Laser treatment device based on wavelength blue shift intelligent scanning and laser path planning and traversing method

Abstract

The invention discloses a laser treatment device based on wavelength blue shift intelligent scanning. The laser treatment device comprises a laser generator, a laser reflecting mirror, a laser collimator, a wavelength blue shift device, a wavelength gating device, a laser scanning mirror group, an image monitoring unit and an intelligent controller, the laser generator is used for generating original wavelength laser; the laser reflecting mirror is used for deflecting the light beam direction; the laser collimator is used for changing the convergence angle of the original wavelength laser emitted by the laser generator to obtain parallel laser beams; the wavelength blue shifter is used for enabling the laser to generate blue shift; the wavelength gating device is used for obtaining clean short-wavelength laser; the laser scanning mirror group is used for changing the laser output direction; the image monitoring unit is used for collecting a laser processing working area and transmitting an image to the intelligent controller; and the intelligent controller is used for analyzing and processing the image and controlling a hardware structure. The invention further discloses a laser path planning traversal method and application.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser treatment instruments, and relates to a laser treatment device based on intelligent scanning with wavelength blue shift and a laser path planning traversal method. Background Art

[0002] Laser treatment has now been used in the treatment of various skin diseases, such as pigmentary diseases, scars, acne, skin warts, infantile hemangioma, epidermal nevus, etc., and has the advantages of minimally invasive, low risk, and short postoperative recovery period. With the understanding and innovation of laser principles by clinicians, there are also application reports in the fields of chronic wounds, recurrent oral ulcers, etc. Appropriate wavelength, pulse width time, and energy level are focused on the target tissue, and the tissue absorbs photons, resulting in photochemical reactions or heating. Within different temperature ranges, physiological changes occur inside the tissue. According to different wavelengths, photons are absorbed by hemoglobin, oxyhemoglobin, melanin, water, or collagen in the skin, generating heat, and selectively affecting capillaries, pigment cells, and diseased tissues, thereby achieving the treatment purpose.

[0003] However, there are still deficiencies in existing laser skin treatment devices. First, the laser wavelength is not short enough. Existing laser instruments for treating skin neoplasms are all long-wavelength lasers, such as carbon dioxide lasers (10um), erbium lasers (2940nm), etc. Their cutting depth is relatively deep, but due to the long wavelength, the thermal damage to surrounding tissues is relatively large, and it is easy to leave scars after surgery. The erbium short-wavelength laser can obtain a smaller focus, significantly reducing the risk of scarring. Second, the current laser treatment for light-colored tattoos such as yellow and yellow-green is not effective. The current wavelengths of lasers for removing tattoos are 755nm and 532nm, which have good effects on black and dark tattoos. For colored tattoos, the complementary color needs to be adjusted to achieve maximum tattoo removal. Therefore, short-wavelength lasers such as blue and purple can better remove yellow and yellow-green tattoos. Third, the treatment handle is manual, and a large number of repetitive operations are required during the treatment of large-area and thick diseased tissues, increasing the labor intensity of medical staff.

[0004] In the principle of laser treatment, short-wavelength lasers such as blue and purple have the following two characteristics: First, the single-photon energy is high, which is more likely to excite the valence electron transition in atoms, thereby improving the energy absorption rate and the effect of action. Second, the incident skin depth of short-wavelength lasers is shallow, and the energy absorption depth is more concentrated.

[0005] Content of the Invention Patent

[0006] To address the deficiencies of the existing technologies, the objective of the present invention is to provide a laser treatment device based on wavelength blue-shift intelligent scanning and a method for laser path planning traversal using the said laser treatment device. The subsequent laser treatment device can be applicable to large-area and thick yellow or yellowish-green diseased tissues on the body surface to address the deficiencies of existing laser treatment devices.

[0007] To achieve the above objective, the present invention provides the following technical solutions:

[0008] A laser treatment device based on wavelength blue-shift intelligent scanning, the said laser treatment device includes a laser generator, a laser reflector, a laser collimator, a wavelength blue-shifter, a wavelength selector, a laser scanning mirror group, an image monitoring unit, and an intelligent controller.

[0009] The said laser generator is used to generate laser with the original wavelength. The generated laser with the original wavelength includes but is not limited to fiber laser, solid laser, mode-locked laser, microsecond laser, nanosecond laser, picosecond laser, femtosecond laser, etc., which can be selected according to different usage scenarios and requirements.

