Multi-wavelength tunable laser and sensing system

Abstract

The invention discloses a multi-wavelength tunable laser and a sensing system, and relates to the field of lasers, and the multi-wavelength tunable laser comprises a setting module which is used for presetting or selecting laser beams with two wavelengths in the laser; the camera module is used for collecting a target treatment skin surface image of a user in real time, recognizing a tumor area and a healthy skin area in image data and recognizing the current skin surface position where the laser beam is located, and through collection of the target treatment skin surface image of the user, the tumor area and the healthy skin area in the operation data are recognized; a laser treatment path is further planned based on the target treatment skin surface image, and the laser is controlled to sense the thickness of the tumor in combination with a sensor in the process of moving based on the treatment path, so that intelligent control over the moving speed of the laser in the process of moving according to the treatment path is further achieved; and the tumor position on the skin surface of the user can be treated more adaptively.

Description

Technical Field

[0001] The present invention relates to the technical field of lasers, and particularly to a multi-wavelength tunable laser and a sensing system. Background Art

[0002] Multi-wavelength tunable lasers are widely used in the treatment of skin tumors. It can accurately select lasers of different wavelengths according to the characteristics of tumors such as type and depth, so as to achieve precise treatment. It can effectively destroy tumor tissues while minimizing damage to surrounding normal skin tissues, improving the treatment effect and the quality of life of patients.

[0003] The patent application with the application number 200610060044.9 discloses a control system for the wavelength of a tunable laser, which is applicable to a DFB+MEMS type tunable laser, including a DFB array laser provided with a TEC controller, a quadrant detector, and a MEMS mirror, a CPU / MCU provided with a wavelength selection module, a temperature / wavelength control module, and a MEMS control module, a TEC control circuit, and a MEMS drive circuit. The wavelength selection module is connected to the DFB array laser for selecting a specified DFB laser, and also includes a temperature / wavelength control loop and a MEMS collimation control loop. The temperature / wavelength control loop controls the temperature of the TEC controller through the temperature / wavelength control module and the TEC control circuit to adjust the laser output of the specified wavelength by the specified DFB laser. The MEMS collimation control loop controls the operation of the MEMS drive circuit through the MEMS control module, and the MEMS drive circuit drives the MEMS mirror to rotate to achieve the optical path collimation of the laser of the specified wavelength. This application aims to solve the problems of "compared with traditional single-wavelength DFB lasers, the control of DFB array tunable lasers is much more complex; and there is currently no standard solution".

[0004] However, in the scenario where multi-wavelength tunable lasers are applied to the treatment of skin tumors, the current demand for manual control is relatively large. However, manual control usually has limited accuracy and occupies a certain amount of labor cost.

[0005] Therefore, a sensing system for a multi-wavelength tunable laser is proposed. Summary of the Invention

[0006] In view of the above-mentioned drawbacks existing in the prior art, the present invention provides a multi-wavelength tunable laser and a sensing system, which can effectively solve the problems of the prior art.

[0007] To achieve the above object, the present invention is realized through the following technical solutions: The present invention discloses a sensing system for a multi-wavelength tunable laser, comprising: A setting module, configured to preset or select two laser beams with different wavelengths in the laser; a camera module, configured to collect in real time an image of the surface of the target treatment skin of the user, identify a tumor area and a healthy skin area in the image data, and identify the current position of the laser beam on the skin surface; a planning module, configured to identify the pixel specification occupied by the laser beam in the image of the target treatment skin surface, and combine with the specification of the image of the target treatment skin surface to plan a laser treatment path in the image of the target treatment skin surface; a sensing module, configured to sense the thickness of the tumor area in the image of the user's treatment skin surface, and coordinate the moving speed of the laser according to the laser treatment path based on the sensing result of the tumor area thickness; a message module, configured to receive the moving speed coordination result during the movement of the laser according to the polished treatment path in the sensing module, and generate a laser operation message based on the coordination result; an evaluation module, configured to traverse the laser operation messages generated in the message module, and evaluate the tumor laser treatment effect based on the laser operation messages.

