OCT probe and imaging system

Abstract

This disclosure relates to an OCT probe and imaging system. The OCT probe includes an optical fiber collimator, a diffractive optical element, a focusing lens, and a beam splitter arranged sequentially along the optical axis of the OCT probe. The diffractive optical element is used to modulate the probe beam from the optical fiber collimator to emit a needle-shaped beam. The OCT probe also includes a MEMS micro-scanning mirror, a reflective component, and a camera module. The MEMS micro-scanning mirror and the reflective component are both disposed between the diffractive optical element and the focusing lens. The needle-shaped beam is reflected by the MEMS micro-scanning mirror to the focusing lens after passing through the reflective component, and then emitted parallel to the axial direction of the OCT probe after passing through the beam splitter. The optical axis of the camera module is perpendicular to the axial direction of the OCT probe. Reflected light from the target tissue is incident parallel to the axial direction of the OCT probe onto the beam splitter and then reflected by the beam splitter to the camera module.

Description

Technical Field

[0001] This disclosure relates to the field of terminal technology, and in particular to an OCT probe and imaging system. Background Technology

[0002] Traditional OCT (Optical Coherence Tomography) is a non-invasive biomedical imaging technique widely used for in vivo tissue imaging. However, existing OCT probes can only acquire internal tissue information and cannot capture the influence of the tissue surface. Furthermore, the detection beam of traditional OCT probes is a Gaussian beam, which is difficult to cover thick tissue layers during surgery, easily leading to the loss of information on deep structures in the images. Summary of the Invention

[0003] This disclosure provides an OCT probe and imaging system to address the shortcomings of related technologies.

[0004] According to a first aspect of the present disclosure, an OCT probe is provided, comprising an optical fiber collimator, a diffractive optical element, a focusing lens, and a beam splitting module arranged sequentially along the optical axis of the OCT probe, wherein the diffractive optical element is used to modulate the detection beam from the optical fiber collimator to emit a needle-shaped beam;

[0005] The OCT probe also includes a MEMS micro-scanning mirror, a reflective component, and a camera module. The MEMS micro-scanning mirror and the reflective component are both disposed between the diffractive optical element and the focusing lens. The needle-shaped beam is reflected by the MEMS micro-scanning mirror to the focusing lens after passing through the reflective component, and then emitted parallel to the axis of the OCT probe after passing through the beam splitting module.

[0006] The optical axis of the camera module is perpendicular to the axis of the OCT probe. The reflected light from the target tissue is incident on the beam splitter parallel to the axis of the OCT probe and then reflected by the beam splitter back to the camera module.

[0007] Optionally, the reflective assembly includes a first right-angle reflector, a second right-angle reflector, and a third right-angle reflector, wherein the reflective surfaces of the first right-angle reflector, the second right-angle reflector, and the third right-angle reflector are all at a 45° angle to the axis of the OCT probe;

[0008] The needle-shaped light beam, after passing through the first right-angle reflector, is emitted perpendicularly to the axis of the OCT probe and then to the second right-angle reflector. The light beam emitted from the second right-angle reflector is parallel to the axis of the OCT probe and then incident on the third right-angle reflector. The light beam emitted from the third right-angle reflector is perpendicular to the axis of the OCT probe and then incident on the MEMS micro-scanning mirror. The reflective surface of the MEMS micro-scanning mirror is at a 45° angle to the axis of the OCT probe.

[0009] Optionally, the diffractive optical element is used to phase modulate the probe beam to form a needle-shaped beam, the needle-shaped beam having multiple focal points within a set range along the axial direction outward from the focal point of the focusing lens.

[0010] Optional, also includes:

[0011] The mounting base includes a receiving cavity and a groove communicating with the receiving cavity. The focusing lens is disposed on the side of the mounting base facing the MEMS micro-scanning mirror. The beam splitting module is fixedly disposed in the mounting base, and the camera module is fixedly disposed in the groove.