[0010] The said laser reflector is arranged along the optical path behind the laser generator and is used to deflect the direction of the outgoing laser beam and shorten the spatial length.

[0011] The said laser collimator is arranged along the optical path behind the laser reflector and is used to change the convergence angle of the laser emitted by the laser generator to obtain a parallel laser beam. The parameters of the laser collimator for converging beam collimation include diameter, collimation distance, and focal length. In a specific embodiment, the diameter parameter of the said laser collimator is designed to be twice that of the converging beam, which neither blocks the laser beam nor wastes space and materials. The collimation distance is the distance between the laser generator and the laser collimator. Both the collimation distance and the focal length need to be specially designed to match the divergence angle of the converging beam to obtain a parallel beam.

[0012] The said wavelength blue-shifter is arranged along the optical path behind the laser collimator and is composed of a series combination of several nonlinear crystals, which is used to shorten the laser wavelength and cause the laser to undergo blue shift;

[0013] The said nonlinear crystal has nonlinear optical properties, and its refractive index or optical path changes with the change of light intensity, including but not limited to second-harmonic generation crystals, third-harmonic generation crystals, fourth-harmonic generation crystals, etc.;

[0014] The said second-harmonic generation crystal, third-harmonic generation crystal, and fourth-harmonic generation crystal can respectively change the frequency of the light wave to twice, three times, and four times the original, and at the same time, the wavelength of the light wave becomes 1 / 2, 1 / 3, and 1 / 4 of the original;

[0015] The materials of the nonlinear crystal include but are not limited to beta-barium borate (BBO), potassium dihydrogen phosphate (KDP), potassium titanyl phosphate (KTP), lithium borate (LBO), yttrium copper barium titanium oxide (YCOB), etc.;

[0016] Preferably, the nonlinear crystal in the present invention uses a second harmonic generation crystal, and the material is BBO;

[0017] The principle of the wavelength blue-shifter involves optical phase conjugation or optical frequency conversion in nonlinear optical effects, such as the optical Kerr effect. In the optical Kerr effect, there is a relationship between the refractive index of light (i.e., the speed of light in the medium) and the light intensity. When a high-intensity laser beam passes through the medium, the intensity of the light field causes the refractive index of the medium to change accordingly. This change is nonlinear, i.e., proportional to the square of the light intensity. When the laser passes through such a medium, its wavelength will undergo a blue shift because there is a relationship between the frequency of light and the speed of light and the refractive index. According to the principle of blue shift, a high light intensity region will result in a higher frequency, i.e., a shorter wavelength. The present invention introduces a high-intensity laser into the medium through which the laser beam passes, causing its wavelength to blue shift. This can adjust the characteristics of the laser to make it more suitable for specific therapeutic applications, such as deeper tissue penetration or specific interactions with biological tissues.

[0018] The wavelength selector is arranged along the optical path behind the wavelength blue-shifter and is used to attenuate the original wavelength to obtain a clean short-wavelength laser; the wavelength selector can selectively transmit or block light of a specific wavelength according to the absorption and transmission characteristics of light of different wavelengths in the material. Common wavelength selectors include colored glass, gratings, prisms, interference filters, etc. or combinations thereof; in the present invention, the wavelength selector used is preferably colored glass and gratings. Colored glass is glass doped with metal oxides. The principle is that different types of doped metal oxides can selectively absorb light of different wavelengths, thus showing different colors under white light illumination. It is often used in optical experiments to achieve wavelength separation, attenuation, and cut-off without changing the transmission direction of the transmitted light. The effectiveness of the grating as a wavelength selector mainly stems from its ability to accurately separate light of different wavelengths using the diffraction principle. It generates diffraction through regularly spaced rulings, causing light of different wavelengths to bend at different angles. This property enables the grating to selectively transmit or block light according to the wavelength of the incident light, achieving precise screening of specific wavelengths.

[0019] The laser scanning mirror group is arranged along the optical path behind the wavelength selector and includes one or more reflecting mirrors. When the short-wavelength laser output by the wavelength selector passes through the laser scanning mirror group, the output direction of the laser will change;

[0020] Specifically, the laser scanning mirror group can be composed of one or more mirrors. The mirrors can be plane mirrors or lenses with a certain curvature on the reflecting surface. The angles of the mirrors can be adjusted to control the direction of the laser beam. The mirrors are usually mounted on a rotatable or vibratable structure, which can be driven by a motor, a vibrator or other mechanical devices. When the mirror structure rotates or vibrates, the laser beam is reflected in different directions. By adjusting the angles of the mirrors, the scanning of the laser beam can be achieved, covering one or more directions. Controlling the rotation or vibration angles of the mirrors can precisely adjust the scanning range and speed of the laser beam, which can be realized by using an electronic control system. According to specific scanning requirements, by adjusting the movement mode and control parameters of the mirrors, the angles and scanning modes can be further adjusted, such as linear scanning, circular scanning, spot scanning, etc.

