Thulium laser lithotripsy system and method

Abstract

The invention provides a thulium laser lithotripsy system and method, and relates to the technical field of laser lithotripsy, the thulium laser lithotripsy system comprises a laser module, a first optical mirror, a second optical mirror and a focusing coupling module; the laser module is used for emitting thulium laser beams; the first optical lens is arranged on one side of the laser module and used for receiving the thulium laser beam collimated by the focusing coupling module and reflecting the collimated thulium laser beam to the second optical lens; and the second optical mirror is parallel to the initial state of the first optical mirror, and is used for reflecting the received collimated thulium laser beam to the focusing coupling module, focusing the thulium laser beam into a laser pulse through the focusing coupling module, transmitting the laser pulse into the optical fiber, and performing lithotripsy by using the laser pulse emitted by the optical fiber. According to the lithotripsy system and method, the lithotripsy efficiency is higher, the pulverization effect is better, generated lithotripsy particles are smaller, postoperative lithotripsy removal is facilitated, the lithotripsy efficiency can be greatly improved through thulium laser, and the lithotripsy system and method have the advantages of being efficient, precise, reliable and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of laser lithotripsy, and particularly to a thulium laser lithotripsy system and method. Background Art

[0002] Endoscopic lithotripsy can be used to treat urinary calculi. Traditional lithotripsy strategies include fragmentation and powdering. This technology can reduce the use of stone baskets, lower costs, improve the surgical field of view, and reduce the risk of thermal injury.

[0003] However, the lithotripsy lasers used in traditional endoscopic lithotripsy, such as Ho:YAG lasers, have some limitations during lithotripsy, such as relatively large lithotripsy particles, insufficient lithotripsy efficiency and powdering effect. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a thulium laser lithotripsy system and method, which are used to solve the problems in the prior art that the lithotripsy lasers used in traditional endoscopic lithotripsy, such as Ho:YAG lasers, have some limitations during lithotripsy, such as relatively large lithotripsy particles, insufficient lithotripsy efficiency and powdering effect.

[0005] To achieve the above object and other related objects, the present invention provides a thulium laser lithotripsy system, including: a laser module, a first optical mirror, a second optical mirror, and a focusing and coupling module; the laser module is used to emit a thulium laser beam; the first optical mirror is arranged on one side of the laser module, and is used to receive the thulium laser beam collimated by the focusing and coupling module, and reflect the collimated thulium laser beam to the second optical mirror; the second optical mirror is initially parallel to the first optical mirror, and is used to reflect the received collimated thulium laser beam to the focusing and coupling module, and focus it into a laser pulse through the focusing and coupling module and introduce it into the optical fiber, so as to use the laser pulse emitted from the optical fiber for lithotripsy.

[0006] In an embodiment of the present invention, the focusing and coupling module includes: a first lens and a second lens; the first lens is arranged between the laser module and the first optical mirror, and is used to focus the thulium laser beam emitted by the laser module to the first optical mirror into a collimated light and introduce it into the second lens; the second lens is arranged between the first optical mirror and the second optical mirror, and is used to focus the collimated light into a laser pulse and introduce it into the optical fiber.

[0007] In an embodiment of the present invention, it further includes: an indicating light module, which is arranged on one side of the second optical mirror far away from the second lens. The indicating light emitted by the indicating light module passes through the second optical mirror and is introduced into the second lens, and is focused by the second lens and then introduced into the optical fiber, and is used to check the light output state of the optical fiber to determine the preparation state of the laser module.

[0008] In an embodiment of the present invention, the first optical mirror is a reflector, and the second optical mirror is a reflector; the first lens is a plano-convex lens, and the second lens is an aspherical lens.

[0009] In an embodiment of the present invention, the first optical mirror is a beam splitter, and the second optical mirror is a reflector; the first lens is a plano-convex lens, and the second lens is an aspherical lens; further comprising: an energy feedback module disposed on one side of the first optical mirror away from the first lens for monitoring the energy value of the transmitted light transmitted from the first optical mirror to control the working state of the laser module.

[0010] In an embodiment of the present invention, the energy feedback module includes: a power meter, an energy amplification sub-module, a trigger signal processing sub-module, and a control sub-module; the power meter is used to monitor the energy value of the transmitted light of the first optical mirror to obtain the actual output energy value of the laser module, and compare the actual output energy value with the energy set value to obtain a comparison result; the energy amplification sub-module is used to generate a voltage signal when the comparison result is that the actual output energy value is greater than the energy set value, and send the voltage signal to the trigger signal processing sub-module after amplification processing; the trigger signal processing sub-module is used to generate a trigger pulse signal according to the amplified voltage signal; the control sub-module is used to send the trigger pulse signal to the laser module to control the laser module to stop working.

[0011] In an embodiment of the present invention, the first optical mirror is an angle-adjustable beam splitter, and the second optical mirror is an angle-adjustable reflector; the first lens is a plano-convex lens, and the second lens is an aspherical lens; further comprising: a quadrant detector disposed on one side of the first optical mirror away from the first lens for receiving the transmitted light transmitted from the first optical mirror, monitoring the position of the spot formed by the transmitted light transmitted from the first optical mirror to obtain the position offset of the spot; and a control module for generating a voltage adjustment signal according to the position offset of the spot and adjusting the angle of the first optical mirror according to the voltage adjustment signal.

