A robotic-assisted three-dimensional optical molecular imaging visualization system
By combining near-infrared laser and white LED beam technology with green laser imaging, the problem of the robotic surgical system being unable to display tumor boundaries and lymph node metastasis status in real time has been solved. This enables real-time display of tumor boundaries and lymph node properties, reduces the risk of tumor residue, provides objective diagnostic evidence, meets the imaging needs of multiple scenarios, and improves the clinical applicability of the system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANXI MEDICAL UNIV
- Filing Date
- 2026-04-13
- Publication Date
- 2026-06-16
AI Technical Summary
Existing robotic surgical systems cannot display tumor boundaries and lymph node metastasis status in real time during surgery, and it is difficult to identify the nature of lymph nodes through vascular morphology, leading to the risk of tumor residue and over-resection.
Near-infrared laser and white LED beam combining technology are used to achieve coaxial acquisition and pixel-level fusion of ICG fluorescence imaging and conventional color imaging. Green laser is used for vascular imaging. The imaging mode can be flexibly switched through the touch screen and main control board, and the optical path adjustment component can achieve fast mode switching to ensure the brightness and color reproduction of white light.
It enables real-time display of tumor boundaries and lymph node metastasis status, reduces the risk of tumor residue and over-resection, provides objective diagnostic evidence of lymph node characteristics, meets the imaging needs of different surgical scenarios, and improves the clinical applicability of the system.
Smart Images
Figure CN122208288A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of endoscopy technology, specifically to a robot-assisted three-dimensional optical molecular imaging intraoperative visualization system. Background Technology
[0002] Robot-assisted surgery is widely used in surgical subspecialties such as urology, hepatobiliary surgery, and gastrointestinal surgery. Among them, surgical robot platforms, represented by the fourth-generation da Vinci robotic surgical system, mainly consist of three parts: a surgeon's console, a robotic arm system, and an imaging system. Its imaging system, employing a three-dimensional endoscope and a 3D display, significantly improves the precision of surgical operations and has become an important direction in the development of minimally invasive surgery. Meanwhile, fluorescence image-guided surgery based on indocyanine green (ICG) has been widely used clinically, primarily for sentinel lymph node biopsy localization and intraoperative identification of small liver tumors.
[0003] However, existing robotic surgical systems still face several challenges in imaging technology. Firstly, they cannot display tumor boundaries and lymph node metastasis in real-time during surgery, leading to a risk of both residual tumor and over-resection. Secondly, in lymph node dissection, besides accurate lymph node location, the morphological characteristics of microvessels within the lymph nodes are crucial for determining lymph node nature (reactive hyperplasia versus tumor metastasis). Current techniques typically employ separate angiography equipment or rely on visual judgment under white light. The former increases equipment cost and operational complexity, while the latter is limited by the low contrast between blood vessels and surrounding tissues, making it difficult to clearly display microvascular details.
[0004] Therefore, how to provide a robot-assisted three-dimensional optical molecular imaging intraoperative visualization system to overcome the shortcomings of existing technologies is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0005] Therefore, the present invention provides a robot-assisted three-dimensional optical molecular imaging intraoperative visualization system to solve the problems in the prior art.
[0006] To achieve the above objectives, the present invention provides the following technical solution: This invention discloses a robot-assisted intraoperative visualization system for three-dimensional optical molecular imaging, comprising: The outer casing has a light source optical path fixing plate mounted on its bottom surface; The main control board is installed inside the housing; A power supply unit is mounted on the bottom surface of the housing; The touch screen is mounted on the front side wall of the housing; The white LED generating unit is mounted on top of the light source optical path fixing plate; The laser generating unit is mounted on the top of the light source optical path fixing plate and on the bottom surface of the housing; A biconvex lens is mounted on top of the light source optical path fixing plate; A beam guide is installed on the front side wall of the housing. The light emitted by the white LED generating unit and the laser generating unit enters the input end of the beam guide after passing through the biconvex lens. The laser generating unit includes a near-infrared laser generating unit, a green laser generating unit, and a laser control module.
[0007] Furthermore, the near-infrared laser generating unit includes: The near-infrared laser generating module is installed inside the housing; A near-infrared fiber collimator is mounted on top of the light source optical path fixing plate; Dichroic mirror one is mounted on the top of the light source optical path fixing plate via an optical adjustment bracket and positioned at a 45-degree angle on the light output path of the near-infrared fiber collimator. The dichroic mirror one is used to combine the light emitted by the near-infrared laser generating module with the light emitted by the white LED generating unit and then transmit them to the beam guide.