[0021] The image monitoring unit includes image acquisition devices capable of acquiring images of the area to be laser-treated. The image monitoring unit includes, but is not limited to, a single CCD camera, a single CMOS camera, a combined CCD camera, a combined CMOS camera, etc. The image monitoring unit needs to be specially designed to improve the infrared images generated by the irradiation of the original wavelength that cannot be observed by conventional cameras, as well as the ultraviolet images after wavelength blue shift. The specific method is to optimize the design according to the spectral response curve of the camera chip, taking into account both the original wavelength and the blue-shifted wavelength, and at the same time design a colored glass window to attenuate the visible light intensity, thereby improving the clarity of the monitoring image.

[0022] For example: In the camera spectral response curve of a conventional image monitoring unit, the conversion efficiency of visible light wavelengths is high, while the conversion efficiency of infrared and ultraviolet wavelengths is low. The typical values of the photoelectric conversion efficiency are: 30% @ 375nm, 45% @ 475nm, 15% @ 750nm. In order to improve the imaging brightness and imaging quality of the original laser wavelength and the blue-shifted wavelength, on the one hand, it is necessary to analyze and select a camera with a photoelectric conversion efficiency > 10% at the original laser wavelength (e.g., 750nm) and the blue-shifted wavelength (e.g., 375nm) in the spectral response curve. On the other hand, analyze and select a wavelength-absorbing colored glass close to the wavelength (e.g., 475nm) with a high photoelectric conversion efficiency of the camera to reduce interference noise. Thus, it is possible to take into account the image monitoring of the original wavelength (e.g., 750nm) and the blue-shifted wavelength (e.g., 375nm), avoid visible light interference, and improve the image quality and the accuracy of the treatment area.

[0023] The intelligent controller includes, but is not limited to, the following software and hardware structures: The hardware includes one or more of a desktop computer, a portable computer, a server, a workstation, etc., and the software is installed in the hardware and includes image processing software and device control software; the image processing software is used to read the images collected by the image monitoring unit, design image algorithms related to the initial working point and the scanning path, and feedback to the device control software to implement the intelligent scanning function of wavelength blue shift; the device control software can be used to control structures such as the wavelength blue shifter and the laser scanning mirror group in the laser treatment device of the present invention.

[0024] The present invention also proposes a laser path planning traversal method, and the method includes the following steps: The laser generator generates a laser with an original wavelength, the laser with the original wavelength is deflected by a laser mirror, and then the laser with the original wavelength is transformed into a small-diameter parallel laser beam by a laser collimator, and then enters a wavelength blue shifter and a wavelength selector in sequence to obtain a clean short-wavelength laser. The short-wavelength laser passes through the laser scanning mirror group and is incident on the area that needs laser irradiation. The image monitoring unit can monitor the area that needs laser irradiation in real time and transmit the monitored image to the intelligent controller. The intelligent controller calculates and plans the initial working point and the laser path, and controls the laser scanning mirror group according to the obtained laser path to traverse the area that needs laser irradiation with the laser.

[0025] Specifically, the laser path planning traversal method includes the following steps:

[0026] Step 1, the image monitoring unit collects in real time the area that needs laser irradiation processing, and transmits the collected image to the intelligent controller by wired or wireless means;

[0027] Step 2, the intelligent controller analyzes and processes the image collected by the image monitoring unit, segments the image and calculates the initial working point and the scanning path;

[0028] Step 3, the intelligent controller controls the laser scanning mirror group to traverse the area that needs laser irradiation with the laser according to the obtained initial working point and scanning path.

[0029] In step 2, the analysis and processing of the image collected by the image monitoring unit, segmenting the image and calculating the initial working point and the scanning path include the following steps:

[0030] Step 2.1, transform the image collected by the image monitoring unit into a grayscale image;

[0031] Step 2.2, set three typical grayscale values such as a normal area, a light area, and a dark area. The distinction between different areas depends on manual interpretation, and the preset typical grayscale values are input in advance.