[0008] Furthermore, among the two laser beams preset or selected during the operation stage of the setting module, one is used to irradiate the tumor on the skin surface, and the other is used for positioning, which causes no damage to the human body, and the wavelength is within the visible light spectrum range of the human eye; Wherein, during the operation stage of the laser, the laser emits only one laser beam at the same time. The two laser beams preset or selected by the setting module are marked with user-defined different names at the system end. A display is integrated on the laser. When the laser emits a laser beam, the name of the emitted laser beam is synchronously displayed on the integrated display of the laser.

[0009] Furthermore, the camera module collects in real time an image of the surface of the target treatment skin of the user at a fixed position, and the image of the surface of the treatment skin is from the user in a static state. The camera module interacts with the system in real time based on a wireless network. The entire image of the surface of the target treatment skin of the user collected by the camera module during operation is the user's skin. The laser beam emitted during the initial operation stage of the laser is the laser beam for positioning; When the camera module identifies the tumor area and the healthy skin area in the image data, it obtains a frame of image in the image data, extracts the tumor contour image from the obtained image, and further performs real-time tracking of the extracted tumor contour image in the image data based on the CamShift algorithm. Wherein, when the camera module identifies the current position of the laser beam on the skin surface, it uses the color value of the laser beam falling on the skin surface as the tracking target and performs real-time identification and tracking in the image data.

[0010] Further, during the operation stage of the planning module, the length or width of the pixel specification occupied by the laser beam in the image of the target treatment skin surface is used as the path width for laser treatment path planning, so that each pixel position in the image of the target treatment skin surface is covered by the laser treatment path; The laser is loaded on a preset electric control robotic arm. After the laser treatment path is completed, the laser treatment path is synchronously transmitted to the electric control robotic arm. The robotic arm carries the laser to move, so that the laser beam emitted by the laser falls on any one end point position of the laser treatment path, and then the robotic arm carries the laser to move along the laser treatment path, so that the laser beam emitted by the laser always falls on the laser treatment path; Among them, the laser treatment path is in an S shape, and the robotic arm carries the laser to move based on a preset moving speed during the movement process.

[0011] Further, the sensor module of the sensing module is integrated by an OCT sensor or other sensors that have no contact with the skin, do not emit visible lasers, and can sense the thickness of skin tissue. A control unit and a coordination unit are arranged at the lower level of the sensor. The control unit is used to control the laser to switch the laser type when moving to the tumor area based on the movement of the electric control robotic arm, and the coordination unit is used to coordinate the moving speed of the robotic arm carrying the laser in real time; Among them, when the control unit controls the laser to switch the laser type, the laser type switching target is the laser used to irradiate the skin surface tumor. When the laser moves away from the tumor area based on the electric control robotic arm, the control unit controls the laser to switch the laser type again, and the laser type switching target is the laser used for positioning.

[0012] Further, the logic for the coordination unit to coordinate the moving speed of the robotic arm carrying the laser is as follows: ; In the formula: is the moving speed of the laser after the coordination unit runs and coordinates; is the preset moving speed of the laser; is the straight-line distance between the current position of the laser beam emitted by the laser in the tumor area and the center of the tumor area; is the tumor area thickness perception result sensed by the sensing module; is the constraint factor; Among them, the constraint factor is used to control to be in range.

[0013] Further, the laser operation messages generated in the message module are sorted based on time sequence for each message information; Among them, the message information in the laser operation message includes: the moving speed of the laser on each section of the path during the movement along the laser treatment path, the type of laser beam emitted, and the length of each section of the path.

[0014] Furthermore, the evaluation logic for the tumor laser treatment effect in the evaluation module is expressed as: ; In the formula: is the determination value of the tumor laser treatment effect; is the total amount of the tumor area; is the fastest moving speed and the slowest moving speed of the laser in the i-th tumor area; is the total number of times the laser treatment path passes through the i-th tumor area; is the path length when the laser treatment path passes through the i-th tumor area for the j-th time; Among them, The larger it is, the better the tumor laser treatment effect. The evaluation module continuously calculates the determination value of the tumor laser treatment effect based on the update of the laser operation message in the message module, denoted as , and when it is recognized that shows a continuously rising queue, it indicates that the tumor laser treatment is effective; otherwise, it indicates that the tumor laser treatment is ineffective or deteriorating.