[0012] Optional, also includes:

[0013] Cylindrical shell;

[0014] A cover body is detachably connected to the cylindrical outer shell along the axial direction of the OCT probe, and the cover body and the cylindrical outer shell are connected to form a device cavity;

[0015] A light-transmitting window is disposed at one end of the cylindrical outer shell away from the cover.

[0016] Optionally, an aperture may also be provided on the light-incident side of the camera module.

[0017] According to a second aspect of the present disclosure, an imaging system is provided, comprising:

[0018] OCT probe as described in any of the foregoing embodiments;

[0019] Reference arm assembly;

[0020] Fiber optic coupler;

[0021] The light source's output beam enters the fiber coupler, and after passing through the fiber coupler, part of it enters the reference arm assembly and part enters the OCT probe;

[0022] A spectrometer that generates an analog signal based on the interference signal formed by the beam returned by the reference arm assembly and the beam returned by the OCT probe;

[0023] The processor system generates a three-dimensional OCT point cloud image of the target tissue in the depth direction based on the analog signal. The processor system is also communicatively connected to the camera module. The processor system is used to register the two-dimensional image information acquired by the camera module with the three-dimensional OCT point cloud image to obtain a fused image.

[0024] Optionally, the processor system is further configured to acquire Doppler blood flow information and superimpose the Doppler blood flow information onto the fused image.

[0025] Optionally, the processor system is further configured to extract the image edge features of two adjacent frames of the three-dimensional OCT point cloud images respectively, obtain the relative positional relationship between the two adjacent frames of the three-dimensional OCT point cloud images based on the difference between the image edge features of the two adjacent frames of the three-dimensional OCT point cloud images, and control the movement of the OCT probe based on the relative positional relationship.

[0026] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0027] As can be seen from the above embodiments, the present disclosure achieves a coaxial common path design between the OCT detection optical path and the camera module imaging optical path through a beam splitting module, which is beneficial for the miniaturization of the OCT probe. Moreover, the alignment of the other optical path is completed after the alignment of a single optical path, which is beneficial for improving the alignment accuracy of the optical path. The field of view and imaging area of ​​the OCT detection optical path and the camera module imaging optical path are consistent, which is convenient for image registration and synchronous display. Furthermore, the phase modulation of the detection beam by the diffractive optical element to emit a needle-shaped beam is beneficial for increasing the focal depth of the OCT probe and achieving a larger imaging range. Compared with the traditional Gaussian beam, it is beneficial for achieving high-resolution imaging of deep tissues within the same field of view.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0030] Figure 1 This is a schematic cross-sectional view of an OCT probe according to an exemplary embodiment.

[0031] Figure 2 yes Figure 1 A schematic diagram of the exploded view of the OCT probe.

[0032] Figure 3 yes Figure 1 A partial schematic diagram of the OCT probe.

[0033] Figure 4 This is a schematic diagram of the structure of an imaging system according to an exemplary embodiment.

[0034] Figure 5 Based on Figure 4 A three-dimensional OCT point cloud image of the prostate obtained by imaging the prostate using a mid-infrared imaging system.

[0035] Figure 6 Based on Figure 4 The surface image of the prostate obtained by imaging the prostate using a central imaging system. Detailed Implementation

[0036] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0037] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0038] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0039] Figure 1 This is a cross-sectional schematic diagram of an OCT probe according to an exemplary embodiment. Figure 2 yes Figure 1 Exploded view of the OCT probe Figure 3 yes Figure 1 A partial schematic diagram of the OCT probe. This OCT probe is adaptable to surgical robots, featuring a quick-release interface, allowing for pose modulation and rapid replacement of the OCT probe during surgery. Figure 1 and Figure 2As shown, the OCT probe includes a single-mode fiber 1, a fiber collimator 2, a diffractive optical element 3, a MEMS (Micro-Electro-Mechanical System Micro-Scanner) micro-scanning mirror 4, a reflective assembly 5, a focusing lens 6, a beam splitter module 7, and a camera module 8. The fiber collimator 2, diffractive optical element 3, focusing lens 6, and beam splitter module 7 are arranged along the axial direction of the OCT probe, i.e. Figure 1 The fiber collimator 2, diffractive optical element 3, focusing lens 6, and beam splitting module 7 shown are arranged sequentially from right to left. The probe beam transmitted through the single-mode fiber 1 is collimated by the fiber collimator 2 and then incident on the diffractive optical element 3. The diffractive optical element 3 can modulate the probe beam from the fiber collimator 2 and emit a needle-shaped beam; that is, the probe beam can be modulated into a needle-shaped beam using the diffractive optical element 3.