[0032] Step 2.3: Based on the gray values of the dark regions, using the region growing method of the image segmentation algorithm, starting from a single pixel, successively merging the similar pixels in adjacent regions to obtain the first irradiation area.

[0033] Step 2.4: Based on the gray values of the light regions, using the region growing method of the image segmentation algorithm, starting from a single pixel, successively merging the similar pixels in adjacent regions to obtain the second irradiation area.

[0034] Step 2.5: Based on the gray values of the normal regions, using the region growing method of the image algorithm, starting from a single pixel, successively merging the similar pixels in adjacent regions to obtain the non-irradiation area.

[0035] In the present invention, the region growing method of the image segmentation algorithm starts from a pixel representing a dark region and gradually merges adjacent pixels with similar gray values to form a continuous region, i.e., the first irradiation area. The same method is also used for light regions and normal regions. The method for setting similar gray values is as follows: in the image gray histogram, the average value of the typical gray value of the normal region and the typical gray value of the light region is the first boundary value; the average value of the typical gray value of the light region and the typical gray value of the dark region is the second boundary value. Pixels with gray values < the first boundary value are classified as normal regions, pixels with the first boundary value < gray values < the second boundary value are classified as light regions, and pixels with gray values > the second boundary value are classified as dark regions.

[0036] In special cases, there may be multiple separated light regions or dark regions. In this case, manual assistance is required. Taking the newly processed image as the target, repeatedly running the image processing algorithm of the region growing method multiple times to achieve image recognition of multiple regions.

[0037] Step 2.6: The initial working points and scanning paths between multiple irradiation areas are as follows: first scan the first irradiation area corresponding to the dark region, and then scan the second irradiation area corresponding to the light region.

[0038] The initial working point within a single irradiation area is designed as follows: first search for the minimum value of the x-axis of the pixel coordinates within the region, and then search for the minimum value of the y-axis under the condition of the minimum value of the x-axis to obtain the initial working point. The scanning path is designed as follows: first adjust the horizontal knob of the laser scanning mirror group to change the x-axis coordinate value of the laser landing point in the monitoring image, and then adjust the vertical knob of the laser scanning mirror group to change the y-axis coordinate value of the laser landing point in the monitoring image, so as to achieve row-by-row and point-by-point scanning.

[0039] The difficulty of the laser path planning traversal method in the present invention lies in the selection of multiple regions of different colors, especially the marking and selection of regions of different colors with irregular shapes. The technical method adopted is to preset different typical gray values and use the region growing method of the image segmentation algorithm to mark the irradiation areas and non-irradiation areas.

[0040] In the present invention, the intelligent controller is used, on the one hand, to run image monitoring software and laser scanning mirror control software to implement functions such as image acquisition and control of the light guiding direction of the mirror; on the other hand, it is used to run image processing software to implement functions of image segmentation algorithms and intelligent scanning algorithms.

[0041] For the image segmentation algorithm, the region growing method is used. Starting from a specific pixel, adjacent pixels with similar gray values are merged to form a continuous region. By setting two gray value boundaries, pixels are classified into normal, light, or dark regions. In complex cases, manual assistance is required, and the algorithm is run repeatedly to identify multiple regions.

[0042] The intelligent scanning algorithm is as follows: First, run the image segmentation algorithm to determine whether the monitored image is a single region. If it is not a single region, enter the subsequent irradiation step. Drive the two-dimensional angle adjustment knob of the laser scanning mirror through the laser scanning mirror control software, and use the row-by-row and point-by-point method to carry out a scanning irradiation process. Then, run the image segmentation algorithm again to determine whether the monitored image is a single region. If not, repeat the scanning irradiation process. If so, end the irradiation process.

[0043] The present invention also provides the application of the above laser treatment device or the above laser path planning traversal method in the planning traversal of the laser beam irradiation area.

[0044] When applied to a specific implementation field, the laser treatment method using the laser treatment device based on wavelength blue shift intelligent scanning of the present invention consists of two parts: the aiming and positioning process and the scanning treatment process.

[0045] In the aiming and positioning process, the intelligent controller adjusts the working angle of the wavelength blue shifter to make it in the aiming state and cancels the laser wavelength blue shift function. At this time, the original wavelength laser can penetrate the wavelength selector and irradiate the area to be treated through the laser scanning mirror. The intelligent controller analyzes the image of the area to be treated collected by the image monitoring unit and calculates the initial working point and the scanning path. Then, the intelligent controller controls the laser scanning mirror to move the laser irradiation point to the initial working point.