[0012] In an embodiment of the present invention, the first optical mirror is a reflector, and the second optical mirror is a beam splitter; the first lens is a plano-convex lens, and the second lens is an aspherical lens; further comprising: a quadrant detector disposed on one side of the second optical mirror away from the first optical mirror for receiving the transmitted light transmitted from the second optical mirror, monitoring the position of the spot formed by the transmitted light transmitted from the second optical mirror to obtain the position offset of the spot; and an adjustment control module for generating a voltage adjustment signal according to the position offset of the spot and adjusting the angles of the first optical mirror and the second optical mirror according to the voltage adjustment signal.

[0013] In an embodiment of the present invention, the first optical mirror is a beam splitter, and the second optical mirror is a beam splitter; the first lens is a plano-convex lens, and the second lens is an aspherical lens; further comprising: an energy feedback module disposed on one side of the first optical mirror away from the first lens, configured to monitor the energy value of the transmitted light transmitted from the first optical mirror to control the working state of the laser module; a quadrant detector disposed on one side of the second optical mirror away from the first optical mirror, configured to receive the transmitted light transmitted from the second optical mirror and monitor the position of the light spot formed by the transmitted light transmitted from the second optical mirror to obtain the position offset of the light spot; and a control module configured to generate a voltage adjustment signal according to the position offset of the light spot and adjust the angles of the first optical mirror and the second optical mirror according to the voltage adjustment signal.

[0014] To achieve the above object and other related objects, the present invention further provides a thulium laser lithotripsy method, comprising: emitting a thulium laser beam through a laser module; receiving the thulium laser beam collimated by a focusing and coupling module through a first optical mirror disposed on one side of the laser module, and reflecting the collimated thulium laser beam to a second optical mirror; reflecting the received collimated thulium laser beam to the focusing and coupling module through a second optical mirror initially parallel to the first optical mirror, and focusing the thulium laser beam into a laser pulse through the focusing and coupling module and introducing the laser pulse into an optical fiber to perform lithotripsy by using the laser pulse emitted from the optical fiber.

[0015] As described above, a thulium laser lithotripsy system and method of the present invention have the following beneficial effects: by adopting a TM:YAG laser, it has higher lithotripsy efficiency, better pulverization effect, and has the advantages of small volume, compact internal structure, long service life, etc., making the generated lithotripsy particles finer, which is beneficial for postoperative stone expulsion; the energy feedback module can monitor the laser power in real time to ensure the treatment efficiency and safety of the laser; the indicating light module can be used to ensure the normal operation of the system; the focusing and coupling module can ensure better utilization rate of the light beam; at the same time, through the closed-loop control of the quadrant detector, the position of the light spot can be monitored and adjusted in real time to reduce the optical path deviation, thereby ensuring the laser coupling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural block diagram of a thulium laser lithotripsy system provided by an embodiment of the present invention.

[0017] Figure 2 It is a structural block diagram of a thulium laser lithotripsy system provided by an embodiment of the present invention.

[0018] Figure 3 It is a structural block diagram of a thulium laser lithotripsy system provided by another embodiment of the present invention.

[0019] Figure 4The structural block diagram of the thulium laser lithotripsy system provided by another embodiment of the embodiment of the present invention.

[0020] Figure 5 The structural block diagram of the thulium laser lithotripsy system provided by yet another embodiment of the embodiment of the present invention.

[0021] Figure 6 It shows the schematic flowchart of the thulium laser lithotripsy method provided by an embodiment of the present invention.

[0022] Description of component numbers

[0023] Laser module 10; First optical mirror 20; Second optical mirror 30; Focusing coupling module 40; First lens 41; Second lens 42; Optical fiber 43. Detailed implementation manners

[0024] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand the other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0025] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0026] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0027] Please refer to Figure 1, the present invention provides a thulium laser lithotripsy system, comprising: a laser module 10, a first optical mirror 20, a second optical mirror 30, and a focusing and coupling module 40; the laser module 10 is used for emitting a thulium laser beam; the first optical mirror 20 is arranged on one side of the laser module 10, and is used for receiving the thulium laser beam collimated by the focusing and coupling module 40 and reflecting the collimated thulium laser beam to the second optical mirror 30; the second optical mirror 30 is initially parallel to the first optical mirror 20, and is used for reflecting the received collimated thulium laser beam to the focusing and coupling module 40, and focusing the collimated thulium laser beam into a laser pulse through the focusing and coupling module 40 and introducing the laser pulse into the optical fiber 43, so as to use the laser pulse emitted from the optical fiber 43 for lithotripsy.

[0028] It can be easily found from the above content that in the thulium laser lithotripsy system of the present invention, the thulium laser beam can be emitted through the laser module, and the thulium laser beam is first collimated by the focusing and coupling module 40, and then the collimated thulium laser beam is introduced into the first optical mirror 20. The first optical mirror 20 further reflects the collimated thulium laser beam to the second optical mirror 30, and the second optical mirror 30 reflects the collimated thulium laser beam to the focusing and coupling module 40 again, and the focusing and coupling module 40 focuses the collimated thulium laser beam into a laser pulse and introduces the laser pulse into the optical fiber 43, so that lithotripsy can be achieved through the emitted laser pulse. By continuously reflecting the thulium laser beam by using the first optical mirror 20 and the second optical mirror 30, miniaturization of the thulium laser lithotripsy system equipment can be realized, the volume of the system equipment is reduced, and the internal structure of the system equipment is compact.

