Multifunctional integrated minimally invasive surgery probe and system thereof

Abstract

The multifunctional integrated minimally invasive surgery probe comprises a probe shell, a metal sleeve, a temperature measurement ablation optical fiber, a shape sensing optical fiber and an ultrasonic probe, the probe shell and the metal sleeve are arranged in a sleeved mode, the temperature measurement ablation optical fiber, the shape sensing optical fiber and the ultrasonic probe are embedded in the metal sleeve, and the end of the temperature measurement ablation optical fiber and the end of the ultrasonic probe extend out of the probe shell to be used for functional operation. The probe integrates the temperature measurement ablation optical fiber, the shape sensing optical fiber and the ultrasonic probe, so that multifunctional integration of real-time imaging, temperature monitoring and accurate photo-thermal therapy is realized. All the function modules work cooperatively, so that a doctor can obtain comprehensive information on the same device, the complexity of traditional multi-device operation is avoided, and the information integration degree is improved. Due to the fact that multiple functions are integrated in the single probe, a doctor does not need to replace instruments frequently, ultrasonic guidance, temperature monitoring and photo-thermal treatment can be achieved through the same probe in an operation, the operation process is simplified, the operation time is shortened, and the operation efficiency of a minimally invasive surgery is improved.

Description

Technical Field

[0001] The present invention relates to a multifunctional integrated minimally invasive surgical probe and its system, belonging to the field of minimally invasive surgical equipment. Background Art

[0002] Currently, the devices widely used in the field of minimally invasive surgery include independent ultrasonic imaging devices, temperature monitoring sensors, and photothermal therapy systems. These single-functional devices each focus on providing real-time intraoperative image guidance, local temperature monitoring, or heating treatment of specific areas. In addition, there are also some devices on the market that attempt to integrate some functions, but usually only limit to the combination of two, such as a photothermal therapy instrument with temperature feedback.

[0003] Although these single-functional devices are effective in their respective fields, they have significant limitations in practical applications: high operation complexity and time cost, as doctors need to frequently change instruments and master multiple operation methods; serious information island phenomenon, the data generated by each device is isolated and lacks integration, affecting comprehensive information support; the device volume is relatively large and not suitable for passing through narrow channels, restricting its application in minimally invasive surgery; lack of real-time feedback and safety guarantee, photothermal therapy without integrated temperature monitoring may cause damage to surrounding tissues; insufficient biocompatibility and electromagnetic compatibility, which may lead to adverse reactions or interference with other medical instruments.

[0004] In summary, although the existing single-functional or multi-in-one minimally invasive surgical devices have achieved certain results, there are still obvious deficiencies in terms of operation convenience, information integration, device size, real-time feedback, and safety, increasing the surgical risk and complexity. There is an urgent need for a miniaturized, intelligent multifunctional microprobe that can overcome these problems to improve the safety and efficiency of minimally invasive surgery. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the existing technology, and to provide a multifunctional integrated minimally invasive surgical probe and its system.

[0006] A multifunctional integrated minimally invasive surgical probe includes a sleeved probe housing, a metal sleeve, and a temperature measurement and ablation optical fiber, a shape sensing optical fiber, and an ultrasonic probe embedded in the metal sleeve. The ends of the temperature measurement and ablation optical fiber and the ultrasonic probe extend outside the probe housing for functional operations.

[0007] Preferably, the ultrasonic probe includes a probe cable, an electrical signal line is arranged in the probe cable, and a transducer component is arranged in the part of the end of the ultrasonic probe extending out of the probe housing.

[0008] Further, the transducer component includes a rotating shaft fixed within the probe cable and driven to rotate by a motor. A transducer array for performing full-angle scanning is fixed on the rotating shaft, and the gap between the transducer array and the probe cable is filled with a coupling agent.

[0009] Preferably, the metal sleeve is provided with a first positioning hole for installing a shape-sensing optical fiber, a second positioning hole for installing an ultrasonic probe, and a third positioning hole for installing a temperature-measuring ablation optical fiber. A stopper is fixed at the rear ends of the second positioning hole and the third positioning hole, and the rear end of the first positioning hole does not penetrate through the metal sleeve.