[0046] In the scanning treatment process, the intelligent controller adjusts the working angle of the wavelength blue shifter to make it in the working state and turns on the laser wavelength blue shift function. At this time, a part of the original wavelength laser is converted into short-wavelength laser. The non-converted part of the original wavelength laser cannot penetrate the wavelength selector, and the short-wavelength laser can pass through the wavelength selector, and clean short-wavelength laser is obtained through wavelength separation. The intelligent controller controls the combined movement of the two mirrors in the laser scanning mirror according to the scanning path calculated and analyzed in the early stage to traverse the area to be treated.

[0047] Compared with the prior art, the beneficial effects of the present invention are:

[0048] The wavelength blue-shifter can shorten the wavelength of the laser, increase the photon energy of the laser pulse, and improve the treatment effect on yellow and yellowish-green diseased tissues, as well as stubborn diseased tissues in subsequent specific scenarios; the collaborative working method of the laser scanning mirror group and the image monitoring unit based on the intelligent controller can improve the intelligent level of laser treatment, reduce the manual operation labor intensity of medical staff, and optimize the treatment efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. 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, other drawings can also be obtained based on these drawings.

[0050] Figure 1 FIG. is a schematic structural diagram of a laser treatment device based on wavelength blue-shift intelligent scanning proposed by the present invention.

[0051] Figure 2 FIG. is an effect demonstration diagram of a laser treatment device based on wavelength blue-shift intelligent scanning proposed by the present invention.

[0052] Figure 3 FIG. is a real-time monitoring diagram when a laser treatment device based on wavelength blue-shift intelligent scanning proposed by the present invention is in use.

[0053] Figure 4 FIG. is the gray-scale image segmentation result of multiple regions when a laser treatment device based on wavelength blue-shift intelligent scanning proposed by the present invention is in use.

[0054] In the figure, 1 - laser generator, 2 - laser mirror, 3 - laser collimator, 4 - wavelength blue-shifter, 5 - wavelength selector, 6 - short-wavelength laser, 7 - laser scanning mirror group, 8 - image monitoring unit, 9 - intelligent controller, 10 - dark area, 11 - light area, 12 - normal area. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] In order to enable those skilled in the art to better understand the solutions of the present invention, 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 only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0056] It should be noted that the term "including" and any of its variations are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0057] In the present invention, first, the original wavelength laser of the laser generator is deflected by the laser mirror to shorten the space length. Secondly, it is transformed into a small-aperture parallel laser beam through a laser collimator. Then, the original wavelength laser sequentially enters a wavelength blue-shifter and a wavelength selector to obtain a clean short-wavelength laser. Next, the short-wavelength laser passes through the laser scanning mirror group and is incident on the area to be irradiated and processed. Finally, the image monitoring unit is used to monitor the area to be irradiated and processed in real time and transmit the monitoring image to the intelligent controller.

[0058] In the laser treatment device based on wavelength blue-shift intelligent scanning and the laser path planning traversal method in the present invention during laser treatment, the laser treatment method includes a aiming and positioning process and a scanning treatment process. In the aiming and positioning process, the intelligent controller makes the wavelength blue-shifter in the aiming state, analyzes the image collected by the image monitoring unit, and calculates the initial working point and the scanning path. In the scanning treatment process, the intelligent controller makes the wavelength blue-shifter in the working state and controls the combined movement of the laser scanning mirror group to achieve traversal scanning of the area to be treated.

[0059] Figure 1 It is a schematic structural diagram of a laser treatment device based on wavelength blue-shift intelligent scanning proposed by the present invention. Figure 2 It is a diagram showing the effect demonstration of a laser treatment device based on wavelength blue-shift intelligent scanning and its use proposed by the present invention. The laser treatment device includes: a laser generator 1, a laser mirror 2, a laser collimator 3, a wavelength blue-shifter 4, a wavelength selector 5, a laser scanning mirror group 7, an image monitoring unit 8, and an intelligent controller 9.

[0060] See the following for the first implementation case of the present invention.

[0061] The original wavelength laser output by the laser generator 1 has a wavelength of 750 nm, an energy of 20 mJ, a beam diameter of Φ15 mm, and converges into a focus with a diameter <1 mm after transmitting 75 mm. The laser mirror 2 deflects the light beam to shorten the space length. The distance between it and the output end face of the laser generator 1 is 30 mm. The focal length of the laser collimator 3 is designed to be f = -10 mm, and the distance between it and the laser mirror 2 is 35 mm. Since the total distance between the laser collimator 3 and the output end face of the laser generator 1 is 65 mm, the converging light beam is collimated into a small-aperture parallel light beam with a diameter of Φ2 mm, and the light intensity also increases accordingly.