[0040] Both the MEMS micro-scanning mirror 4 and the reflection component 5 are disposed between the focusing lens 6 and the diffractive optical element 3. The needle-shaped beam from the diffractive optical element 3 can be reflected by the reflection component 5 and then incident on the MEMS micro-scanning mirror 4. The MEMS micro-scanning mirror 4 can further reflect the beam to the focusing lens 6. The light emitted from the focusing lens 6 can be emitted parallel to the axis of the OCT probe after passing through the beam splitting module 7. The emitted detection beam is hit on the target tissue to obtain the internal structural information of the target tissue.

[0041] The optical axis of camera module 8 can be set perpendicular to the axis of the OCT probe. This camera module 8 can acquire image information from outside the OCT probe. For example, when the OCT probe enters the abdominal cavity through the surgical channel and reaches the target tissue, the camera module 8 can capture a surface image of the target tissue. Reflected light from the target tissue surface can be incident parallel to the OCT probe axis onto beam splitter module 7, and further reflected by beam splitter module 7 to camera module 8 for imaging, thereby acquiring a surface image of the target tissue.

[0042] In this embodiment, the beam splitter 7 reflects the imaging beam to the camera module 8 while allowing the probe beam to pass through, achieving a coaxial design between the OCT probe and imaging beams. This facilitates the miniaturization of the OCT probe. Furthermore, alignment of the other beam is completed after alignment of one beam, improving alignment accuracy. The fields of view and imaging areas of both beams are consistent, facilitating image registration and synchronous display. Moreover, the phase modulation of the probe beam by the diffractive optical element 3 to emit a needle-shaped beam increases the depth of focus of the OCT probe, achieving a larger imaging range. Compared to traditional Gaussian beams, this method is advantageous for achieving high-resolution imaging of deep tissues within the same field of view.

[0043] In some embodiments, the optical axis of the fiber optic collimator 2 is coaxial with the OCT probe to facilitate the emission of collimated optical fibers parallel to the OCT probe. Preferably, the collimation wavelength selected for the fiber optic collimator 2 is 1310 nm, f = 11.26 mm, and NA = 0.25, where f represents the focal length and NA represents the numerical aperture. Preferably, the fiber optic collimator 2 is connected to the single-mode fiber 1, and the interface can be FC / APC. Through the connection between the fiber optic collimator 2 and the single-mode fiber 1, the fiber optic collimator 2 can convert the transmitted light in the single-mode fiber 1 into parallel light for emission. The fiber optic collimator 2 may include an aspherical lens fixed-focus fiber optic collimator.

[0044] In some embodiments, the diffractive optical element 3 can be a circular element with a diameter ranging from 10mm to 15mm. For example, the diameter of the diffractive optical element 3 can be 10.8mm, 11.2mm, 12mm, 12.7mm, 13.8mm, etc. This diffractive optical element 3 can be used to phase modulate the probe beam from the fiber collimator 2, causing multiple focal points to be generated along the axial direction of the self-focusing lens. These multiple focal points form a needle-shaped beam with a long focal depth, which benefits from the advantages of high energy utilization, weak sidelobes, and good axial uniformity, making it more suitable for biological tissue imaging. The needle-shaped beam formed after adding the diffractive optical element 3 can maintain a spot size of less than 8μm within the axial range of the 450μm OCT probe. In contrast, although the traditional Gaussian beam has a smaller spot size near the focal plane, its spot size rapidly increases with the axial distance of the OCT probe, only maintaining a size of less than 8μm within the 160μm axial range. Clearly, this needle-shaped beam can effectively increase the focal depth of the OCT probe.