[0029] The focusing and coupling module 40 of the thulium laser lithotripsy system of the present invention may further comprise: a first lens 41 and a second lens 42; the first lens 41 is arranged between the laser module 10 and the first optical mirror 20, and is used for focusing the thulium laser beam emitted from the laser module 10 to the first optical mirror 20 into a collimated light and introducing the collimated light into the second lens 42; the second lens 42 is arranged between the first optical mirror 20 and the second optical mirror 30, and is used for focusing the collimated light into a laser pulse and introducing the laser pulse into the optical fiber 43.

[0030] By using the first lens 41 to focus the thulium laser beam into collimated light, the divergent thulium laser beam is collimated into a parallel beam and transmitted into the first optical mirror 20. The first optical mirror 20 reflects the collimated light to the second optical mirror 30, and then it is further transmitted into the second lens 42 through the second optical mirror 30. Then, the collimated light is focused into a laser pulse with a smaller spot by the second lens 42, and the laser pulse is transmitted into the optical fiber 43, so as to realize the lithotripsy by emitting the laser pulse through the optical fiber 43. By the mutual combination between the first lens 41 and the second lens 42, near-field collimation on the side close to the laser module 10 can be achieved, far-field focusing on the side far from the laser module 10 can be achieved, the focusing accuracy is improved, and the system can adapt to different working distances, and the collimated beam is focused onto the end face of the optical fiber.

[0031] The thulium laser lithotripsy system of the present invention may further include an indicating light module. Among them, the indicating light module is arranged on one side of the second optical mirror 30 far from the second lens 42. The indicating light emitted by the indicating light module is transmitted into the second lens 42 through the second optical mirror 30, and is focused by the second lens 42 and then transmitted into the optical fiber 43, which is used to check the light output state of the optical fiber 43 to determine the readiness state of the laser module 10. By using the indicating light module, it can be used to check whether the laser module is in a ready state, that is, according to the light output state of the optical fiber 43, to determine the readiness state of the laser module 10.

[0032] In the thulium laser lithotripsy system of the present invention, the laser module 10 may include a TM:YAG laser, an electric control component, a water cooling component and a mechanical support component. Among them, the electric control component can be used to control the output of the TM:YAG laser. There is cooling circulating water in the water cooling unit, which can be used to cool down the laser crystal and keep the temperature of the laser crystal constant at 26-28°C. The mechanical support component can be used to combine each component together and ensure the working state of the TM:YAG laser. The TM:YAG laser can be connected to a 220V AC power supply. The various parameters of the laser can be set through the control panel of the electric control component, and the parameters can be adjusted within a safe range.

[0033] Among them, the TM:YAG laser can provide a stable thulium laser beam. Of course, other types of lasers or thulium lasers can also be selected. During installation, by fixing the laser on the optical platform, ensure that its output direction is correct. The TM:YAG laser includes a laser pumping unit, a laser crystal, and an output lens connected in sequence. The laser pumping unit is provided with a semiconductor laser pumping source for converting electrical energy into the excitation energy of particles in the gain medium. The laser crystal emits laser under the action of stimulated radiation. The pumping source receives a control signal from the control unit and generates a pulse signal with a certain width to excite the laser crystal to work, so that the laser pulse output by the laser crystal is transmitted to the output lens, and the laser is emitted after being focused by the output lens. Among them, the TM:YAG laser has the advantages of small volume, compact internal structure, long service life, etc. The TM:YAG laser can adopt solid spatial light output, and the beam quality factor M 2 can be set to 40; the divergence half-angle can be set to 40 mmrad; the beam waist diameter can be set to 1.6 mm; the wavelength band can be set to 2020 nm; the maximum optical power can be set to 120 w; the frequency can be set to be adjustable from 5 - 500 Hz; the pulse width can be set to be adjustable from 100 us - 500 us; the maximum single-pulse energy can be set to 1 J. Of course, the beam quality factor M 2 , the divergence half-angle, the beam waist diameter, the wavelength band, the maximum optical power, the frequency, the pulse width, and the single-pulse energy can also be set to other parameters according to specific situations, which are not limited here.

[0034] In the thulium laser lithotripsy system of the present invention, the focusing and coupling module 40 further includes: a protective window pane disposed between the second lens 42 and the optical fiber 43; and a lens barrel, and the second lens 42 is movably disposed along the direction of the laser pulse emission in the lens barrel. Specifically, the focusing and coupling module 40 can be used to install the second lens 42 by using the lens barrel. And in the lens barrel, the second lens 42 can be moved and adjusted along the direction of the laser pulse emission to adjust the focusing effect of the second lens 42. And by disposing the protective window pane between the second lens 42 and the optical fiber 43, the second lens 42 can be protected through the protective window pane to avoid contamination by dust, etc.

[0035] In the thulium laser lithotripsy system of the present invention, the first optical mirror 20 can be a reflecting mirror or a beam splitter, and the second optical mirror 30 can be a reflecting mirror or a beam splitter; the first lens 41 can be a plano-convex lens, and the second lens 42 can be an aspherical lens.