[0015] Furthermore, the setting module is connected to a camera module, a planning module, and a sensing module through wireless network interaction. The sensing module is connected to a control unit and a coordination unit through wireless network interaction at a lower level, and the sensing module is connected to a message module and an evaluation module through wireless network interaction.

[0016] On the other hand, a multi-wavelength tunable laser includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it realizes the operation program of a sensing system of a multi-wavelength tunable laser.

[0017] Adopting the technical solution provided by the present invention, compared with the known prior art, it has the following beneficial effects: The present invention provides a multi-wavelength tunable laser and a sensing system, which are applied to the tumor treatment scenario. By collecting the image of the user's target treatment skin surface, the tumor area and the healthy skin area in the operation data are identified. Further, based on the image of the target treatment skin surface, the laser treatment path is planned, and when controlling the laser to move along the treatment path, the tumor thickness is sensed by the sensor to achieve more intelligent control of the moving speed of the laser during the movement along the treatment path, so that the tumor position on the user's skin surface can be treated more adaptively, which is faster and more accurate than manual control, and thus saves labor. At the same time, the system can also generate a laser operation message, and finally evaluate the tumor laser treatment effect in combination with the content of the laser operation message. 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 the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic structural diagram of a sensing system of a multi-wavelength tunable laser; Figure 2 It is an exemplary schematic diagram of the laser treatment path in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the 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 belong to the scope of protection of the present invention.

[0021] The following further describes the present invention with reference to the embodiments.