[0045] Furthermore, the diameter, intensity, and sidelobes of the beam emitted from the diffractive optical element 3 can be adjusted by regulating the initial phase of each focal point. By optimizing the number of focal points, pixel positions, and initial phase, the beam quality emitted from the diffractive optical element 3 can be improved, ultimately producing a needle-like beam capable of reaching 50-100 times the Rayleigh distance. Further optimization of the DOE design, such as the phase distribution, focal point configuration, and structural parameters of the diffractive optical element 3, can achieve axial intensity uniformity of the beam and improve the stability of the OCT signal.

[0046] In some embodiments, the MEMS micro-scanning mirror 4 can be used to adjust the scanning angle of the light beam to achieve high-resolution imaging of tissues. The MEMS micro-scanning mirror can control the deflection direction of the incident light beam by changing the angle of the mirror surface due to changes in the driving voltage. The axis of the MEMS micro-scanning mirror 4 is set at 45° with the incident light beam, and the MEMS micro-scanning mirror 4 is used to continuously deflect the incident light beam within a preset range to generate a continuous linear scanning beam. For example, the diameter of the circular reflector of the MEMS micro-scanning mirror 4 is preferably 3.6 mm. The MEMS micro-scanning mirror 4 can be deflected by driving it in two other directions perpendicular to the axis of the OCT probe, for example, the deflection angle is within the range of ±7°.

[0047] In some embodiments, the focusing lens 6 may be an achromatic focusing lens 6 to focus the light beam from the MEMS micro-scanning mirror 4. Further, the diameter of the focusing lens 6 is preferably 12.7 mm, and the focal length is 19 mm. Further, the center of the focusing lens 6 may coincide with the center of the OCT probe.

[0048] In some embodiments, the beam splitting module 7 can employ a dichroic mirror for beam splitting, such as a long-pass dichroic mirror. In this way, the longer-wavelength OCT light path passes through the dichroic mirror, while the shorter-wavelength camera light path is reflected from the surface of the dichroic mirror. The OCT light path and the RGB camera light path achieve coaxial common optical path through the dichroic mirror, thereby ensuring that their fields of view and imaging areas are consistent, facilitating image registration and synchronous display. Furthermore, the dichroic mirror has dimensions of 15*15*1mm. The optical axis of the dichroic mirror is set at a 45° angle to the axis of the OCT probe, which helps to reflect the reflected light beam from the target tissue surface into the camera module 8, which is set perpendicular to the axis of the OCT probe.

[0049] In some embodiments, the camera module may include a color camera module, thereby enabling color imaging of the target tissue surface and improving display quality. The camera module 8 may be a CMOS micro-USB camera with a diameter of 7mm, providing high-definition images within a distance of 3mm to 50mm. The OCT probe may also include an aperture, such as an LED aperture, positioned on the light-incident side of the camera module 8, which illuminates the object under test. Subsequently, the surface image of the target tissue acquired by the camera module 8 and the OCT three-dimensional OCT point cloud image acquired through the OCT optical path can be sent to the processor. The processor can acquire the surface image and three-dimensional OCT point cloud image of the target tissue in real time, and fuse them using an image registration algorithm to generate a comprehensive three-dimensional point cloud image. The processor can further display the fused three-dimensional point cloud image on a display screen. During the procedure, real-time image updates allow for accurate observation of the lesion surface area and the surrounding structure of the tissue.

[0050] Furthermore, by synchronously fusing surface images and OCT 3D point cloud images from camera module 8, a comprehensive view from the tissue surface to the internal structure is provided, which is beneficial for obtaining more accurate information in real-time diagnosis during surgery. Moreover, by combining OCT 3D point cloud images with surface images, the location, morphology and relationship with surrounding tissues of lesions can be accurately determined, thereby making more accurate diagnostic and treatment decisions.