[0010] Further, after the temperature-measuring ablation optical fiber, the shape-sensing optical fiber, and the ultrasonic probe are installed, they are cured and encapsulated by filling epoxy resin into the metal sleeve.

[0011] Preferably, the shape-sensing optical fiber is externally coated with an optical fiber cladding, and FBG gratings are arranged at intervals within the shape-sensing optical fiber.

[0012] The present invention also provides a multifunctional integrated minimally invasive surgical probe system, which includes any one of the above multifunctional integrated minimally invasive surgical probes, and further includes a signal control and processing module and a display terminal.

[0013] Preferably, the multifunctional integrated minimally invasive surgical probe is electrically connected to the signal control and processing module through a wire, and the signal control and processing module is electrically connected to the display terminal through a wire.

[0014] Further, the signal control and processing module is used to collect data of the multifunctional integrated minimally invasive surgical probe, and perform real-time processing and analysis on the collected data.

[0015] Further, the display terminal is used to display photoacoustic imaging images and other relevant information in real time.

[0016] The beneficial effects of the present invention are as follows: By integrating the multi-core optical fiber shape-sensing function and the optical fiber photo-thermal ablation function, the safety of the operation is greatly improved. The multi-core optical fiber shape-sensing function can track the bending path of the probe in the body in real time during the operation and provide accurate three-dimensional reconstruction. This enables doctors to accurately understand the position and shape of the probe, avoiding damage to important organs or blood vessels, especially in complex or delicate minimally invasive surgeries. In addition, the optical fiber photo-thermal ablation module combines the temperature monitoring function, allowing doctors to monitor the temperature change while locally heating the diseased tissue for treatment, preventing damage to the surrounding healthy tissue due to overheating. This dual safety guarantee ensures the safety during the operation and reduces the risk of complications.

[0017] The compact and multifunctional integrated design integrates functions such as fiber optic photo-thermal ablation, ultrasonic imaging, and multi-core fiber shape sensing on a miniaturized and intelligent platform. This design simplifies the operation process of doctors, reduces the time cost of replacing instruments, and thus significantly improves the surgical efficiency. Doctors can complete multiple tasks on one device without frequently replacing instruments, saving valuable surgical time. In addition, the compact design enables the probe to smoothly enter the body through narrow natural channels, making it suitable for more types of minimally invasive surgeries and expanding its application scenarios. The modular design and physical interface optimization further enhance the flexibility and adaptability of the system, allowing doctors to selectively install different functional modules according to specific surgical needs, increasing the scope of application of the system, and shortening the preparation time and surgical time. Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, obtaining other drawings based on these drawings still belongs to the scope of the present invention.

[0019] Figure 1 is the structural sectional view of the present invention;

[0020] Figure 2 is the schematic structural diagram of the metal sleeve in the present invention;

[0021] Figure 3 is the schematic structural diagram of the ultrasonic probe in the present invention;

[0022] Figure 4 is the schematic structural diagram of the system module in the present invention;

[0023] Figure 5 is the schematic structural diagram of the system;

[0024] In the figure, 1, probe housing; 2, metal sleeve; 21, first positioning hole; 22, second positioning hole; 23, third positioning hole; 24, limiter; 3, temperature measurement and ablation optical fiber; 4, shape sensing optical fiber; 41, optical fiber cladding; 42, FBG grating; 5, ultrasonic probe; 51, probe cable; 52, electrical signal line; 6, transducer component; 61, rotating shaft; 62, transducer array. Detailed Embodiments

[0025] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings.

[0026] It should be noted that in the embodiments of the present invention, all expressions using "first" and "second" are for distinguishing two entities or parameters with the same name but different, visible "first" and "second" are only for the convenience of expression and should not be construed as a limitation on the embodiments of the present invention. This will not be elaborated one by one in the subsequent embodiments.

[0027] The directional and positional terms mentioned in the present invention, such as "upper", "lower", "front", "rear", "left", "right", "inner", "outer", "top", "bottom", "side", etc., are only with reference to the directions or positions in the attached drawings. Therefore, the directional and positional terms used are for explaining and understanding the present invention, rather than a limitation on the protection scope of the present invention.