[0008] Furthermore, the green laser generating unit includes: A green laser generating module is mounted on the bottom surface of the housing; An optical path adjustment assembly is disposed on the bottom surface of the housing; A green fiber optic collimator is mounted on the optical path adjustment assembly; Dichroic mirror two is installed on the optical path adjustment assembly. Dichroic mirror two is used to transmit the light emitted by the green laser generation module through dichroic mirror one to the beam guide.
[0009] Furthermore, the optical path adjustment component includes: A linear guide rail is installed on the top of the light source optical path fixing plate, and a slider is slidably connected to the top of the linear guide rail; A color mirror holder is installed on top of the slider, and the dichroic mirror is installed inside the color mirror holder; A gear turntable is rotatably connected to the bottom surface of the housing, and the green fiber collimator is mounted on top of the gear turntable; Driven wheel is rotatably connected to the bottom surface of the housing, and the driven wheel is connected to the gear turntable via a transmission belt; The drive gear is rotatably connected to the bottom surface of the housing and is coaxially arranged with the driven gear; A rack is mounted on the side wall of the slider, and the rack meshes with the drive gear; A driving assembly is mounted on the bottom surface of the housing. The driving assembly is used to drive the gear turntable to rotate. When the green fiber collimator turns to the dichroic mirror, the dichroic mirror moves to the light output path of the white LED generating unit and is positioned at a 45-degree angle on the light output path of the green fiber collimator.
[0010] Furthermore, the driving component includes: A worm gear is rotatably connected to the bottom surface of the housing and is coaxially arranged with the gear turntable; A servo motor is mounted on the bottom surface of the housing. A worm gear is installed at the output end of the servo motor. The worm gear is connected to the worm wheel drive. The servo motor can drive the green fiber collimator to rotate counterclockwise.
[0011] Furthermore, the power supply unit includes: A 5V power supply is installed on the bottom surface of the housing. The 5V power supply is used to power the near-infrared laser generating module, the green laser generating module, the laser control module, and the main control board. A 12V power supply is located above the 5V power supply, and the 12V power supply is used to power the white LED generating unit and the touch screen. A burst suppressor is mounted on the bottom surface of the housing, and the burst suppressor is used to protect the 5V power supply and the 12V power supply.
[0012] Furthermore, the white LED generating unit includes: A heat sink is mounted on the bottom surface of the housing, and a cooling fan is mounted on the rear end of the heat sink; White LED light-emitting chips are mounted on the side wall of the heat sink; A white LED driver board is mounted on the bottom surface of the housing; A plano-convex lens assembly is installed at the front end of the heat sink. The plano-convex lens assembly is used to collimate and shape the light emitted by the white LED chip.
[0013] Furthermore, the first dichroic mirror and the second dichroic mirror are parallel to each other.
[0014] Furthermore, the parameters of the first dichroic mirror are R>98%@770-790nm and T>90%@400-700nm; the parameters of the second dichroic mirror are R>95%@525-540nm and T>90%@400-700nm.
[0015] Furthermore, the wavelength of the light emitted by the white LED generating unit is 400-700nm.
[0016] The present invention has the following advantages: This invention sets up a near-infrared laser generating unit and a white LED generating unit, and uses a dichroic mirror to combine the two beams, enabling the system to simultaneously output near-infrared excitation light and white illumination light. This achieves coaxial acquisition and pixel-level fusion of ICG fluorescence imaging and conventional color imaging, solving the technical problem that existing robotic imaging systems cannot display tumor boundaries and lymph node metastasis status in real time during surgery, and reducing the risk of tumor residue and over-resection.
[0017] By setting up a green laser generating unit, the system can output 532nm green light for vascular imaging. Utilizing the strong absorption characteristics of hemoglobin to green light, the distribution of microvessels within the lymph nodes can be displayed in real time during lymph node dissection. This solves the technical problem of difficulty in identifying the nature of lymph nodes through vascular morphology in existing technologies, and provides an objective basis for intraoperative qualitative diagnosis of lymph nodes.