[0022] Embodiment: A sensing system of a multi-wavelength tunable laser in this embodiment, as Figure 1 shown, includes: A multi-wavelength tunable laser, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it realizes the operation program of a sensing system of a multi-wavelength tunable laser; A setting module for presetting or selecting laser beams of two wavelengths in the laser; Among the two laser beams preset or selected during the operation stage of the module, one is used to irradiate the tumor on the skin surface, and the other is used for positioning, without any damage to the human body, and the wavelength is within the visible spectrum range of the human eye; During the operation of the laser, at the same moment, the laser emits only one laser beam. The two laser beams preset or selected by the setting module are marked with user-defined different names at the system end. A display is integrated on the laser. When the laser emits a laser beam, the name of the emitted laser beam is synchronously displayed on the integrated display of the laser; The camera module is used to collect the real-time image of the user's target treatment skin surface, identify the tumor area and healthy skin area in the image data, and identify the current position of the laser beam on the skin surface; The camera module collects the real-time image of the user's target treatment skin surface at a fixed position, and the source of the treatment skin surface image is that the user is in a static state. The camera module interacts with the system in real time based on the wireless network. The global real-time image of the user's target treatment skin surface collected by the camera module is all the user's skin. The laser beam emitted in the initial operation stage of the laser is the laser beam for positioning; When the camera module identifies the tumor area and healthy skin area in the image data, it obtains a frame of image in the image data, extracts the tumor contour image from the obtained image, and further performs real-time tracking of the extracted tumor contour image in the image data based on the CamShift algorithm; Among them, when the camera module identifies the current position of the laser beam on the skin surface, it uses the color value of the laser beam falling on the skin surface as the tracking target and performs real-time identification and tracking in the image data; The planning module is used to identify the pixel specifications occupied by the laser beam in the target treatment skin surface image, and combine the target treatment skin surface image specifications to plan the laser treatment path in the target treatment skin surface image; During the operation of the planning module, the length or width of the pixel specifications occupied by the laser beam in the target treatment skin surface image is used as the path width for laser treatment path planning, so that each pixel position in the target treatment skin surface image is covered by the laser treatment path; The laser is loaded on a preset electric control robotic arm. After the laser treatment path is completed, the laser treatment path is synchronously transmitted to the electric control robotic arm. The robotic arm carries the laser to move, so that the laser beam emitted by the laser falls on any one end point position of the laser treatment path, and then the robotic arm carries the laser to move along the laser treatment path, so that the laser beam emitted by the laser always falls on the laser treatment path; Among them, the laser treatment path is in an S shape, and the robotic arm carries the laser to move based on a preset moving speed; The sensing module is used to sense the thickness of the tumor area in the skin surface image of the user's treatment, and coordinate the moving speed of the laser according to the sensing result of the tumor area thickness along the laser treatment path; The sensor module of the sensing module is integrated by an OCT sensor or other sensors that have no contact with the skin, do not emit visible laser, and can sense the thickness of the skin tissue. A control unit and a coordination unit are arranged at the lower level of the sensor. The control unit is used to control the laser to switch the laser type when moving to the tumor area during the movement based on the electric control robotic arm. The coordination unit is used to coordinate the moving speed of the robotic arm carrying the laser in real time; Among them, when the control unit controls the laser to switch the laser type, the target of the laser type switch is the laser used to irradiate the skin surface tumor. When the laser moves away from the tumor area based on the electric control robotic arm, the control unit controls the laser to switch the laser type again, and the target of the laser type switch is the laser used for positioning; The logic for the coordination unit to coordinate the moving speed of the robotic arm carrying the laser is: ; In the formula: is the moving speed of the laser after the coordination unit runs and coordinates; is the preset moving speed of the laser; is the straight-line distance between the position of the current laser beam emitted by the laser in the tumor area and the center of the tumor area; is the sensing result of the tumor area thickness sensed by the sensing module; is the constraint factor; Among them, the constraint factor is used to control to be in within the range; Through the above logical formula, the coordination logic of the coordination unit for the moving speed of the robotic arm carrying the laser is further specifically defined; The message module is used to receive the moving speed coordination result during the movement of the laser along the laser treatment path in the sensing module, and generate a laser operation message based on the coordination result; The laser operation messages generated in the message module sort each message information based on the time sequence; Among them, the message information in the laser operation message includes: the moving speed of the laser on each section of the path during the movement along the laser treatment path, the type of the emitted laser beam, and the length of each section of the path; The evaluation module is used to traverse the laser operation messages generated in the message module, and evaluate the tumor laser treatment effect based on the laser operation messages; The evaluation logic of the tumor laser treatment effect in the evaluation module is expressed as: ; In the formula: is the determination value of the tumor laser treatment effect; is the total amount of the tumor area; is the fastest moving speed and the slowest moving speed of the laser in the i-th tumor area; is the total number of times the laser treatment path passes through the i-th tumor area; is the path length when the laser treatment path passes through the i-th tumor area for the j-th time; where, The larger it is, the better the tumor laser treatment effect. The evaluation module continuously calculates the determination value of the tumor laser treatment effect based on the update of the laser operation message in the message module, denoted as , when it is recognized that shows a continuously rising queue, it indicates that the tumor laser treatment is effective. Otherwise, it indicates that the tumor laser treatment is ineffective or deteriorates; Through the above logic and formula, the evaluation of the tumor laser treatment effect in the evaluation module is further limited, providing more valuable data references for the users of the system in this embodiment; The setting module is connected to the camera module, the planning module, and the sensing module through wireless network interaction. The sensing module is connected to the control unit and the coordination unit through wireless network interaction at the lower level. The sensing module is connected to the message module and the evaluation module through wireless network interaction.

[0023] In this embodiment, the setting module operates two wavelengths of laser beams preset or selected in the laser. The camera module runs at the rear to collect the real-time image of the user's target treatment skin surface. The tumor area and the healthy skin area are identified in the image data, and the current skin surface position of the laser beam is identified. The planning module further identifies the pixel specifications occupied by the laser beam in the target treatment skin surface image. Combining with the target treatment skin surface image specifications, the laser treatment path is planned in the target treatment skin surface image. Then the sensing module senses the thickness of the tumor area in the user's treatment skin surface image, and coordinates the moving speed of the laser according to the laser treatment path based on the sensing result of the tumor area thickness. The control unit synchronously controls the laser to switch the laser type when moving to the tumor area during the movement based on the electro-control robotic arm. The coordination unit coordinates the moving speed of the robotic arm carrying the laser in real time, and receives the moving speed coordination result of the laser according to the laser treatment path in the sensing module through the message module, generates the laser operation message based on the coordination result, and finally traverses the laser operation message generated in the message module through the evaluation module to evaluate the tumor laser treatment effect based on the laser operation message.