[0036] Please refer to Figure 2 , Figure 2In an embodiment, when the first optical mirror 20 is a reflecting mirror, the second optical mirror 30 is a reflecting mirror, the first lens 41 is a plano-convex lens, and the second lens 42 is an aspherical lens, the thulium laser lithotripsy system of the present invention may include a laser module 10, a first optical mirror 20, a second optical mirror 30, a focusing and coupling module 40, and an indicating light module. In order to couple the laser into the optical fiber 43, the reflecting mirror corresponding to the first optical mirror 20 and the reflecting mirror corresponding to the second optical mirror 30 can act together to change the optical path propagation trajectory and emit it to the second lens 42 of the focusing and coupling module 40, and then emit it through the optical fiber 43. And the indicating light emitted by the indicating light module can be transmitted into the second lens 42 through the second optical mirror 30, and then focused by the second lens 42 and transmitted into the optical fiber 43 to check the light output state of the optical fiber 43 to determine the preparation state of the laser module 10. By using the indicating light module, it can be used to check whether the laser module is in the preparation state, that is, according to the light output state of the optical fiber 43, to determine the preparation state of the laser module 10. Specifically, two-dimensional adjustment can be achieved through the brackets of the first optical mirror 20 and the second optical mirror 30, so as to achieve adjustment in the X-Y direction to couple the light into the optical fiber for debugging.

[0037] Specifically, the indicating light module can select Thorlabs L520P50 - 520nm, 50mw, φ5.6mm, A-type pins. Of course, other models of indicating light modules can also be used, which are not limited here. The indicating light module can be installed by using a fixed bracket, and then the indicating light emitted by the indicating light module is transmitted into the second lens 42 through the second optical mirror 30, and then focused by the second lens 42 and transmitted into the optical fiber 43. And the output indicating light power of the indicating light module can be controlled by current. By using the indicating light emitted by the indicating light module to reach the end face of the optical fiber, it can be observed whether the cross-section of the optical fiber is broken or there is dust attached to it to ensure that the laser module enters the preparation state. When the switch of the indicating light module is turned on, the circuit is connected. At this time, the current source will supply power to the light-emitting tube of the indicating light module, thereby emitting colored light, which can be green, red, etc., to distinguish from the color of the laser pulse of the thulium laser beam emitted (generally, the laser pulse of the thulium laser beam is colorless).

[0038] For example, when the maximum power of the laser is 120W, the maximum power output at the fiber end = the maximum power of the laser * the transmittance of the first lens 41 * the reflectivity of the first optical mirror 20 * the reflectivity of the second optical mirror 30 * the transmittance of the second lens 42 * the transmittance of the protective window * the fiber coupling efficiency = 120W * 98% * 94% * 98% * 97% * 98% * 90% = 92.7W, which can meet the 80W output requirement (the 80W output requirement means that the product requires that the maximum power output at the 550um fiber end usually needs to be less than 80W).

[0039] In addition, when the first lens 41 is a plano-convex lens, its focal length can be set to 200 mm, its diameter can be set to 1 inch, and its material can be H-LaF6LA; when the second lens 42 is an aspherical lens, its focal length can be set to 16 mm, its diameter can be set to 1 inch, and its material can be H-LaF6LA. Of course, the first lens 41 can be other lenses capable of laser collimation, and the focal length, diameter, and material of the first lens 41 can be adjusted as needed; the second lens 42 can be other lenses for laser focusing, and the focal length, diameter, and material of the second lens 42 can be adjusted as needed.

[0040] Please refer to Figure 3 , Figure 3 In another embodiment given, when the first optical mirror 20 is a beam splitter, the second optical mirror 30 is a reflector, the first lens 41 is a plano-convex lens, and the second lens 42 is an aspherical lens, the thulium laser lithotripsy system of the present invention may include a laser module 10, a first optical mirror 20, a second optical mirror 30, a focusing and coupling module 40, an indicating light module, and an energy feedback module. By disposing the energy feedback module on one side of the first optical mirror 20 away from the first lens 41, it can be used to monitor the energy value of the transmitted light transmitted from the first optical mirror 20 to control the working state of the laser module 10. Moreover, when the first optical mirror 20 is a beam splitter, the thulium laser beam emitted by the laser module 10 can be split, and the reflected light is the main optical path direction. The power of the transmitted light is detected in real time by the energy feedback module to control the working state of the laser module 10 according to the monitored energy value. Specifically, the first optical mirror 20 can be a flat beam splitter, and the ratio of the transmitted light to the reflected light can be 5:95.

[0041] Since the energy of the thulium laser beam may decrease during the emission of the thulium laser beam by the laser module 10, resulting in poor thulium laser lithotripsy effect. Therefore, in order to ensure the lithotripsy effect, an energy feedback module is set to monitor whether the laser performance has decreased to ensure the stability of the treatment. Specifically, the energy value of the transmitted light transmitted from the first optical mirror 20 can be monitored by the first optical mirror 20 to control the working state of the laser module 10. Of course, the second optical mirror 30 can also be replaced with a beam splitter, and the energy value is monitored by disposing the energy feedback module at the transmitted light corresponding to the second optical mirror 30.

[0042] For example, when the maximum power of the laser is 120 W, the maximum power at the power feedback end = the maximum power of the laser * the transmittance of the first lens 41 * the transmittance of the beam splitter = 120 W * 98% * 5% = 5.88 W. When the minimum stone-breaking power of the stone-breaking laser is 10 W, the minimum power at the power feedback end = the minimum stone-breaking power of the laser * the transmittance of the first lens 41 * the transmittance of the beam splitter = 10 W * 98% * 5% = 0.49 W.