[0051] In some embodiments, the reflective assembly 5 includes a first right-angle reflector 51, a second right-angle reflector 52, and a third right-angle reflector 53, the reflective surfaces of which are all at a 45° angle to the axis of the OCT probe. For example, the first right-angle reflector 51, the second right-angle reflector 52, and the third right-angle reflector 53 can all be isosceles right-angle reflectors. In this case, one right-angle side of the isosceles right-angle reflector is perpendicular to the axis of the OCT probe, and the other right-angle side is parallel to the axis of the OCT probe. With this configuration, the light reflected by the reflective surfaces of the first right-angle reflector 51, the second right-angle reflector 52, and the third right-angle reflector 53 is either parallel to or perpendicular to the axis of the OCT probe.

[0052] Based on this, the reflective surface of the first right-angle mirror 51 can be positioned towards the diffractive optical element. The needle-shaped beam, after being reflected by the first right-angle mirror 51, exits perpendicularly to the OCT probe axis and reaches the second right-angle mirror 52. The light emitted from the second right-angle mirror 52 is parallel to the OCT probe axis and enters the third right-angle mirror 53. The light emitted from the third right-angle mirror 53 is perpendicular to the OCT probe axis and enters the MEMS micro-scanning mirror 4. The MEMS micro-scanning mirror 4 reflects the light to the focusing lens 6 for focusing. The reflective surface of the MEMS micro-scanning mirror 4 forms a 45° angle with the OCT probe axis, ensuring that the light emitted from the MEMS micro-scanning mirror 4 is parallel to the OCT probe axis.

[0053] In some embodiments, the OCT probe further includes a mounting base 9, which includes a receiving cavity 91 and a groove 92 communicating with the receiving cavity 91. A focusing lens 6 is disposed on the side of the mounting base 9 facing the MEMS micro-scanning mirror. A beam splitter module 7 is disposed within the receiving cavity 91, and a camera module 8 is disposed within the groove 92. Thus, the mounting base 9 helps to fix the relative positional relationship between the beam splitter module 7 and the camera module 8, ensuring that reflected light from the tissue surface can be reflected to the image sensor of the camera module 8 through the reflection effect of the beam splitter module 7, thereby improving the light intake of the camera module 8. The focusing lens 6 can be fixed to the mounting base 9 by adhesive bonding, snap-fitting, or screw connection. Similarly, the beam splitter module 7 can also be fixed by adhesive bonding, snap-fitting, or screw connection, and similarly, the camera module 8 can be fixed by adhesive bonding, snap-fitting, or screw connection. This disclosure does not impose any limitations on this method.

[0054] Of course, in order to fix the MEMS micro-scanning mirror 4 and the reflective component 5, the OCT probe may also include a mounting base. The mounting base and the mounting base 9 are arranged at intervals along the axial direction of the OCT probe. The MEMS micro-scanning mirror 4 and the reflective component 5 can both be fixed on the mounting base. For example, the MEMS micro-scanning mirror 4 can be fixed by snap-fit ​​or screw connection. The first right-angle reflector 51, the second right-angle reflector 52 and the third right-angle reflector 53 included in the reflective component 5 can be fixed by adhesive or snap-fit. Of course, the diffractive optical element 3 and the fiber collimator 2 can be fixed on the mounting base or on other fixtures included in the OCT probe. These will not be described in detail here.