[0018] By setting up a touch screen and main control board, the operator can freely switch between ICG fluorescence mode, green light vascular mode or mixed mode according to the surgical needs, and independently adjust the output power of near-infrared laser and green laser through the laser control module. This solves the technical problems of single imaging mode and inflexible adjustment in the existing technology, and meets the needs of different surgical scenarios.
[0019] By setting up an optical path adjustment component, the dichroic mirror can automatically switch between green light imaging mode and non-green light imaging mode, realizing rapid switching between near-infrared and white light mixed working mode, pure green light working mode, and green light + white light + near-infrared light mixed working mode. At the same time, in the near-infrared and white light mixed mode, by moving the dichroic mirror out of the white light optical path, the white light does not pass through the dichroic mirror, avoiding the transmission loss and spectral distortion of white light caused by the dichroic mirror, and maximizing the brightness and color reproduction of white light in conventional surgical mode. This solves the technical problem that fixed beam combiners cause unnecessary loss of white light in all working modes in the existing technology.
[0020] By using a biconvex lens to couple the combined beam into the guide beam, the energy loss of the three light sources is minimized, ensuring that the light intensity reaching the surgical area meets the clinical requirements for ICG fluorescence excitation, green light angiography, and white light illumination, thus improving the clinical applicability of the system. Attached Figure Description
[0021] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.
[0022] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.
[0023] Figure 1 A stereoscopic view of the robot-assisted three-dimensional optical molecular imaging intraoperative visualization system provided by this invention; Figure 2 The internal structure of the robot-assisted three-dimensional optical molecular imaging intraoperative visualization system provided by this invention; Figure 3 A cross-sectional view of the robot-assisted three-dimensional optical molecular imaging intraoperative visualization system provided by the present invention; Figure 4 Top view of the internal structure of the robot-assisted three-dimensional optical molecular imaging intraoperative visualization system provided by the present invention; Figure 5 A perspective view of the optical path adjustment component provided by the present invention; Figure 6 Provided by the present invention Figure 5 Enlarged view of the A-structure; Figure 7 This is a structural diagram of the optical path adjustment component provided by the present invention.
[0024] In the diagram: 1. Housing; 2. Light source optical path fixing plate; 3. Main control board; 4. Touch screen; 5. Biconvex lens; 6. Beam guide; 7. Laser control module; 81. Near-infrared laser generating module; 82. Near-infrared fiber collimator; 83. Dichroic mirror one; 84. Green laser generating module; 85. Optical path adjustment assembly; 851. Linear guide rail; 852. Slider; 853. Dichroic mirror bracket; 854. Gear turntable; 855. Driven wheel; 856. Drive gear; 857. Rack; 858. Worm gear; 859. Servo motor; 860. Worm; 86. Green fiber collimator; 87. Dichroic mirror two; 95V power supply; 10. 12V power supply; 11. Pulse burst suppressor; 12. Heat sink; 13. Cooling fan; 14. White LED light-emitting chip; 15. White LED driver board; 16. Plano-convex lens assembly. Detailed Implementation
[0025] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0026] Please refer to Figures 1-7 The present invention will now describe the robot-assisted three-dimensional optical molecular imaging intraoperative visualization system disclosed herein. The invention consists of eight parts, as follows: Figures 1-4 As shown, the device includes a housing 1, a main control board 3, a power supply unit, a touch screen 4, a white LED generating unit, a laser generating unit, a biconvex lens 5, and a beam guide 6. A light source optical path fixing plate 2 is mounted on the bottom surface of the housing 1. The main control board 3 is installed inside the housing 1. The power supply unit is installed on the bottom surface of the housing 1. The touch screen 4 is installed on the front side wall of the housing 1. The white LED generating unit is installed on the top of the light source optical path fixing plate 2. The laser generating unit is installed on the top of the light source optical path fixing plate 2 and on the bottom surface of the housing 1. The biconvex lens 5 is installed on the top of the light source optical path fixing plate 2. The beam guide 6 is installed on the front side wall of the housing 1. The light emitted by the white LED generating unit and the laser generating unit enters the input end of the beam guide 6 after passing through the biconvex lens 5. The laser generating unit includes a near-infrared laser generating unit, a green laser generating unit, and a laser control module 7.