[0062] The wavelength blue-shifter 4 is formed by a series combination of multiple nonlinear crystals, which is used to avoid the reverse flow of the wavelength conversion process caused by an overly long single crystal and maximize the wavelength conversion efficiency as much as possible. When high-intensity small-aperture parallel light passes through the wavelength blue-shifter 4, if the nonlinear crystal (such as BBO) in the wavelength blue-shifter 4 is in the working state, 50% of the original wavelength laser (10 mJ) will generate the second harmonic effect and be converted into second-harmonic light, that is, short-wavelength laser with a wavelength of 375 nm. Compared with 750 nm, 375 nm is a wavelength blue-shift process. According to Planck's theory, the energy of a single photon is equal to the ratio of Planck's constant to the wavelength. The shorter the wavelength, the higher the energy of a single photon, and the easier it is to excite the valence electrons in an atom to achieve the interaction between a single photon and matter. Therefore, wavelength blue-shift will increase the energy of a single photon and enhance the effect of laser treatment.

[0063] Because the conversion efficiency of wavelength blue-shift is 50%, 50% of the original wavelength laser (10 mJ) remains unconverted. When the unconverted original wavelength laser and the short-wavelength laser pass through the wavelength selector 5 together, since the working threshold of the wavelength selector 5 is 15 mJ, the original wavelength laser is completely blocked, and only the short-wavelength laser remains. Then, the clean short-wavelength laser passes through two reflectors in the laser scanning mirror group 7 and is incident on the area to be treated.

[0064] If the wavelength blue-shifter 4 is in the debugging state, then no short-wavelength laser will be generated. The energy of the original wavelength laser incident on the wavelength selector 5 is 20 mJ, which is greater than the working threshold of the wavelength selector 5, which is 15 mJ. Therefore, 5 mJ of the original wavelength laser will still continue to be transmitted backward and enter the laser scanning mirror group 7 for beam guidance in the aiming and positioning process.

[0065] Finally, the image monitoring unit 8 is used to monitor the area to be treated in real time and transmit the monitoring image to the intelligent controller 9.

[0066] In the first implementation case, the laser treatment method consists of two parts: the aiming and positioning process and the scanning and treatment process.

[0067] The aiming and positioning process is as follows:

[0068] 1) Turn on the intelligent controller 9 and adjust the working angle of the wavelength blue-shifter 4 to make it in the aiming state. In this state, the wavelength conversion function of the wavelength blue-shifter 4 is cancelled.

[0069] 2) When the original wavelength laser passes through the wavelength blue-shifter 4, it remains unchanged and its energy does not decrease. Therefore, it can penetrate the wavelength selector 5 and pass through the laser scanning mirror group 7 to irradiate the area to be treated.

[0070] 3) Turn on the image monitoring unit 8, collect the image of the area to be treated, and transmit it to the intelligent controller 9.

[0071] 4) The intelligent controller 9 analyzes the image of the area to be treated and calculates the initial working point and the scanning path.

[0072] 5) The intelligent controller 9 controls the combined movement of the laser scanning mirror group 7, moves the irradiation point of the original wavelength laser to the initial working point, and completes the aiming and positioning function.

[0073] The laser treatment process is as follows:

[0074] 1) Turn on the intelligent controller 9, adjust the working angle of the wavelength blue-shift device 4 to make it in the working state. This state activates the wavelength conversion function of the wavelength blue-shift device 4.

[0075] 2) When the original wavelength laser passes through the wavelength blue-shift device 4, a part of it is changed and converted into short-wavelength laser. Therefore, the unchanged part of the original wavelength laser cannot penetrate the wavelength selector 5, and the changed short-wavelength laser can penetrate the wavelength selector 5.

[0076] 3) The wavelength selector 5 obtains clean short-wavelength laser through wavelength separation.

[0077] 4) The short-wavelength laser passes through the laser scanning mirror group 7 and irradiates on the initial working point of the area to be treated.

[0078] 5) The intelligent controller 9 controls the combined movement of the two reflectors in the laser scanning mirror group 7 according to the scanning path obtained from the aiming and positioning process, and performs row-by-row and point-by-point scanning in the area to be treated.

[0079] 6) After the short-wavelength laser traverses all the points in the area to be treated, the laser treatment is completed.