[0024] Through the operation of the system in the above embodiment, the multi-wavelength tunable laser technology is intelligently applied to the multi-wavelength tunable laser, effectively assisting medical staff to carry out tumor treatment work more quickly.

[0025] See Figure 2 As shown, based on the sheet marks in the figure, sheet (a) represents the image of the target treatment skin surface, and sheets (b) and (c) together represent an example form of the planned laser treatment path. Sheet (b) shows the corresponding skin where the planned laser treatment path completely covers the image of the target treatment skin surface. In sheet (c), the laser treatment path is further shown by a dotted line.

[0026] In summary, in the above embodiments, the system is applied to the tumor treatment scenario. By collecting the image of the user's target treatment skin surface, the tumor area and healthy skin area in the operation data are identified. Further, based on the image of the target treatment skin surface, the laser treatment path is planned, and when controlling the laser to move along the treatment path, the tumor thickness is sensed by the sensor to achieve more intelligent control of the moving speed of the laser during the movement along the treatment path, so that the tumor position on the user's skin surface can be treated more adaptively, which is faster and more accurate than manual control, and thus labor is saved. At the same time, the system can also generate a laser operation message, and finally evaluate the tumor laser treatment effect in combination with the content of the laser operation message.

[0027] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the present invention in each embodiment.

Claims

1. A sensing system for a multi-wavelength tunable laser, characterized in that, Including: A setting module, configured to preset or select two laser beams with different wavelengths in a laser; A camera module, configured to collect in real time an image of the surface of the user's target treatment skin, identify a tumor area and a healthy skin area in the image data, and identify the current position of the laser beam on the skin surface; A planning module, configured to identify the pixel specifications occupied by the laser beam in the image of the target treatment skin surface, and combine with the image specifications of the target treatment skin surface to plan a laser treatment path in the image of the target treatment skin surface; A sensing module, configured to sense the thickness of the tumor area in the image of the user's treatment skin surface, and coordinate the moving speed of the laser according to the thickness sensing result of the tumor area along the laser treatment path; A message module, configured to receive the moving speed coordination result during the movement of the laser along the precise light treatment path in the sensing module, and generate a laser operation message based on the coordination result; An evaluation module, configured to traverse the laser operation messages generated in the message module, and evaluate the tumor laser treatment effect based on the laser operation messages; 2. The sensing system of a multi-wavelength tunable laser according to claim 1, characterized in that, Among the two laser beams preset or selected during the operation stage of the setting module, one is used to irradiate the tumor on the skin surface, and the other is used for positioning, which causes no damage to the human body and the wavelength is within the visible spectrum range of the human eye; Wherein, during the operation stage of the laser, the laser emits only one laser beam at the same time. The two laser beams preset or selected by the setting module are marked with user-defined different names at the system end. A display is integrated on the laser. When the laser emits a laser beam, the name of the emitted laser beam is synchronously displayed on the integrated display of the laser; 3. The sensing system of a multi-wavelength tunable laser according to claim 1, characterized in that, The camera module collects in real time an image of the surface of the user's target treatment skin at a fixed position, and the image of the treatment skin surface is from the user in a static state. The camera module interacts with the system in real time based on a wireless network. The entire image of the surface of the user's target treatment skin collected by the camera module during operation is the user's skin. The laser beam emitted during the initial operation stage of the laser is the laser beam for positioning; When the camera module identifies the tumor area and the healthy skin area in the image data, it obtains a frame of image in the image data, extracts the tumor contour image from the obtained image, and further performs real-time tracking of the extracted tumor contour image in the image data based on the CamShift algorithm; Wherein, when the camera module identifies the current position of the laser beam on the skin surface, it uses the color value of the laser beam falling on the skin surface as the tracking target and performs real-time identification and tracking in the image data; 4. The sensing system of a multi-wavelength tunable laser according to claim 1, characterized in that, During the operation stage of the planning module, the length or width of the pixel specifications occupied by the laser beam in the image of the target treatment skin surface is used as the path width for laser treatment path planning, so that each pixel position in the image of the target treatment skin surface is covered by the laser treatment path; The laser is mounted on a preset electro-control robotic arm. After the laser treatment path is planned, the laser treatment path is synchronously transmitted to the electro-control robotic arm. The robotic arm carries the laser to move, so that the laser beam emitted by the laser falls on any one of the end positions of the laser treatment path. Then the robotic arm carries the laser to move along the laser treatment path, so that the laser beam emitted by the laser always falls on the laser treatment path; Among them, the laser treatment path is in an S shape, and the robotic arm carries the laser to move at a preset moving speed during the movement.