[0028] As Figures 1-5 shown, an embodiment of a multi-functional integrated minimally invasive surgical probe of the present invention includes a sleeved probe housing 1, a metal sleeve 2, and a temperature measurement and ablation optical fiber 3, a shape sensing optical fiber 4, and an ultrasonic probe 5 embedded in the metal sleeve 2. The ends of the temperature measurement and ablation optical fiber 3 and the ultrasonic probe 5 extend outside the probe housing 1 for performing functional operations.

[0029] This probe integrates a temperature measurement and ablation optical fiber 3, a shape sensing optical fiber 4, and an ultrasonic probe 5, realizing the multi-functional integration of real-time imaging, temperature monitoring, and precise photothermal therapy. Each functional module works in coordination, enabling doctors to obtain comprehensive information on the same device, avoiding the cumbersome operation of traditional multiple devices, and improving the information integration degree. Since multiple functions are integrated into a single probe, doctors do not need to frequently replace instruments, and can achieve ultrasonic guidance, temperature monitoring, and photothermal therapy through the same probe during the operation, simplifying the operation process, reducing the operation time, and improving the operation efficiency of minimally invasive surgery. Adopting a compact probe structure enables it to enter the surgical area through a narrow cavity, suitable for minimally invasive surgery in complex parts, such as tumor ablation, vascular treatment, etc., breaking through the problem that traditional devices are limited in application scenarios due to their large volume.

[0030] The ultrasonic probe 5 includes a probe cable 51, and an electrical signal line 52 is provided in the probe cable 51. A transducer component 6 is provided in the part of the end of the ultrasonic probe 5 extending out of the probe housing 1. The provision of the electrical signal line 52 in the probe cable 51 can ensure that the ultrasonic signal maintains high quality and low interference during transmission, thereby improving the accuracy and stability of imaging. The provision of the transducer component 6 in the part of the probe end extending out of the probe housing 1 can achieve efficient conversion of acoustic wave energy within a short distance, contributing to obtaining clearer real-time ultrasonic images and enhancing the accuracy of surgical navigation and treatment. This design combined with the overall multi-functional minimally invasive surgical probe system not only realizes the integration of multiple functions in a single device, but also ensures data synchronization and coordination among modules, thereby further enhancing the safety and efficiency of the operation.

[0031] The transducer component 6 includes a rotating shaft 61 fixed within the probe cable 51 and driven to rotate by a motor. A transducer array 62 for performing full-angle scanning is fixed on the rotating shaft 61, and the gap between the transducer array 62 and the probe cable is filled with a coupling agent.

[0032] During the full-angle scanning process, the transducer array 62 can quickly and accurately convert and receive acoustic signals, improving the resolution and clarity of ultrasonic images, thereby enhancing the accuracy of real-time navigation and treatment. The gap between the probe cable and the transducer array 62 is filled with a coupling agent, which helps to eliminate the air layer between interfaces, reduce energy loss and signal attenuation during acoustic wave propagation, ensure efficient transmission of acoustic waves, and improve the quality of ultrasonic imaging.

[0033] The transducer array 62 is fixed on the rotating shaft 61. By driving the rotating shaft 61 with a motor, the transducer array 62 can perform 360° scanning. The ultrasonic waves emitted by the transducer are transmitted to the outer tube through the coupling agent filled in the gap and finally emitted outward. This probe must be exposed outside the integrated probe to achieve effective transmission of ultrasonic waves.

[0034] The metal sleeve 2 is provided with a first positioning hole 21 for installing the shape-sensing optical fiber 4, a second positioning hole 22 for installing the ultrasonic probe 5, and a third positioning hole 23 for installing the temperature measurement and ablation optical fiber 3. A stopper 24 is fixed at the rear ends of the second positioning hole 22 and the third positioning hole 23, and the rear end of the first positioning hole 21 does not penetrate through the metal sleeve 2.

[0035] By providing the first, second, and third positioning holes 23 on the metal sleeve 2, it can be ensured that the shape-sensing optical fiber 4, the ultrasonic probe 5, and the temperature measurement and ablation optical fiber 3 are each in an accurate installation position, thereby improving the coordination and working accuracy of the overall system. The stopper 24 is fixed at the rear ends of the second positioning hole 22 and the third positioning hole 23, which can effectively prevent the displacement of the ultrasonic probe 5 and the temperature measurement and ablation optical fiber 3 during the operation, ensuring the stability of each functional module during long-term use. This layout of multiple positioning holes helps to achieve the compact integration of each functional component, meeting the requirements of minimally invasive surgery for small-sized devices, and on the basis of ensuring the normal operation of their respective functions, enabling information intercommunication and collaborative work, further improving the safety and efficiency of the operation.