[0043] In addition, when the first lens 41 is a plano-convex lens, its focal length can be set to 200 mm, the diameter can be set to 1 inch, and the material can be H-LaF6LA; when the second lens 42 is an aspherical lens, the focal length can be set to 16 mm, the diameter can be set to 1 inch, and the material can be H-LaF6LA. Of course, the first lens 41 can be other lenses that can achieve laser collimation, and the focal length, diameter, and material of the first lens 41 can be adjusted as needed; the second lens 42 can be other lenses that achieve laser focusing, and the focal length, diameter, and material of the second lens 42 can be adjusted as needed.

[0044] Among them, the energy feedback module can further include: a power meter, an energy amplification sub-module, a trigger signal processing sub-module, and a control sub-module; the power meter is used to monitor the energy value of the transmitted light of the first optical mirror 20 to obtain the actual output energy value of the laser module 10, and compare the actual output energy value with the energy set value to obtain a comparison result; the energy amplification sub-module is used to generate a voltage signal when the comparison result is that the actual output energy value is greater than the energy set value, and send the voltage signal to the trigger signal processing sub-module after amplification processing; the trigger signal processing sub-module is used to generate a trigger pulse signal according to the amplified voltage signal; the control sub-module is used to send the trigger pulse signal to the laser module 10 to control the laser module 10 to stop working.

[0045] When the energy feedback module is working, first, the power meter can be used to monitor the energy value of the transmitted light of the first optical mirror 20 to obtain the actual output energy value of the laser module 10. And the actual output energy value will be further compared with the energy set value to obtain the comparison result. This comparison result can be that the actual output energy value is greater than the energy set value, or of course, the actual output energy value is less than or equal to the energy set value. When the comparison result is that the actual output energy value is greater than the energy set value, the energy amplification sub-module can generate a voltage signal according to the signal that the actual output energy value is greater than the energy set value, amplify the voltage signal, and then send the amplified voltage signal to the trigger signal processing sub-module. The trigger signal processing sub-module then generates a trigger pulse signal according to the amplified voltage signal, and finally the control sub-module sends the trigger pulse signal to the laser module 10 to control the laser module 10 to stop working. Specifically, the control sub-module sends the trigger pulse signal to the pump drive chip of the laser module 10, so as to control the pump drive chip to generate an interrupt signal to control the laser to stop working, and restart working after the problem is solved; if the actual output energy value is less than the energy set value, it continues to work. In this way, it is possible to avoid the situation of damage caused by the out-of-control energy of the laser emitted by the laser due to some reason.

[0046] In another embodiment, when the first optical mirror 20 is an angle-adjustable beam splitter, the second optical mirror 30 is an angle-adjustable reflector, the first lens 41 is a plano-convex lens, and the second lens 42 is an aspherical lens, the thulium laser lithotripsy system of the present invention may include a laser module 10, a first optical mirror 20, a second optical mirror 30, a focusing and coupling module 40, an indicating light module, a quadrant detector, and a control module. By arranging the quadrant detector on one side of the first optical mirror 20 far from the first lens 41, it can be used to receive the transmitted light transmitted from the first optical mirror 20 and monitor the position of the spot formed by the transmitted light transmitted from the first optical mirror 20 to obtain the position offset of the spot; the control module can generate a voltage adjustment signal according to the position offset of the spot and adjust the angle of the first optical mirror 20 according to the voltage adjustment signal.

[0047] Specifically, when installing the first optical mirror 20, the first optical mirror 20 can be installed on the optical mirror frame by using a piezoelectric actuator (PZT) to achieve precise adjustment of the angle of the beam splitter. Similarly, when installing the second optical mirror 30, the second optical mirror 30 can be installed on the optical mirror frame by using a piezoelectric actuator (PZT) to achieve precise adjustment of the angle of the reflector.

[0048] In the initial state, the first optical mirror 20 and the second optical mirror 30 are kept parallel, and the first optical mirror 20 and the second optical mirror 30 are at an angle of 45° with the horizontal direction. The position of the spot formed by the transmitted light emitted from the first optical mirror 20 can be monitored by a quadrant detector to obtain the position offset of the spot. Specifically, the offset of the spot relative to the center of the detector can be calculated from the output signals of the four quadrants of the quadrant detector, and these offsets are transmitted to the control module as feedback signals. And by using the control module to generate a voltage adjustment signal according to the position offset of the spot, the piezoelectric actuator (PZT) is controlled according to the voltage adjustment signal to adjust the angle of the first optical mirror 20 so that the first optical mirror 20 and the second optical mirror 30 remain in a substantially parallel state.

[0049] After obtaining the position offset of the spot, the control module can adjust the angle of the mirror or prism in real time. Specifically, the PID control algorithm can be adopted to adjust the piezoelectric actuator according to the feedback signal of the quadrant detector. By writing the PID control algorithm, according to the calculated offsets (X) and (Y), the angle of the first optical mirror 20 can be adjusted in real time by the piezoelectric actuator. The control module outputs a corresponding voltage signal to the piezoelectric actuator according to the offset, and the piezoelectric actuator makes the first optical mirror 20 and the second optical mirror 30 generate corresponding displacements according to the voltage signal, thereby adjusting the angles of the beam splitter and the mirror.