5. A sensing system for a multi-wavelength tunable laser according to claim 1, characterized in that, The sensor module of the sensing module is integrated by an OCT sensor or other sensors that have no contact with the skin, do not emit visible laser, and can sense the thickness of skin tissue. A control unit and a coordination unit are arranged at the lower level of the sensor. The control unit is used to control the laser to switch the laser type when moving to the tumor area based on the movement of the electro-control robotic arm. The coordination unit is used to coordinate the moving speed of the robotic arm carrying the laser in real time; Among them, when the control unit controls the laser to switch the laser type, the laser type switching target is the laser used to irradiate the tumor on the skin surface. When the laser moves away from the tumor area based on the electro-control robotic arm, the control unit controls the laser to switch the laser type again, and the laser type switching target is the laser used for positioning.

6. The sensing system of a multi-wavelength tunable laser according to claim 5, characterized in that, The logic for the coordination unit to coordinate the moving speed of the robotic arm carrying the laser is: ； In the formula: is the moving speed of the laser after the operation coordination of the coordination unit; is the preset moving speed of the laser; is the straight-line distance between the position of the current tumor area where the laser beam is emitted by the laser and the center of the tumor area; is the perception result of the tumor area thickness sensed by the sensing module; is the constraint factor; Among them, the constraint factor is used to control within the range.

7. The sensing system of a multi-wavelength tunable laser according to claim 1, characterized in that, The laser operation messages generated in the message module sort each message information based on time sequence; Among them, the message information in the laser operation message includes: the moving speed of the laser on each section of the path during the movement along the laser treatment path, the type of the emitted laser beam, and the length of each section of the path.

8. A sensing system for a multi-wavelength tunable laser according to claim 1, characterized in that, The evaluation logic of the tumor laser treatment effect in the evaluation module is expressed as: ； Wherein: is the determination value of the tumor laser treatment effect; is the total amount of the tumor area; is the fastest moving speed and the slowest moving speed of the laser in the i-th tumor area; is the total number of times the laser treatment path passes through the i-th tumor area; is the path length when the laser treatment path passes through the i-th tumor area for the j-th time; Among them, The larger it is, the better the tumor laser treatment effect is. The evaluation module continuously calculates the tumor laser treatment effect determination value based on the update of the laser operation message in the message module, denoted as , and when it recognizes that shows a continuously rising queue, it indicates that the tumor laser treatment is effective; otherwise, it indicates that the tumor laser treatment is ineffective or deteriorates.

9. The sensing system of a multi-wavelength tunable laser according to claim 1, characterized in that, The setting module is connected to a camera module, a planning module and a sensing module through wireless network interaction. The lower level of the sensing module is connected to a control unit and a coordination unit through wireless network interaction. The sensing module is connected to a message module and an evaluation module through wireless network interaction.

10. A multi-wavelength tunable laser, characterized in that, The laser includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it realizes the operation program of a sensing system of a multi-wavelength tunable laser as described in any one of claims 1 to 9.

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