding the risk of misdiagnosis caused by motion artifacts.

[0105] Immersive interactive operation

[0106] Virtual reality glasses integrate real-time images, historical medical records and operation interfaces, allowing doctors to complete lesion marking, image zooming and data comparison without switching sight lines. The handle controller is mechanically linked to the light guide, and the zoom button triggers the light guide to fine-tune the focus, achieving a natural operation of "what you see is what you control", significantly improving the consistency and efficiency of the examination.

[0107] Efficient sterilization and modular maintenance

[0108] The quick-release design supports quick separation of the scanning module, and can withstand high-temperature and high-pressure sterilization as a whole to avoid the risk of cross-infection. The contact area between the light guide anti-slip sheath and the virtual reality glasses is made of medical-grade corrosion-resistant materials, which simplifies the daily disinfection process and ensures the hygiene and safety of the equipment for long-term use.

[0109] Personalized inspection support

[0110] The system automatically optimizes the light source intensity, light guide angle and image processing parameters according to the patient's oral characteristics (such as dental arch shape and mucosal thickness) to generate a personalized examination plan. The child and adult modes can be switched intelligently, and special cases (such as patients with limited mouth opening) can be manually fine-tuned to balance the examination accuracy and patient comfort.

[0111] High stability and safety

[0112] The light guide tube carbon fiber structure and the universal joint drive system ensure the mechanical movement stability and avoid accidental deviation during inspection. The pressure sensor monitors the contact force in real time. When the limit is exceeded, the light guide tube automatically retracts to prevent mucosal damage. The multi-spectral light source uses a safe wavelength band to avoid the potential impact of ultraviolet / infrared radiation on tissues.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A multi-modal dynamic tracking device for an oral endoscope, characterized in that: It includes a scanning module, an imaging module, a control module and an interaction module; The scanning module comprises a front-end adjustable scanning head, a retractable light guide tube and a deformable sheath covering the outer wall of the light guide tube, wherein the retractable light guide tube is connected to the electric push rod; The imaging module comprises a micro camera disposed at the front end of the retractable light pipe and a multi-spectral light source array surrounding the outer wall of the retractable light pipe; The control module includes a central processing unit and a wireless transmission unit, and the central processing unit is connected to the micro camera and the electric push rod through a data line; The interactive module includes detachable virtual reality glasses and a handle controller integrated in the retractable light guide tube, and the virtual reality glasses are connected to the control module via a magnetic interface.

2. The multi-modal dynamic tracking device for an oral endoscope according to claim 1, characterized in that: The front end of the retractable light guide tube is connected to the adjustable scanning head through a threaded interface, the rear end of the retractable light guide tube is fixed to the retractable end of the electric push rod through a hinge, the inner wall of the retractable light guide tube is provided with a light guiding channel, the outer wall of the retractable light guide tube is provided with an annular groove, and the multi-spectral light source array is fixed in the annular groove by a buckle.

3. The multi-modal dynamic tracking device for an oral endoscope according to claim 2, characterized in that: The deformable sheath is made of medical silicone material, the inner layer of the deformable sheath is embedded with an annular pressure sensor array, the annular pressure sensor array is connected to the central processing unit through a flexible circuit board, the outer surface of the deformable sheath is provided with anti-slip texture, and the inner surface of the deformable sheath and the outer wall of the retractable light guide are fixed by a medical adhesive.

4. The multi-modal dynamic tracking device for an oral endoscope according to claim 3, characterized in that: The base of the electric push rod is fixed inside the device housing, the movement direction of the electric push rod is parallel to the axis of the retractable light guide tube, and the central processing unit has a built-in motion compensation algorithm to control the extension and retraction amount of the electric push rod according to the annular pressure sensor array data and the micro camera displacement signal.

5. The multi-modal dynamic tracking device for an oral endoscope according to claim 4, characterized in that: The inner side of the frame of the virtual reality glasses is provided with an interpupillary distance adjustment slide rail, and the lens is connected to the slide rail through a magnetic attraction structure. The nose pads of the virtual reality glasses are integrated with an ambient light sensor, and the ambient light sensor signal is fed back to the central processing unit through a wireless transmission unit.

6. The multi-modal dynamic tracking device for an oral endoscope according to claim 5, characterized in that: The handle controller is integrated into the rear end grip of the retractable light guide tube. The handle controller includes a zoom button, a marking knob and a mode switching switch. The mechanical stroke of the zoom button is linked to the extension amount of the retractable light guide tube. When the button is pressed, the retractable light guide tube can be fine-tuned and extended.

7. The multi-modal dynamic tracking device for an oral endoscope according to claim 6, characterized in that :The device housing is provided with a sterilization-compatible quick-release interface, which includes a self-locking threaded structure and a waterproof sealing ring. The adjustable scanning head, retractable light guide and deformable sheath constitute a detachable unit, which is separated from the device housing through the sterilization-compatible quick-release interface.

8. The multi-modal dynamic tracking device for an oral endoscope according to claim 7, characterized in that : The central processing unit has a built-in multimodal data fusion algorithm, which superimposes multispectral images and depth point cloud data to generate a three-dimensional model. The display screen of the virtual reality glasses synchronously displays real-time images and historical medical record data in a split-screen format.

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