[0080] In the first implementation case, the image algorithms for the initial working point and the scanning path are as follows:

[0081] 1) Transform the real-time monitoring image collected by the image monitoring unit 8 into a grayscale image (see Figure 3 ).

[0082] 2) The operator inputs and sets three typical grayscale values, namely the normal area, the light area, and the dark area, according to the visual result.

[0083] 3) Based on the grayscale value of the dark area, use the region growing method of the image segmentation algorithm. Starting from a single pixel, merge the same-type pixels in adjacent regions one by one to obtain the first irradiation area.

[0084] 4) Based on the grayscale value of the light area, use the region growing method of the image segmentation algorithm. Starting from a single pixel, merge the same-type pixels in adjacent regions one by one to obtain the second irradiation area.

[0085] 5) Based on the gray values of the normal region, using the region growing method of the image segmentation algorithm, starting from a single pixel, successively merging the same-type pixels in adjacent regions to obtain the third irradiation region.

[0086] 6) The method for setting adjacent regions is as follows: in the image gray histogram, the average of the typical gray values of the normal region and the typical gray values of the light region is the first boundary value; the average of the typical gray values of the light region and the typical gray values of the dark region is the second boundary value. Pixels with gray values < the first boundary value are classified as the normal region, pixels with the first boundary value < gray values < the second boundary value are classified as the light region, and pixels with gray values > the second boundary value are classified as the dark region.

[0087] 7) In special cases, there may be multiple separated light regions or dark regions. In this case, manual assistance is required. Taking the newly processed image as the target, repeatedly running the image processing algorithm of the region growing method multiple times to achieve image recognition of multiple regions.

[0088] 8) The initial working points and scanning paths between multiple irradiation regions are as follows: first scan the first irradiation region corresponding to the dark region, and then scan the second irradiation region corresponding to the light region.

[0089] 9) The initial working point in a single irradiation region is designed as follows: first search for the minimum value of the x-axis of the pixel coordinates in the region, and then search for the minimum value of the y-axis under the condition of the minimum value of the x-axis, so as to obtain the initial working point. The scanning path is designed as follows: first adjust the horizontal knob of the laser scanning mirror group to change the x-axis coordinate value of the laser landing point in the monitoring image, and then adjust the vertical knob of the laser scanning mirror group to change the y-axis coordinate value of the laser landing point in the monitoring image, so as to achieve row-by-row and point-by-point scanning.

[0090] Of course, any product implementing the present invention does not necessarily need to achieve all the above-mentioned advantages simultaneously.

[0091] The protection scope of the present invention is not limited to the above embodiments. Without departing from the spirit and scope of the inventive concept of the present invention, the changes and advantages that can be conceived by those skilled in the art are included in the present invention, and the appended claims are used as the protection scope.

Claims

1. A laser treatment device based on intelligent scanning with wavelength blue shift, characterized in that, The laser treatment device includes: a laser generator (1), a laser reflector (2), a laser collimator (3), a wavelength blue-shifter (4), a wavelength selector (5), a laser scanning mirror group (7), an image monitoring unit (8), and an intelligent controller (9); wherein, the laser generator (1) is used to generate a laser with an original wavelength; the laser reflector (2) is arranged along the optical path after the laser generator (1) and is used to deflect the beam direction and shorten the spatial length; the laser collimator (3) is arranged along the optical path after the laser reflector (2) and is used to change the convergence angle of the laser with the original wavelength emitted by the laser generator to obtain a parallel laser beam; the wavelength blue-shifter (4) is arranged along the optical path after the laser collimator (3) and is used to shorten the laser wavelength to cause the laser to undergo blue shift; the wavelength selector (5) is arranged along the optical path after the wavelength blue-shifter (4) and is used to attenuate the original wavelength to obtain a clean short-wavelength laser; the laser scanning mirror group (7) is arranged along the optical path after the wavelength selector (5) and includes one or more reflecting mirrors and is used to change the laser output direction; the image monitoring unit (8) is used to collect the working area of laser treatment and transmit the image to the intelligent controller (9); the intelligent controller (9) is used to adjust the working angle of the wavelength blue-shifter (4), analyze and calculate the initial working point and scanning path of the area to be processed in the image monitoring unit (8), and adjust the working angle of the laser scanning mirror group (7).