[0036] After the temperature measurement and ablation optical fiber 3, the shape-sensing optical fiber 4, and the ultrasonic probe 5 are installed, they are cured and encapsulated by filling epoxy resin in the metal sleeve 2. By curing after filling epoxy resin, the temperature measurement and ablation optical fiber 3, the shape-sensing optical fiber 4, and the ultrasonic probe 5 are firmly fixed in the metal sleeve 2, effectively preventing the displacement or vibration of each component during the operation, thereby ensuring the stable operation of the overall system.

[0037] The shape-sensing optical fiber 4 is externally coated with an optical fiber cladding 41, and FBG gratings 42 are arranged at intervals inside the shape-sensing optical fiber 4. The FBG gratings 42 arranged at intervals inside realize distributed monitoring along the optical fiber, can detect deformation information such as bending and torsion of the optical fiber in real time, and provide accurate feedback for probe positioning and path planning in minimally invasive surgery. The FBG gratings 42 are evenly distributed inside the optical fiber, enabling multi-point and continuous shape monitoring within a limited space, improving the integration and reliability of the overall system, and being suitable for delicate operations in minimally invasive surgery.

[0038] By integrating functions such as fiber optic photo-thermal ablation, ultrasonic imaging, and multi-core fiber shape sensing into a compact probe, doctors can complete multiple tasks on one device, simplifying the operation process and reducing the time cost of replacing instruments. This highly integrated design not only improves the surgical efficiency but also provides more comprehensive information support. The probe includes, from outside to inside, a sturdy and biocompatible outer shell, a metal sleeve 2 providing mechanical support, and embedded functional components. Precise design ensures that the functional modules do not interfere with each other while achieving overall compactness and portability, enabling the probe to smoothly enter the body through a narrow natural cavity and being suitable for more types of minimally invasive surgery.

[0039] To ensure that all functional modules can operate normally in a narrow space and enhance the flexibility and adaptability of the system, the present invention pays particular attention to the physical connection method and functional interface design between the modules:

[0040] Coupling agent and precision limiter 24: Using a coupling agent to improve the acoustic wave transmission effect and ensure that the quality of ultrasonic imaging is not affected; controlling the positions of the exposed parts of each probe through the precision limiter 24 to avoid mutual interference between different modules. These measures ensure the stable operation of each module in a complex environment.

[0041] Flexible modular design: Allows doctors to selectively install different functional modules according to specific surgical needs, increasing the flexibility and adaptability of the system. For example, in some surgeries, the ultrasonic imaging function may not be required, and only other necessary modules can be installed at this time. In addition, the modular design facilitates future technology upgrades and maintenance, further enhancing the practicality and reliability of the system.

[0042] The present invention also provides a multi-functional integrated minimally invasive surgery probe system, including any one of the multi-functional integrated minimally invasive surgery probes in any of the above embodiments, and further including a signal control and processing module and a display terminal. The signal control and processing module can receive, integrate, and process multi-channel data from the ultrasonic probe 5, the temperature measurement and ablation optical fiber 3, and the shape-sensing optical fiber 4 in real time, realizing precise monitoring of the images, temperature, and probe morphology during the surgical process, greatly improving the real-time performance and accuracy of the data.

[0043] The multi-functional integrated minimally invasive surgical probe is electrically connected to the signal control and processing module through a wire, and the signal control and processing module is electrically connected to the display terminal through a wire. The wire electrical connection can ensure stable and low-latency data transmission between the probe, the signal control and processing module, and the display terminal, reducing interference or signal loss problems that may occur due to wireless transmission.

[0044] The signal control and processing module is used to collect data from the multi-functional integrated minimally invasive surgical probe, and perform real-time processing and analysis on the collected data, such as temperature, image, and shape information, and provide a unified management and control interface. By providing a unified management and control interface, various data and functions are centrally regulated, simplifying the operation process, making the surgical operation more convenient and efficient, and reducing the error risk caused by decentralized data management.