[0055] In the above embodiments, the OCT probe further includes a cylindrical shell 10, a cover 11, and a light-transmitting window 12. The cover 11 and the cylindrical shell 10 are detachably connected along the axial direction of the OCT probe, and the cylindrical shell 10 and the cover 11 can be connected to form a device cavity. An optical fiber collimator 2, a diffractive optical element 3, a MEMS micro-scanning mirror 4, a reflective component 5, a focusing lens 6, a beam splitter 7, and a camera module 8 are housed within this device cavity. A single-mode optical fiber 1 can partially extend outward through the cover 11. The cover 11 and the cylindrical shell 10 can be connected by threads for easy disassembly, or they can be snap-fitted together. The inner walls of the cylindrical shell 10 and the cover 11 can be provided with a light-absorbing layer, for example, by spraying black fuel onto the inner walls to form this light-absorbing layer to absorb scattered light. The diameter of the cylindrical shell 10 can be less than or less than 26 mm, achieving a high degree of integration and miniaturization of the OCT probe. The cylindrical outer shell 10 and the cover 11 can be made of biocompatible materials, such as medical titanium alloy.

[0056] The light-transmitting window 13 can be disposed at the end of the cylindrical shell 10 away from the cover 11. Reflective optical fibers from the target tissue surface can enter the beam splitter 7 through the light-transmitting window 13. The outgoing optical fibers of the MEMS micro-scanning mirror can exit to the target tissue after passing through the beam splitter 7 and the light-transmitting window 13. The light-transmitting window 13 can be of any shape, such as circular, square, or elliptical. An anti-reflection film is also disposed on the side of the light-transmitting window 13 away from the cylindrical shell 10 to minimize light loss and provide dust and water protection. The light-transmitting window 13 can be fixed by adhesive or snap-fit, and this disclosure does not impose any limitations on this method.

[0057] Based on the technical solution disclosed herein, such as Figure 4 As shown, an imaging system is also provided, which may include a reference arm assembly 101, a fiber optic coupler 102, a light source 103, a spectrometer 104, a processor system 105, and an OCT probe as described in any of the foregoing embodiments. The light source 103 is connected to the fiber optic coupler 102, and the optical fiber emitted by the light source can exit through the fiber optic coupler 102. The light source 103 can use a broadband superradiative diode light source with a center wavelength of 1310 nm, and the output beam enters the fiber optic coupler 102. The fiber optic coupler 102 has a bandwidth of 110 nm to ensure sufficient imaging depth and resolution.

[0058] The fiber optic coupler 102 can be a 50 / 50 single-mode fiber optic coupler, which can split the light beam into two paths. One path enters the reference arm assembly 101, and the other path enters the OCT probe and then enters the internal OCT optical path of the OCT probe through the single-mode fiber 1. The spectrometer 104 can generate an analog signal based on the interference signal formed by the light beam returned from the reference arm assembly 101 and the light beam returned from the OCT probe. The processor system 105 can generate a three-dimensional OCT point cloud image in the depth direction of the sample based on the analog signal generated by the spectrometer. The processor system 105 is also connected to the camera module 8. The processor system 105 is used to register the two-dimensional image information acquired by the camera module 8 with the three-dimensional OCT point cloud image to obtain a fused image. During the operation, the microstructure of the lesion surface area and tissue can be accurately observed through real-time image updates.

[0059] In some embodiments, the processor system 105 may include a data acquisition card, a signal generation card, and a graphics processor. The analog signal converted by the spectrometer 104 can be transmitted to the data acquisition card and further transmitted to the graphics processor, which generates a three-dimensional OCT point cloud image of the target tissue in the depth direction. The signal generation card can control the deflection of the MEMS micro-scanning mirror 4, controlling the MEMS micro-scanning mirror 4 to perform one-dimensional or two-dimensional scanning via control signals from the signal generation card. For example, the imaging system also includes a MEMS driver board 106, which is electrically connected to the signal generation card and the MEMS micro-scanning mirror. For instance, the MEMS driver board 106 transmits electrical control signals via cables to control the deflection of the MEMS micro-scanning mirror 4, thereby transmitting control commands from the signal generation card to the MEMS micro-scanning mirror 4 to control it to perform one-dimensional or two-dimensional scanning. One-dimensional scanning can be used to quickly acquire three-dimensional OCT point cloud images of the target tissue, while two-dimensional scanning can be used to generate high-resolution three-dimensional stereoscopic images.