2. The treatment device according to claim 1, wherein, The laser with the original wavelength generated by the laser emitter (1) includes fiber laser, solid laser, mode-locked laser, microsecond laser, nanosecond laser, picosecond laser, femtosecond laser; and / or, the diameter of the laser collimator (3) is twice that of the converging beam, and the collimation distance is the distance between the laser generator (1) and the laser collimator (3); the collimation distance and focal length of the laser collimator (3) match the divergence angle of the converging beam.

3. The treatment device according to claim 1, wherein, The wavelength blue-shifter (4) is composed of a series combination of several nonlinear crystals. The nonlinear crystals include second-harmonic generation crystals, third-harmonic generation crystals, fourth-harmonic generation crystals. The materials of the crystals include beta-barium borate, potassium dihydrogen phosphate, potassium titanyl phosphate, lithium metaborate, barium copper yttrium titanium oxide; and / or, the wavelength selector (5) includes colored glass, grating, prism, interference filter or a combination thereof; and / or, the laser reflector group (7) is a plane mirror or a lens with a curved reflecting surface; the reflecting mirrors in the laser reflector group (7) are driven by a device including a motor, a vibrator, etc. to adjust the angle of the reflecting mirror.

4. The treatment device according to claim 1, wherein The image monitoring unit (8) includes an image acquisition device, including a single CCD camera, a single CMOS camera, a combined CCD camera, a combined CMOS camera.

5. The treatment device according to claim 1, characterized in that, The intelligent controller (9) includes a software and hardware structure; the hardware includes one or more of a desktop computer, a portable computer, a server, and a workstation, and the software is installed in the hardware and includes image processing software and device control software; the image processing software is used to read the images collected by the image monitoring unit (8), design image algorithms related to the initial working point and the scanning path, and feedback to the device control software to achieve the intelligent scanning function of wavelength blue shift; the device control software is used to control structures including a wavelength blue shifter and a laser scanning mirror group.

6. A laser path planning traversal method, characterized in that The method includes the following steps: Step 1: The image monitoring unit (8) collects the area to be irradiated by laser in real time and transmits the collected images to the intelligent controller (9) by wired or wireless means; Step 2: The intelligent controller (9) analyzes and processes the images collected by the image monitoring unit (8), segments the images and calculates the initial working point and the scanning path; Step 3: According to the initial working point and the scanning path obtained by the planning, the intelligent controller controls the laser scanning mirror group to traverse the area to be irradiated by laser with laser.

7. The laser path planning traversal method according to claim 6, wherein, Step 2 further includes the following steps: Step 2.1: Transform the images collected by the image monitoring unit (8) into grayscale images; Step 2.2: Set three typical grayscale values of a normal area, a light area, and a dark area; Step 2.3: Based on the grayscale value of the dark area, adopt the region growing method of the image segmentation algorithm, start from a single pixel, and merge the same-type pixels in adjacent regions one by one to obtain the first irradiation area; Step 2.4: Based on the grayscale value of the light area, adopt the region growing method of the image segmentation algorithm, start from a single pixel, and merge the same-type pixels in adjacent regions one by one to obtain the second irradiation area; Step 2.5: Based on the grayscale value of the normal area, adopt the region growing method of the image algorithm, start from a single pixel, and merge the same-type pixels in adjacent regions one by one to obtain the non-irradiation area; Step 2.6: The initial working point and the scanning path between multiple irradiation areas are to first scan the first irradiation area corresponding to the dark area and then scan the second irradiation area corresponding to the light area; Step 2.7: First search for the minimum value of the x-axis of the pixel coordinates in the area, and then search for the minimum value of the y-axis under the condition of the minimum value of the x-axis to obtain the initial working point of a single irradiation area; by adjusting the horizontal knob of the laser scanning mirror group, change the x-axis coordinate value of the laser landing point in the monitoring image, and then adjust the vertical knob of the laser scanning mirror group to change the y-axis coordinate value of the laser landing point in the monitoring image to achieve point-by-point scanning line by line.

8. The laser path planning traversal method according to claim 7, wherein, In Step 2.2, the average value of the typical grayscale value of the normal area and the typical grayscale value of the light area is used as the first boundary value; the average value of the typical grayscale value of the light area and the typical grayscale value of the dark area is used as the second boundary value; pixels with a grayscale value < the first boundary value are classified as the normal area, pixels with the first boundary value < grayscale value < the second boundary value are classified as the light area, and pixels with a grayscale value > the second boundary value are classified as the dark area.

9. The laser treatment device according to any one of claims 1-5, or the application of the laser path planning traversal method according to any one of claims 6-8 in the planned traversal of the laser beam irradiation area.

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