[0045] The display terminal is used to display photoacoustic imaging images and other relevant information in real time, helping doctors easily manage the status and settings of multiple modules and assisting doctors in making decisions. The display terminal can present photoacoustic imaging images and other key data information in real time, enabling doctors to visually observe the tissue structure, lesion location, and treatment progress during the operation, thus achieving more accurate diagnosis and operation. Through a unified interface, doctors can easily manage and monitor the status and settings of multiple functional modules (such as temperature monitoring, shape sensing, and ultrasonic imaging), simplifying the operation process and reducing management complexity.

[0046] The core of the present invention lies in integrating multiple functions such as ultrasonic imaging, temperature measurement and ablation, and three-dimensional shape sensing on a miniaturized and intelligent platform. The real-time images provided by the ultrasonic imaging module can help doctors accurately locate the lesion site; the temperature measurement and ablation module can directly perform local ablation on tumor cells and prevent tissue damage caused by overheating; the three-dimensional shape sensing module can achieve three-dimensional shape reconstruction, adapt to complex curved paths, and provide more accurate navigation information. The probe structure sequentially includes from outside to inside a probe housing 1 that is strong and has good biocompatibility, a metal sleeve 2 that provides mechanical support, and an embedded ultrasonic imaging probe, a temperature measurement and ablation optical fiber 3, and a multi-core optical fiber shape sensing optical fiber 4. This layered design not only ensures the functional independence of each component but also realizes overall compactness and portability. Through a highly integrated design, doctors can complete multiple tasks on one device, simplifying the operation process and reducing the time cost of replacing instruments. In addition, the compact design enables the probe to smoothly enter the body through a narrow natural cavity, suitable for more types of minimally invasive surgeries.

[0047] To ensure that all functional modules can operate properly in a narrow space, the present invention adopts a modular design and pays particular attention to the physical connection method between modules and the design of functional interfaces. Specific measures include using a coupling agent to improve the acoustic wave transmission effect and ensure that the quality of ultrasonic imaging is not affected; controlling the position of the exposed part of each probe through a precision limiter 24 to avoid mutual interference between different modules. The modular design allows doctors to selectively install different functional modules according to specific surgical needs, increasing the flexibility and adaptability of the system. For example, in some surgeries, the ultrasonic imaging function may not be required, and only other necessary modules can be installed at this time. In addition, the modular design facilitates future technology upgrades and maintenance, further enhancing the practicality and reliability of the system.

[0048] By integrating a multi-core fiber shape sensing module and a fiber optic photo-thermal ablation module, the safety of the surgery is greatly improved. The multi-core fiber shape sensing function can track the bending path of the probe in the body in real time during the surgery and provide accurate three-dimensional reconstruction. This enables doctors to accurately understand the position and shape of the probe, avoiding damage to important organs or blood vessels, especially in complex or delicate minimally invasive surgeries. In addition, the fiber optic photo-thermal ablation module combines a temperature monitoring function, allowing doctors to monitor the temperature change while locally heating the diseased tissue for treatment, preventing damage to the surrounding healthy tissue due to overheating. This dual safety guarantee ensures the safety during the surgery and reduces the risk of complications.

[0049] The compact multi-functional integrated design integrates functions such as fiber optic photo-thermal ablation, ultrasonic imaging, and multi-core fiber shape sensing on a miniaturized and intelligent platform. This design simplifies the operation process of doctors, reduces the time cost of replacing instruments, and thus significantly improves the surgical efficiency. Doctors can complete multiple tasks on one device without frequently replacing instruments, saving valuable surgical time. In addition, the compact design enables the probe to smoothly enter the body through a narrow natural cavity, suitable for more types of minimally invasive surgeries, expanding its application scenarios. The modular design and physical interface optimization further enhance the flexibility and adaptability of the system, allowing doctors to selectively install different functional modules according to specific surgical needs, increasing the scope of application of the system, and shortening the preparation time and surgical time.