[0027] This system is integrated with the da Vinci robotic system, connecting the optical fiber port of the optical sight tube via a beam guide 6, and using a disposable sterile sleeve to shield against bacteria at the interface. The optical sight tube system of the da Vinci robotic system should be the endoscope imaging system used in this application, as described in the applicant's authorized publication, CN 111772560 A, entitled "A Fluorescence Endoscopic Imaging System and Method Based on Dual-Channel High-Efficiency Transmission". The combined light beams emitted by the white LED generating unit and the laser generating unit pass through the biconvex lens 5 and enter the input end of the beam guide 6. The output end of the beam guide 6 is connected to the external optical sight tube system of the da Vinci robotic system. In this embodiment, the selected beam guide 6 is a German Storz fiber beam guide 6495NCS with a diameter of 4.8 mm.
[0028] The light source path fixing plate 2 on the bottom surface of the outer casing 1 is used to fix the relative position of the optical components; the main control board 3 serves as the control core of the system and can receive user commands from the touch screen 4 to control the switching and power adjustment of the white LED generating unit and the laser generating unit; the power supply unit provides matching voltage and current to each electrical component of the system; the touch screen 4 serves as a human-machine interface, providing an intuitive graphical operation interface; the white LED generating unit can generate 400-700nm broadband white light for routine colored illumination of the surgical area; the laser generating unit generates lasers of specific wavelengths for functional imaging, including a near-infrared laser generating unit (wavelength range 770-790nm) for ICG fluorescence excitation and a green laser generating unit (wavelength range 525-540nm) for vascular imaging, and the laser output is precisely controlled through the laser control module 7.
[0029] In this application, a laser generating unit can generate near-infrared light in the 770-790nm wavelength band and green light in the 525-540nm wavelength band; a white LED generating unit can generate broad-spectrum white light in the 400-700nm wavelength band. The near-infrared light and visible light in the 770-790nm wavelength band are transmitted into the body through a beam guide 6 and an endoscope. The near-infrared light excites a targeted ICG fluorescent group, and the visible light irradiates the tissue to form a clear anatomical reflected light image. The optical molecular image and the visible light reflected image are transmitted to the endoscope's eyepiece through a dual-channel endoscope. The endoscope eyepiece is connected to two dual-channel CCDs. Each dual-channel CCD has a beam splitter prism inside, separating the near-infrared optical molecular image and visible light optical signal transmitted from the eyepiece into visible light (400-700nm) and near-infrared light (760nm to 1000nm). A bandpass filter is added to the near-infrared light channel, allowing only targeted fluorescence at 845±10nm or a specific wavelength to pass through. The two filters are: 1. A high-resolution color CCD: receiving visible light signals to form a color image; 2. A high-sensitivity monochrome CCD: receiving near-infrared fluorescence signals to form a monochrome image. Image fusion technology is used to register and fuse the color and monochrome image signals, forming a 2D fused image displaying the target lesion. The two 2D fused images are then processed using a stereo matching algorithm and a 3D image matching algorithm, and displayed on a 3D monitor to guide physicians in accurately identifying the target lesion.
[0030] It is worth noting that since the green light band (525-540nm) falls within the visible light band, green light can be emitted from the same dual-channel CCD as visible light. In this architecture, green light can be excited independently, or it can be separated from white light after both light enters the same channel using an algorithm, including at least the following steps: Data acquisition: The CCD receives the mixed color image (containing data from the R, G, and B channels). Information extraction: The algorithm extracts vascular information from the RGB data.
[0031] Background light estimation: The red (R) and blue (B) channels are largely unaffected by green light absorption and can reflect the true structure of the tissue.
[0032] Vascular signal extraction: The green (G) channel contains both tissue-reflected light and vascular-absorbed shadows.
[0033] Calculation: Vascular signal = G channel signal - (R channel signal + B channel signal) / 2. Eliminate background and highlight the dark shadows of blood vessels caused by the absorption of green light.
[0034] The purpose of adding the green light band is as follows: In lymph node dissection, in addition to accurately locating lymph nodes, the morphological characteristics of the microvessels within the lymph nodes are also an important basis for judging the nature of the lymph nodes. Clinical studies have shown that the internal vessels of metastatic lymph nodes often exhibit characteristics such as tortuosity, abnormal density, and irregular vascular morphology, while the vascular morphology of reactive hyperplastic lymph nodes is relatively regular and naturally oriented. Therefore, by observing the morphological characteristics of the microvessels within the lymph nodes, the nature of the lymph nodes can be identified in real time during surgery, providing an objective basis for whether extended lymph node dissection is necessary. Current technology lacks the ability to correlate ICG fluorescence lymph node localization with green light vascular imaging, and cannot simultaneously acquire lymph node location information and its internal microvessel morphological characteristics on the same surgical platform and under the same field of view. The intraoperative judgment of the nature of lymph nodes mainly relies on the surgeon's subjective experience, lacking objective and quantitative assessment methods.