[0050] In addition, when the first lens 41 is a plano-convex lens, its focal length can be set to 200 mm, the diameter can be set to 1 inch, and the material can be H-LaF6LA; when the second lens 42 is an aspherical lens, the focal length can be set to 16 mm, the diameter can be set to 1 inch, and the material can be H-LaF6LA. Of course, the first lens 41 can be other lenses capable of laser collimation, and the focal length, diameter and material of the first lens 41 can be adjusted as needed; the second lens 42 can be other lenses capable of laser focusing in other forms, and the focal length, diameter and material of the second lens 42 can be adjusted as needed.

[0051] Please refer to Figure 4 , Figure 4In another embodiment provided, when the first optical mirror 20 is a reflecting mirror, the second optical mirror 30 is a beam splitter, the first lens 41 is a plano-convex lens, and the second lens 42 is an aspherical lens, the thulium laser lithotripsy system of the present invention may include a laser module 10, a first optical mirror 20, a second optical mirror 30, a focusing and coupling module 40, an indicating light module, a quadrant detector, and a control module. Among them, the quadrant detector is disposed on one side of the second optical mirror 30 away from the first optical mirror 20, and can be used to receive the transmitted light transmitted from the second optical mirror 30, monitor the position of the spot formed by the transmitted light transmitted from the second optical mirror 30, and obtain the position offset of the spot; by adjusting the control module, a voltage adjustment signal can be generated according to the position offset of the spot, and the angles of the first optical mirror 20 and the second optical mirror 30 can be adjusted according to the voltage adjustment signal.

[0052] Among them, when the first optical mirror 20 is installed, the first optical mirror 20 can be installed on the optical mirror mount by using a piezoelectric actuator (PZT) to achieve precise adjustment of the angle of the reflecting mirror; similarly, when the second optical mirror 30 is installed, the second optical mirror 30 can be installed on the optical mirror mount by using a piezoelectric actuator (PZT) to achieve precise adjustment of the angle of the beam splitter.

[0053] In the initial state, the first optical mirror 20 and the second optical mirror 30 are kept parallel, and the first optical mirror 20 and the second optical mirror 30 form an angle of 45° with the horizontal direction. The position of the spot formed by the transmitted light that is reflected by the first optical mirror 20 to the second optical mirror 30 and then transmitted from the second optical mirror 30 can be monitored through the quadrant detector to obtain the position offset of the spot. Specifically, the offset of the spot relative to the center of the detector can be calculated through the signals output by the four quadrants of the quadrant detector, and these offsets are transmitted to the control module as feedback signals. And by using the control module, a voltage adjustment signal is generated according to the position offset of the spot, and the angles of the first optical mirror 20 and the second optical mirror 30 are adjusted according to the voltage adjustment signal so that the first optical mirror 20 and the second optical mirror 30 remain in a substantially parallel state.

[0054] After obtaining the position offset of the spot, the control module can adjust the angles of the reflecting mirror or the prism in real time. Specifically, a PID control algorithm can be adopted to adjust the piezoelectric actuator according to the feedback signal of the quadrant detector. By writing the PID control algorithm, according to the calculated offsets (X) and (Y), the angles of the first optical mirror 20 and the second optical mirror 30 can be adjusted in real time through the piezoelectric actuator. The control module outputs a corresponding voltage signal to the piezoelectric actuator according to the offset, and the piezoelectric actuator makes the first optical mirror 20 and the second optical mirror 30 generate corresponding displacements according to the voltage signal, thereby adjusting the angles of the reflecting mirror and the beam splitter.

[0055] In addition, when the first lens 41 is a plano-convex lens, its focal length can be set to 200 mm, the diameter can be set to 1 inch, and the material can be H-LaF6LA; when the second lens 42 is an aspherical lens, the focal length can be set to 16 mm, the diameter can be set to 1 inch, and the material can be H-LaF6LA. Of course, the first lens 41 can be other lenses capable of laser collimation, and the focal length, diameter, and material of the first lens 41 can be adjusted as needed; the second lens 42 can be other lenses for laser focusing, and the focal length, diameter, and material of the second lens 42 can be adjusted as needed.

[0056] Please refer to Figure 5 , Figure 5 In another embodiment shown, when the first optical mirror 20 is a beam splitter, the second optical mirror 30 is a beam splitter, the first lens 41 is a plano-convex lens, and the second lens 42 is an aspherical lens, the thulium laser lithotripsy system of the present invention may include a laser module 10, a first optical mirror 20, a second optical mirror 30, a focusing and coupling module 40, an indicating light module, an energy feedback module, a quadrant detector, and a control module. Among them, the energy feedback module is disposed on one side of the first optical mirror 20 away from the first lens 41 and can be used to monitor the energy value of the transmitted light emitted from the first optical mirror 20 to control the working state of the laser module 10. The quadrant detector is disposed on one side of the second optical mirror 30 away from the first optical mirror 20 and can be used to receive the transmitted light emitted from the second optical mirror 30, monitor the position of the spot formed by the transmitted light emitted from the second optical mirror 30, and obtain the position offset of the spot; through the control module, a voltage adjustment signal can be generated according to the position offset of the spot, and the angles of the first optical mirror 20 and the second optical mirror 30 can be adjusted according to the voltage adjustment signal.