[0050] Integrated with an ultrasonic imaging module and a multi-core fiber optic shape sensing module, it provides high-resolution images and accurate path information, enhancing the accuracy of surgical navigation. The ultrasonic imaging module can generate high-resolution tissue structure images in real time during the operation, helping doctors accurately locate tumor lesions and make more informed decisions. The real-time position feedback and three-dimensional reconstruction provided by the multi-core fiber optic shape sensing module help doctors maintain precise control of the probe position in a complex surgical environment and avoid misoperations. The data generated by all functional modules are managed and analyzed on a unified platform, solving the problem of information silos in the prior art and providing comprehensive and consistent information support for doctors. This information integration not only improves the success rate of the operation, but also reduces the possibility of postoperative complications, enhancing doctors' overall grasp and decision-making ability of the surgical situation.

[0051] The overall structure of the present invention is compact and suitable for entering the body through a narrow natural cavity, expanding its application scenarios in minimally invasive surgery. Portability and flexibility not only improve the applicability of the device, but also enable it to be applied to more types of minimally invasive surgeries. The modular design and physical interface optimization further enhance the flexibility and adaptability of the system, allowing doctors to adjust the probe configuration according to specific needs, facilitating future technology upgrades and maintenance. The application of the multi-core fiber optic shape sensing function also improves the stability and reliability of the probe in complex curved paths, expanding the scope of application of the product. The combination of the compact design and the modular design enables the present invention to flexibly meet various surgical needs, providing higher practicality and reliability.

[0052] What is disclosed above is only the preferred embodiments of the present invention, and of course it cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

[0053] Although the present invention has been described with reference to several specific embodiments, it should be understood that the present invention is not limited to the specific embodiments disclosed. The present invention aims to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A multifunctional integrated minimally invasive surgical probe, characterized in that: It comprises a probe shell, a metal sleeve, and a temperature measuring and ablation optical fiber, a shape sensing optical fiber and an ultrasonic probe embedded in the metal sleeve. The ends of the temperature measuring and ablation optical fiber and the ultrasonic probe extend to the outside of the probe shell for functional operation.

2. The multifunctional integrated minimally invasive surgical probe according to claim 1, characterized in that: The ultrasonic probe comprises a probe cable, in which an electric signal line is arranged, and in a portion of the end of the ultrasonic probe extending out of the probe housing, a transducer component is arranged.

3. The multifunctional integrated minimally invasive surgical probe according to claim 2, characterized in that: The transducer component comprises a rotating shaft fixed in the probe cable and driven to rotate by a motor, a transducer array for full-angle scanning is fixed on the rotating shaft, and a gap between the transducer array and the probe cable is filled with coupling agent.

4. The multifunctional integrated minimally invasive surgical probe according to claim 1, characterized in that: The metal sleeve is provided with a first positioning hole for installing a shape sensing optical fiber, a second positioning hole for installing an ultrasonic probe, and a third positioning hole for installing a temperature measurement and ablation optical fiber. The rear ends of the second positioning hole and the third positioning hole are fixed with limiters, and the rear end of the first positioning hole does not pass through the metal sleeve.

5. The multifunctional integrated minimally invasive surgical probe according to claim 4, characterized in that: After being installed, the temperature measurement and ablation optical fiber, the shape sensing optical fiber and the ultrasonic probe are filled with epoxy resin in the metal sleeve for curing and packaging.

6. The multifunctional integrated minimally invasive surgical probe according to claim 1, characterized in that: The shape sensing optical fiber is coated with an optical fiber cladding on the outside, and FBG gratings are arranged at intervals inside the shape sensing optical fiber.

7. A multifunctional integrated minimally invasive surgical probe system, comprising any multifunctional integrated minimally invasive surgical probe according to any one of claims 1 to 7, characterized in that: It also includes a signal control processing module and a display terminal.

8. The multifunctional integrated minimally invasive surgical probe system according to claim 8, characterized in that: The multifunctional integrated minimally invasive surgical probe is electrically connected to the signal control processing module via a wire, and the signal control processing module is electrically connected to the display terminal via a wire.

9. The multifunctional integrated minimally invasive surgical probe system according to claim 7 or 8, characterized in that: The signal control processing module is used to collect data from the multifunctional integrated minimally invasive surgical probe, and to perform real-time processing and analysis on the collected data.

10. The multifunctional integrated minimally invasive surgical probe system according to claim 7 or 8, characterized in that: The display terminal is used to display the photoacoustic imaging image and other related information in real time.

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