[0060] The spectrometer 104 may include a grating and a CCD (charge-coupled device) detector. The fiber optic coupler 102 forms an interference signal after receiving the beam returned by the reference arm assembly 101 and the beam returned by the OCT probe, and further transmits it to the spectrometer 104. The grating and CCD detector of the spectrometer 104 convert the interference signal into an analog signal and then transmit it to the processor system.

[0061] In some embodiments, due to the movement of the target tissue during breathing or due to the construction of the surgical channel, the processor system is further configured to extract the image edge features of two adjacent frames of 3D OCT point cloud images to better adapt to the movement of the target tissue. The relative positional relationship between the two frames is obtained by analyzing the differences in their image edge features, and the OCT probe movement is controlled based on this relative positional relationship. For example, if the difference in image edge features between two frames indicates that the target tissue in the later frame of the 3D OCT point cloud image has moved 3mm downwards relative to the target tissue in the previous frame, the processor system can control the OCT probe to move 3mm in the same direction to ensure a stable distance between the OCT probe and the target tissue. This helps maintain the quality stability of the 3D OCT point cloud image, reduces imaging errors caused by breathing or surgical procedures, and achieves dynamic closed-loop compensation. The movement of the OCT probe can be controlled based on a proportional-integral control algorithm. The application of this algorithm helps adapt the movement speed of the OCT probe to the movement speed and distance of the target tissue, improving the smoothness of the OCT probe movement.

[0062] The real-time feedback system built using image edge feature extraction achieves a latency of less than 10 milliseconds. By controlling the movement of the OCT probe through a proportional-integral (PI) control algorithm, tissue displacement errors caused by respiration and instrument manipulation can be reduced. Specifically, a maximum gradient surface detection algorithm is implemented using parallel computing in CUDA C++, and real-time motion compensation is achieved through PID feedback control. The maximum gradient algorithm is used to identify tissue surfaces, and a parallel GPU acceleration algorithm is combined to optimize B-scan computation efficiency, enabling the probe to maintain stable focus under dynamic tissue displacement. Proportional-integral (PID) feedback control adjusts the probe's Z-axis movement, ensuring the stability of OCT image quality and reducing imaging errors caused by respiration or surgical manipulation.

[0063] In some embodiments, the processor system can also be used to acquire Doppler blood flow information, which is then superimposed on a fused image. This results in a fused image of a 3D OCT point cloud image, Doppler blood flow information, and a surface image of the target tissue, forming multimodal 3D data from the tissue surface to its internal structure. The resolution of the 3D OCT point cloud image can reach approximately 10µm, the flow velocity accuracy of the Doppler blood flow information is within ±0.1mm / s, and the camera module 8 can use a high-resolution camera, such as a 2-megapixel camera. The processor system can acquire Doppler blood flow information based on the signal differences at the same location on the tissue at different times using the OCT probe.

[0064] For example, such as Figure 5 and Figure 6 As shown, this OCT probe is applied to robot-assisted prostate cancer surgery. During the procedure, the OCT probe can be inserted into the surgical area through a pre-established surgical channel to image the prostate. First, the signal generation card of the processor system 105 controls the MEMS micro-scanning mirror to perform a raster scan on the target area of ​​the prostate, with a scanning range of 5×5 mm². A single scan acquires 500 OCT B-scan images, yielding results as shown... Figure 5 The three-dimensional OCT point cloud image of the prostate shown clearly reveals the porous structure within the prostate. This is due to the diffraction optical element 3 optimizing the depth of focus in the OCT, enabling high-resolution imaging of the target object. Even on uneven tissue surfaces, continuous and clear images can be obtained, helping surgeons accurately identify and avoid neurovascular bundles, thereby reducing postoperative functional damage. Simultaneously with acquiring the three-dimensional OCT point cloud image, the camera module 8 can capture surface images of the prostate and further transmit them to the processor system 105 to obtain... Figure 6 The prostate surface image shown can be subsequently registered with a 3D OCT point cloud image to obtain a fused image, which can assist in intraoperative procedures.