[0035] By setting up a near-infrared laser generating unit and a white LED generating unit, and using a dichroic mirror-83 to combine the two beams, the system can simultaneously output near-infrared excitation light and white illumination light, realizing coaxial acquisition and pixel-level fusion of ICG fluorescence imaging and conventional color imaging. This solves the technical problem that existing robotic imaging systems cannot display tumor boundaries and lymph node metastasis status in real time during surgery, and reduces the risk of tumor residue and over-resection.
[0036] By setting up a green laser generation unit, the system can output 532nm green light for vascular imaging. Utilizing the strong absorption characteristics of hemoglobin for green light, the distribution of microvessels within the lymph nodes can be displayed in real time during lymph node dissection. This solves the technical problem in existing technologies where it is difficult to distinguish the nature of lymph nodes (reactive hyperplasia and tumor metastasis) through vascular morphology, and provides an objective basis for intraoperative qualitative diagnosis of lymph nodes.
[0037] By setting up a touch screen 4 and a main control board 3, the operator can freely switch between ICG fluorescence mode, green light vascular mode or mixed mode according to the surgical needs, and independently adjust the output power of near-infrared laser and green laser through laser control module 7. This solves the technical problems of single imaging mode and inflexible adjustment in the existing technology, and meets the needs of different surgical scenarios.
[0038] By setting up a biconvex lens 5 to couple the combined beam into the guide beam 6, the energy loss of the three light sources is minimized, ensuring that the light intensity reaching the surgical area meets the clinical needs of ICG fluorescence excitation, green light vascular imaging and white light illumination, thus improving the clinical applicability of the system.
[0039] like Figure 2 , Figure 3 , Figure 4 As shown, the near-infrared laser generating unit includes a near-infrared laser generating module 81, a near-infrared fiber collimator 82, and a dichroic mirror 83. The near-infrared laser generating module 81 is installed inside the housing 1. The near-infrared fiber collimator 82 is installed on the top of the light source optical path fixing plate 2. The dichroic mirror 83 is installed on the top of the light source optical path fixing plate 2 via an optical adjustment bracket and is positioned at a 45-degree angle on the light output path of the near-infrared fiber collimator 82. The dichroic mirror 83 is used to combine the light emitted by the near-infrared laser generating module 81 with the light emitted by the white LED generating unit and then transmit it to the beam guide 6. Preferably, the wavelength of the light emitted by the white LED generating unit is 400-700nm.
[0040] In this embodiment, the near-infrared fiber collimator 82 and the dichroic mirror 83 are positioned as follows: Figure 4 As shown. The near-infrared laser generating module 81 is connected to the near-infrared fiber collimator 82 via an optical fiber pigtail to obtain a collimated beam. The dichroic mirror 83 is adjusted in position via an optical adjustment frame. The near-infrared light is incident on the dichroic mirror 83 at a 45-degree angle and reflected at the dichroic mirror 83. The light emitted by the white LED generating unit is transmitted from the back of the substrate. The near-infrared light and the white light are combined and then enter the input end of the beam guide 6 through the biconvex lens 5.
[0041] Preferably, the parameters of the dichroic mirror 83 are R>98%@770-790nm and T>90%@400-700nm. The dichroic mirror 83 can reflect near-infrared light with wavelengths in the range of 770-790nm and transmit visible light with wavelengths in the range of 400-700nm.
[0042] like Figure 2 , Figure 4As shown, the green laser generating unit includes a green laser generating module 84, an optical path adjustment component 85, a green fiber collimator 86, and a dichroic mirror 87. The green laser generating module 84 is mounted on the bottom surface of the housing 1, the optical path adjustment component 85 is mounted on the bottom surface of the housing 1, the green fiber collimator 86 is mounted on the optical path adjustment component 85, and the dichroic mirror 87 is mounted on the optical path adjustment component 85. The dichroic mirror 87 is used to transmit the light emitted by the green laser generating module 84 through the dichroic mirror 83 to the beam guide 6.