[0057] Among them, when installing the first optical mirror 20, the first optical mirror 20 can be installed on the optical mirror mount by using a piezoelectric actuator (PZT) to achieve precise adjustment of the angle of the beam splitter; similarly, when installing the second optical mirror 30, the second optical mirror 30 can be installed on the optical mirror mount by using a piezoelectric actuator (PZT) to achieve precise adjustment of the angle of the beam splitter.

[0058] In the initial state, the first optical mirror 20 and the second optical mirror 30 are kept parallel, and the first optical mirror 20 and the second optical mirror 30 are at an angle of 45° with the horizontal direction. Through the quadrant detector, it is possible to monitor the position of the light spot formed by the transmitted light that is reflected by the first optical mirror 20 to the second optical mirror 30 and then transmitted out of the second optical mirror 30, so as to obtain the position offset of the light spot. Specifically, through the output signals of the four quadrants of the quadrant detector, the offset of the light spot relative to the center of the detector can be calculated, and these offsets are transmitted to the control module as feedback signals. And by using the control module to generate a voltage adjustment signal according to the position offset of the light spot, the angles of the first optical mirror 20 and the second optical mirror 30 are adjusted according to the voltage adjustment signal, so that the first optical mirror 20 and the second optical mirror 30 remain in a substantially parallel state.

[0059] After obtaining the position offset of the light spot, the control module can adjust the angles of the mirror or prism in real time. Specifically, the PID control algorithm can be adopted to adjust the piezoelectric actuator according to the feedback signal of the quadrant detector. By programming the PID control algorithm, according to the calculated offsets (X) and (Y), the angles of the first optical mirror 20 and the second optical mirror 30 can be adjusted in real time through the piezoelectric actuator. The control module outputs a corresponding voltage signal to the piezoelectric actuator according to the offset, and the piezoelectric actuator makes the first optical mirror 20 and the second optical mirror 30 generate corresponding displacements according to the voltage signal, thereby adjusting the angles of the mirror and the beam splitter.

[0060] While using the quadrant detector to monitor the position of the light spot formed by the transmitted light transmitted out of the second optical mirror 30, through the energy feedback module, it is also possible to monitor the energy value of the transmitted light transmitted out of the first optical mirror 20 on the side where the transmitted light of the first optical mirror 20 exits, so as to ensure the simultaneous operation of the quadrant detector and the energy feedback module on the same device.

[0061] In addition, when the first lens 41 is a plano-convex lens, its focal length can be set to 200 mm, the diameter can be set to 1 inch, and the material can be H-LaF6LA; when the second lens 42 is an aspherical lens, the focal length can be set to 16 mm, the diameter can be set to 1 inch, and the material can be H-LaF6LA. Of course, the first lens 41 can be other lenses that can achieve laser collimation, and the focal length, diameter and material of the first lens 41 can be adjusted as needed; the second lens 42 can be other lenses that can achieve laser focusing in other forms, and the focal length, diameter and material of the second lens 42 can be adjusted as needed.

[0062] The thulium laser lithotripsy system of the present invention may further include a PD monitoring module. Through the PD monitoring module, the return light of the fiber coupling end face can be monitored, so as to judge in real time whether the adjustment angle of the mirror frame is in the direction beneficial to coupling, obtain a judgment result, and feedback the judgment result to the control module to adjust the first optical mirror 20 and / or the second optical mirror 30. Through continuous adjustment and feedback, the precise alignment of the light spot and the fiber core is finally achieved, and the coupling efficiency is improved. An efficient automatic calibration system is constructed, using a piezoelectric driver to precisely control the angle of the mirror and adjust the light spot position in real time to ensure high coupling efficiency. This system not only has high feasibility and stability, but also has good scalability and flexibility.

[0063] Please refer to FIG. 6. The present invention also provides a thulium laser lithotripsy method, including:

[0064] Step S10: Emitting a thulium laser beam through the laser module 10;

[0065] Step S20: Receiving the thulium laser beam collimated by the focusing and coupling module 40 through the first optical mirror 20 provided on one side of the laser module 10, and reflecting the collimated thulium laser beam to the second optical mirror 20;

[0066] Step S30: Reflecting the received thulium laser beam to the focusing and coupling module 40 through the second optical mirror 30 which is initially parallel to the first optical mirror 2; reflecting the received collimated thulium laser beam to the focusing and coupling module 40, and focusing it into a laser pulse through the focusing and coupling module 40 and introducing it into the optical fiber 43, so as to use the optical fiber 43 to emit the laser pulse for lithotripsy.

[0067] In summary, the thulium laser lithotripsy system and method disclosed by the present invention, by adopting a TM:YAG laser, has higher lithotripsy efficiency, better pulverization effect, and has the advantages of small volume, compact internal structure, long service life, etc., making the generated lithotripsy particles finer, which is beneficial to postoperative stone discharge; through the energy feedback module, the laser power can be monitored in real time to ensure the high efficiency and safety of the laser treatment; through the indicating light module, it can be used to ensure the normal operation of the system; through the focusing and coupling module, the beam can have better utilization rate; at the same time, through the closed-loop control of the quadrant detector, the position of the light spot can be monitored and adjusted in real time to reduce the optical path deviation, so as to ensure the laser coupling efficiency. Therefore, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0068] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A thulium laser lithotripsy system, characterized in that: include: A laser module, a first optical mirror, a second optical mirror and a focusing coupling module; The laser module is used to emit a thulium laser beam; The first optical mirror is provided on one side of the laser module, and is used to receive the thulium laser beam collimated by the focus coupling module, and reflect the collimated thulium laser beam to the second optical mirror; The second optical mirror is parallel to the initial state of the first optical mirror, and is used to reflect the received collimated thulium laser beam to the focusing coupling module, and focus it into a laser pulse through the focusing coupling module and transmit it into the optical fiber, so as to use the optical fiber to emit the laser pulse to crush the stones.