[0065] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0066] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. An OCT probe, characterized in that, The device includes an optical fiber collimator, a diffractive optical element, a focusing lens, and a beam splitting module arranged sequentially along the optical axis of the OCT probe. The diffractive optical element is used to modulate the probe beam from the optical fiber collimator to emit a needle-shaped beam. The OCT probe also includes a MEMS micro-scanning mirror, a reflective component, and a camera module. The MEMS micro-scanning mirror and the reflective component are both disposed between the diffractive optical element and the focusing lens. The needle-shaped beam is reflected by the MEMS micro-scanning mirror to the focusing lens after passing through the reflective component, and then emitted parallel to the axis of the OCT probe after passing through the beam splitting module. The optical axis of the camera module is perpendicular to the axis of the OCT probe. The reflected light from the target tissue is incident on the beam splitter parallel to the axis of the OCT probe and then reflected by the beam splitter back to the camera module. The reflective assembly includes a first right-angle reflector, a second right-angle reflector, and a third right-angle reflector, wherein the reflective surfaces of the first right-angle reflector, the second right-angle reflector, and the third right-angle reflector are all at a 45° angle to the axis of the OCT probe. The needle-shaped light beam, after passing through the first right-angle reflector, is emitted perpendicularly to the axis of the OCT probe and then to the second right-angle reflector. The light beam emitted from the second right-angle reflector is parallel to the axis of the OCT probe and then incident on the third right-angle reflector. The light beam emitted from the third right-angle reflector is perpendicular to the axis of the OCT probe and then incident on the MEMS micro-scanning mirror. The reflective surface of the MEMS micro-scanning mirror is at a 45° angle to the axis of the OCT probe.

2. The OCT probe according to claim 1, characterized in that, The diffractive optical element is used to phase modulate the detection beam to form a needle-shaped beam, which has multiple focal points within a set range along the axial direction outward from the focal point of the focusing lens.

3. The OCT probe according to claim 1, characterized in that, Also includes: The mounting base includes a receiving cavity and a groove communicating with the receiving cavity. The focusing lens is disposed on the side of the mounting base facing the MEMS micro-scanning mirror. The beam splitting module is fixedly disposed in the mounting base, and the camera module is fixedly disposed in the groove.

4. The OCT probe according to claim 1, characterized in that, Also includes: Cylindrical shell; A cover body is detachably connected to the cylindrical outer shell along the axial direction of the OCT probe, and the cover body and the cylindrical outer shell are connected to form a device cavity; A light-transmitting window is disposed at one end of the cylindrical outer shell away from the cover.

5. The OCT probe according to claim 1, characterized in that, It also includes an aperture located on the light-incident side of the camera module.

6. An imaging system, characterized in that, include: The OCT probe as described in any one of claims 1-5; Reference arm assembly; Fiber optic coupler; The light source's output beam enters the fiber coupler, and after passing through the fiber coupler, part of it enters the reference arm assembly and part enters the OCT probe; A spectrometer that generates an analog signal based on the interference signal formed by the beam returned by the reference arm assembly and the beam returned by the OCT probe; The processor system generates a three-dimensional OCT point cloud image of the target tissue in the depth direction based on the analog signal. The processor system is also communicatively connected to the camera module. The processor system is used to register the two-dimensional image information acquired by the camera module with the three-dimensional OCT point cloud image to obtain a fused image.

7. The imaging system according to claim 6, characterized in that, The processor system is also used to acquire Doppler blood flow information and superimpose the Doppler blood flow information onto the fused image.

8. The imaging system according to claim 6, characterized in that, The processor system is also used to extract the image edge features of two adjacent frames of the three-dimensional OCT point cloud image respectively, obtain the relative positional relationship between the two adjacent frames of the three-dimensional OCT point cloud image based on the difference between the image edge features of the two adjacent frames of the three-dimensional OCT point cloud image, and control the movement of the OCT probe based on the relative positional relationship.

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