[0043] In this embodiment, the green laser generating module 84 is positioned below the near-infrared laser generating module 81. The green laser generating module 84 is connected to the green fiber collimator 86 via an optical fiber pigtail. The green fiber collimator 86 can rotate with the optical path adjustment component 85. The second dichroic mirror 87 is movable. When green light is excited, the second dichroic mirror 87 moves to a preset position, i.e., the optical path of the green fiber collimator 86 is set at a 45-degree angle and located on the light output path of the white LED generating unit. When green light is not needed, the second dichroic mirror 87 moves out of the light output path of the white LED generating unit to avoid transmission loss and spectral distortion caused by white light passing through the second dichroic mirror 87. Preferably, the first dichroic mirror 83 and the second dichroic mirror 87 are parallel to each other. After being reflected by dichroic mirror 287, the green light will be directed to dichroic mirror 183. After passing through dichroic mirror 183, it will enter the input end of the beam guide 6 through the biconvex lens 5. Since the wavelength range of green light (525-540nm) is within the wavelength range of white light (400-700nm), it can pass through dichroic mirror 183 together with white light.
[0044] By setting the optical path adjustment component 85, the dichroic mirror 87 can automatically switch between green light imaging mode and non-green light imaging mode, realizing rapid switching between near-infrared light and white light mixed working mode, pure green light working mode, and green light + white light + near-infrared light mixed working mode. At the same time, in the near-infrared light and white light mixed mode, by moving the dichroic mirror 87 out of the white light optical path, the white light does not pass through the dichroic mirror 87, avoiding the transmission loss and spectral distortion of white light caused by the dichroic mirror 87, maximizing the brightness and color reproduction of white light in the conventional surgical mode, and solving the technical problem that fixed beam combiners cause unnecessary loss of white light in all working modes in the prior art.
[0045] Preferably, the parameters of the dichroic mirror 287 are R>95%@525-540nm and T>90%@400-700nm. The dichroic mirror 287 can reflect green light with wavelengths in the range of 525-540nm and transmit visible light with wavelengths in the range of 400-700nm.
[0046] like Figure 3 , Figure 5 , Figure 6 , Figure 7 As shown, the optical path adjustment assembly 85 includes a linear guide rail 851, a color mirror holder 853, a gear turntable 854, a driven wheel 855, a drive gear 856, a rack 857, and a drive assembly. The linear guide rail 851 is mounted on the top of the light source optical path fixing plate 2. A slider 852 is slidably connected to the top of the linear guide rail 851. The color mirror holder 853 is mounted on the top of the slider 852. A dichroic mirror 87 is mounted inside the color mirror holder 853. The gear turntable 854 is rotatably connected to the bottom surface of the housing 1. A green fiber collimator 86 is mounted on the top of the gear turntable 854. The driven wheel 855 is rotatably connected to the bottom surface of the housing 1. On the bottom surface, the driven wheel 855 is connected to the gear turntable 854 via a transmission belt. The drive gear 856 is rotatably connected to the bottom surface of the housing 1 and is coaxially arranged with the driven wheel 855. The rack 857 is installed on the side wall of the slider 852 and meshes with the drive gear 856. The drive assembly is installed on the bottom surface of the housing 1 and is used to drive the gear turntable 854 to rotate. When the green fiber collimator 86 turns to the dichroic mirror 87, the dichroic mirror 87 moves to the light output path of the white LED generating unit and is set at a 45-degree angle on the light output path of the green fiber collimator 86.
[0047] In this embodiment, the linear guide rail 851, color mirror bracket 853, gear turntable 854, driven wheel 855, drive gear 856, and rack 857 are positioned as follows: Figure 5 , Figure 6 , Figure 7 As shown. A ring of gear teeth is formed circumferentially on the gear disk 854. The gear disk 854 is connected to the driven wheel 855 via a transmission belt. The transmission belt allows the gear disk 854 and the driven wheel 855 to rotate in the same direction. The diameters of the gear disk 854 and the driven wheel 855 are equal. The drive gear 856 and the driven wheel 855 are mounted on the same rotating shaft, and their diameters are equal.