2. The thulium laser lithotripsy system according to claim 1, characterized in that: The focus coupling module includes: a first lens and a second lens; The first lens is provided between the laser module and the first optical mirror, and is used to focus the thulium laser beam emitted by the laser module to the first optical mirror into collimated light and transmit it to the second lens; The second lens is disposed between the first optical mirror and the second optical mirror, and is used to focus the collimated light into laser pulses and transmit them into the optical fiber.

3. The thulium laser lithotripsy system according to claim 1, characterized in that: Also includes: An indicator light module is provided on a side of the second optical mirror away from the second lens. The indicator light emitted by the indicator light module is transmitted into the second lens through the second optical mirror, and is focused by the second lens and then transmitted into the optical fiber, so as to check the light output status of the optical fiber and determine the readiness status of the laser module.

4. The thulium laser lithotripsy system according to claim 1, characterized in that: The first optical mirror is a reflecting mirror, and the second optical mirror is a reflecting mirror; the first lens is a plano-convex lens, and the second lens is an aspheric lens.

5. The thulium laser lithotripsy system according to claim 1, characterized in that: The first optical mirror is a beam splitter, and the second optical mirror is a reflector; The first lens is a plano-convex lens, and the second lens is an aspheric lens; It also includes: an energy feedback module, which is arranged on a side of the first optical mirror away from the first lens and is used to monitor the energy value of the transmitted light transmitted from the first optical mirror to control the working state of the laser module.

6. The thulium laser lithotripsy system according to claim 5, characterized in that: The energy feedback module includes: Power meter, energy amplification submodule, trigger signal processing submodule and control submodule; a power meter, configured to monitor the energy value of the transmitted light of the first optical mirror to obtain the actual output energy value of the laser module, and compare the actual output energy value with the energy set value to obtain a comparison result; an energy amplification submodule, configured to generate a voltage signal when the comparison result shows that the actual output energy value is greater than the energy set value, and send the amplified voltage signal to the trigger signal processing submodule; a trigger signal processing submodule, configured to generate a trigger pulse signal according to the amplified voltage signal; The control submodule is used to send the trigger pulse signal to the laser module to control the laser module to stop working.

7. The thulium laser lithotripsy system according to claim 1, characterized in that: The first optical mirror is an angle-adjustable beam splitter, and the second optical mirror is an angle-adjustable reflector; the first lens is a plano-convex lens, and the second lens is an aspheric lens; Also includes: a four-quadrant detector, disposed on a side of the first optical mirror away from the first lens, for receiving the transmitted light transmitted from the first optical mirror, and monitoring the position of a light spot formed by the transmitted light transmitted from the first optical mirror to obtain a position offset of the light spot; as well as A control module is configured to generate a voltage adjustment signal according to the position offset of the light spot, and adjust the angle of the first optical mirror according to the voltage adjustment signal.

8. The thulium laser lithotripsy system according to claim 1, characterized in that: The first optical mirror is a reflector, and the second optical mirror is a beam splitter; the first lens is a plano-convex lens, and the second lens is an aspheric lens; Also includes: a four-quadrant detector, provided on a side of the second optical mirror away from the first optical mirror, for receiving transmitted light transmitted from the second optical mirror, monitoring the position of a light spot formed by the transmitted light transmitted from the second optical mirror, and obtaining a position offset of the light spot; as well as An adjustment control module is used to generate a voltage adjustment signal according to the position offset of the light spot, and adjust the angles of the first optical mirror and the second optical mirror according to the voltage adjustment signal.

9. The thulium laser lithotripsy system according to claim 1, characterized in that: The first optical mirror is a beam splitter, and the second optical mirror is a beam splitter; the first lens is a plano-convex lens, and the second lens is an aspheric lens; Also includes: an energy feedback module, disposed on a side of the first optical mirror away from the first lens, for monitoring the energy value of the transmitted light transmitted from the first optical mirror to control the working state of the laser module; a four-quadrant detector, provided on a side of the second optical mirror away from the first optical mirror, for receiving transmitted light transmitted from the second optical mirror, monitoring the position of a light spot formed by the transmitted light transmitted from the second optical mirror, and obtaining a position offset of the light spot; and A control module is configured to generate a voltage adjustment signal according to the position offset of the light spot, and adjust the angles of the first optical mirror and the second optical mirror according to the voltage adjustment signal.

10. A thulium laser lithotripsy method, characterized in that: include: emitting a thulium laser beam through a laser module; The thulium laser beam collimated by the focusing coupling module is received by a first optical mirror provided on one side of the laser module, and the collimated thulium laser beam is reflected to a second optical mirror; The second optical mirror is initially arranged parallel to the first optical mirror, and the received collimated thulium laser beam is reflected to the focusing coupling module, and is focused into a laser pulse by the focusing coupling module and transmitted into the optical fiber, so that the laser pulse is emitted by the optical fiber to crush the stones.

Images