[0048] When green light is not in use, the green fiber collimator 86 is in [position missing]. Figure 4 The direction is from center to right. In use, the drive assembly drives the gear disc 854 to rotate counterclockwise 3 / 4 of a turn, at which point the green fiber optic collimator 86 is in the correct position. Figure 4 In the downward direction, during this process, the dichroic mirror 87 moves along the linear guide rail 851 to... Figure 4 The position of the dichroic mirror 87 is such that, since the gear turntable 854, driven wheel 855 and drive gear 856 have the same diameter, the moving distance of the dichroic mirror 87 should be equal to 3 / 4 of the circumference of the gear turntable 854.
[0049] like Figure 7As shown, the drive assembly includes a worm gear 858 and a servo motor 859. The worm gear 858 is rotatably connected to the bottom surface of the housing 1 and is coaxially arranged with the gear turntable 854. The servo motor 859 is mounted on the bottom surface of the housing 1. A worm 860 is installed at the output end of the servo motor 859. The worm 860 is connected to the worm gear 858 for transmission. The servo motor 859 can drive the green fiber collimator 86 to rotate counterclockwise.
[0050] In this embodiment, the drive assembly is configured as a worm gear 858 and a servo motor 859 with a worm 860. The worm gear 858 and worm 860 have self-locking capabilities, ensuring that the optical path adjustment assembly 85 is always in a stable working state. The servo motor 859 is electrically connected to the main control board 3, and the rotation angle of the gear turntable 854 can be precisely controlled through the servo motor 859 and the motor drive module integrated into the main control board 3.
[0051] like Figure 3 As shown, the power supply unit includes a 5V power supply 9, a 12V power supply 10, and a pulse group suppressor 11. The 5V power supply 9 is mounted on the bottom surface of the housing 1 and is used to power the near-infrared laser generating module 81, the green laser generating module 84, the laser control module 7, and the main control board 3. The 12V power supply 10 is located above the 5V power supply 9 and is used to power the white LED generating unit and the touch screen 4. The pulse group suppressor 11 is mounted on the bottom surface of the housing 1 and is used to protect the 5V power supply 9 and the 12V power supply 10.
[0052] In this embodiment, by setting a pulse group suppressor 11 to protect the 5V power supply 9 and the 12V power supply 10, the electrical units such as the near-infrared laser generating module 81, the green laser generating module 84, the laser control module 7, the white LED generating unit, and the touch screen 4 can work stably during the operation, avoiding the impact of electromagnetic interference on image acquisition and light source output, and ensuring the reliability of the system and the safety of the operation.
[0053] like Figure 2 As shown, the white LED generating unit includes a heat sink 12, a white LED light-emitting chip 14, a white LED driver board 15, and a plano-convex lens assembly 16. The heat sink 12 is mounted on the bottom surface of the housing 1, and a cooling fan 13 is mounted on the rear end of the heat sink 12. The white LED light-emitting chip 14 is mounted on the side wall of the heat sink 12, the white LED driver board 15 is mounted on the bottom surface of the housing 1, and the plano-convex lens assembly 16 is mounted on the front end of the heat sink 12. The plano-convex lens assembly 16 is used to collimate and shape the light emitted by the white LED light-emitting chip 14.
[0054] In this embodiment, the white LED light-emitting chip 14 is selected from Luminus Devices, USA, and is a white LED light-emitting chip 14CBT90-W57H-C11-KB201. Its illuminance, color temperature, and color rendering index are all greater than the standards for medical endoscopes. The visible light illuminance measured at the output end of the beam guide 6 by a lux meter is greater than the standard index.
[0055] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.
Claims
1. A robot-assisted intraoperative visualization system for three-dimensional optical molecular imaging, characterized in that, include: The outer shell (1) has a light source optical path fixing plate (2) installed on its bottom surface; The main control board (3) is installed inside the outer casing (1); A power supply unit is installed on the bottom surface of the housing (1); A touch screen (4) is mounted on the front side wall of the housing (1); The white LED generating unit is installed on top of the light source optical path fixing plate (2); The laser generating unit is installed on the top of the light source optical path fixing plate (2) and the bottom surface of the housing (1); A biconvex lens (5) is mounted on top of the light source optical path fixing plate (2); The beam guide (6) is installed on the front side wall of the housing (1). The light emitted by the white LED generating unit and the laser generating unit enters the input end of the beam guide (6) after passing through the biconvex lens (5). The laser generating unit includes a near-infrared laser generating unit, a green laser generating unit, and a laser control module (7).
2. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 1, characterized in that, The near-infrared laser generating unit includes: A near-infrared laser generating module (81) is installed inside the housing (1); A near-infrared fiber collimator (82) is installed on top of the light source optical path fixing plate (2); Dichroic mirror 1 (83) is mounted on the top of the light source optical path fixing plate (2) by an optical adjustment bracket and set at a 45-degree angle on the light output path of the near-infrared fiber collimator (82). The dichroic mirror 1 (83) is used to combine the light emitted by the near-infrared laser generating module (81) with the light emitted by the white LED generating unit and then transmit it to the beam guide (6).
3. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 2, characterized in that, The green laser generating unit includes: A green laser generating module (84) is mounted on the bottom surface of the housing (1); An optical path adjustment assembly (85) is disposed on the bottom surface of the housing (1); A green fiber collimator (86) is mounted on the optical path adjustment assembly (85); Dichroic mirror 2 (87) is installed on the optical path adjustment assembly (85). Dichroic mirror 2 (87) is used to transmit the light emitted by the green laser generator module (84) through dichroic mirror 1 (83) to the beam guide (6).
4. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 3, characterized in that, The optical path adjustment component (85) includes: A linear guide rail (851) is installed on the top of the light source optical path fixing plate (2), and a slider (852) is slidably connected to the top of the linear guide rail (851). A color mirror holder (853) is mounted on top of the slider (852), and the dichroic mirror II (87) is mounted inside the color mirror holder (853); The gear turntable (854) is rotatably connected to the bottom surface of the housing (1), and the green optical fiber collimator (86) is mounted on the top of the gear turntable (854); Driven wheel (855) is rotatably connected to the bottom surface of the housing (1), and driven wheel (855) is connected to gear turntable (854) via transmission belt; The drive gear (856) is rotatably connected to the bottom surface of the housing (1) and is coaxially arranged with the driven wheel (855); A rack (857) is mounted on the side wall of the slider (852), and the rack (857) meshes with the drive gear (856); A drive assembly is mounted on the bottom surface of the housing (1). The drive assembly is used to drive the gear turntable (854) to rotate. When the green fiber collimator (86) turns to the dichroic mirror (87), the dichroic mirror (87) moves to the light output path of the white LED generating unit and is set at a 45-degree angle to the light output path of the green fiber collimator (86).
5. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 4, characterized in that, The driving component includes: The worm gear (858) is rotatably connected to the bottom surface of the housing (1) and is coaxially arranged with the gear turntable (854); A servo motor (859) is mounted on the bottom surface of the housing (1). A worm gear (860) is mounted on the output end of the servo motor (859). The worm gear (860) is connected to the worm wheel (858) for transmission. The servo motor (859) can drive the green optical fiber collimator (86) to rotate counterclockwise.
6. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 3, characterized in that, The power supply unit includes: A 5V power supply (9) is installed on the bottom surface of the housing (1). The 5V power supply (9) is used to power the near-infrared laser generating module (81), the green laser generating module (84), the laser control module (7) and the main control board (3). A 12V power supply (10) is located above the 5V power supply (9). The 12V power supply (10) is used to power the white LED generating unit and the touch screen (4). A pulse group suppressor (11) is mounted on the bottom surface of the housing (1) and is used to protect the 5V power supply (9) and the 12V power supply (10).
7. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 1, characterized in that, The white LED generating unit includes: A heat sink (12) is installed on the bottom surface of the housing (1), and a cooling fan (13) is installed at the rear end of the heat sink (12). White LED light-emitting chip (14) is mounted on the side wall of the heat sink (12); A white LED driver board (15) is mounted on the bottom surface of the housing (1); A plano-convex lens assembly (16) is installed at the front end of the heat sink (12). The plano-convex lens assembly (16) is used to collimate and shape the light emitted by the white LED light-emitting chip (14).
8. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 3, characterized in that, The dichroic mirror one (83) and dichroic mirror two (87) are parallel to each other.
9. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 8, characterized in that, The parameters of the first dichroic mirror (83) are R>98%@770-790nm and T>90%@400-700nm; the parameters of the second dichroic mirror (87) are R>95%@525-540nm and T>90%@400-700nm.
10. The robot-assisted three-dimensional optical molecular imaging intraoperative visualization system as described in claim 9, characterized in that, The wavelength of the light emitted by the white LED generating unit is 400-700nm.