Laser lithotripsy system and laser ranging method

Abstract

The application relates to the technical field of laser lithotripsy, in particular to a laser lithotripsy system and a laser ranging method, and solves the technical problems that the distance measurement precision between the end face of an optical fiber and stones is low and frequent calibration is needed in the prior art. The laser lithotripsy system provided by the application is coupled by an optical coupler, so that the optical path trajectories of ranging light and sample light partially overlap the component parts, the number of components is reduced, two working channels do not need to be arranged, and the structural complexity is reduced. In addition, in the laser ranging method, when the prediction result event is a normal event, whether the detection result data is valid is determined according to the detection result data; if the detection result data is valid, an initial distance is calculated according to the detection result data, the initial distance is added to a pre-design calculation queue, a weighted average is used to calculate the actually-measured distance corresponding to a current frame, and the calculation precision is improved.

Description

Technical Field

[0001] This application relates to the field of laser lithotripsy technology, and more specifically, to laser lithotripsy systems and laser ranging methods. Background Technology

[0002] Laser lithotripsy is one of the mainstream surgical methods for treating urinary tract stones such as kidney stones, ureteral stones, and bladder stones. In this procedure, the surgeon inserts an optical fiber through the working channel of an endoscope to the stone site and uses laser energy to break it up. The efficiency of laser lithotripsy is closely related to the distance between the end of the optical fiber and the stone; the best results are achieved when this distance is 0.4 mm.

[0003] Currently, the following two methods are commonly used for distance measurement to detect the distance between the end of the optical fiber and the stone: (1) A method of indirectly estimating the fiber extension length by setting a distance sensor on the fiber handle and connector and measuring the distance between the fiber handle and connector. However, this method can only measure the extension length of the fiber relative to the sheath, and it is difficult to accurately estimate the actual distance between the end of the fiber and the stone, resulting in low measurement accuracy.

[0004] (2) The endoscope is equipped with a dual-core optical fiber. One fiber is used to transmit the lithotripsy laser, and the other adjacent LED fiber is used to measure the distance based on the intensity of light reflection. However, the distance is estimated by detecting the intensity of light reflected from the stone surface. The measurement of light intensity is easily affected by factors such as the difference in reflectivity of the stone surface and the change in the turbidity of the saline solution. Therefore, it is difficult to accurately measure the actual distance between the end of the fiber and the stone. In addition, the endoscope needs to be set up with two working channels, which makes the structure complex. Furthermore, external optical components such as reflectors are required, which poses a great challenge in the narrow space inside the body.

[0005] In addition, during the operation, the doctor will manually cut the fiber end face multiple times to ensure the laser output efficiency. After each cut, the geometric and reflection characteristics of the fiber end face change, which means that the ranging scheme that relies on end face reflection needs to be calibrated frequently. Summary of the Invention

[0006] The purpose of this application is to provide a laser lithotripsy system and a laser ranging method, which solves the technical problems of low accuracy in measuring the distance between the fiber end face and the stone and the need for frequent calibration in the prior art.

[0007] As a first aspect of this application, this application provides a laser lithotripsy system, comprising: A medical laser system, wherein the medical laser system is used to emit medical lasers; A medical laser transmission path and a medical laser fiber, wherein the medical laser is transmitted through the medical laser transmission path to the medical laser fiber and then emitted onto the surface of the stone; A ranging light source system used to emit ranging light; An optical coupler, wherein the optical coupler is used to split the ranging light into a sample light and a reference light; A ranging light collimating and focusing filter is disposed between the medical laser transmission path and the optical coupler; The variable optical attenuator, the reference arm fiber, and the waste optical cell are connected in sequence. Spectrometer; The medical laser passes through the medical laser transmission path and the medical laser fiber in sequence before being emitted onto the surface of the stone. The sample light passes sequentially through the ranging light collimating and focusing filter, the medical laser transmission path, and the medical laser fiber before being emitted onto the surface of the stone. The sample light is reflected by the end face of the medical laser fiber and the surface of the stone, respectively, to form medical laser fiber end face reflected light and stone reflected light. The reference light passes through a variable optical attenuator and a reference arm fiber before reaching the waste light cell. The reference light is reflected at the end face of the reference arm fiber to form the reference fiber end face reflected light. The reflected light from the end face of the medical laser fiber and the reflected light from the stone pass sequentially through the medical laser transmission path and the ranging light collimating and focusing filter before reaching the optical coupler. The light reflected from the end face of the reference fiber passes through the variable optical attenuator and then to the optical coupler. The reflected light from the end face of the medical laser fiber and the reflected light from the stone interfere with the reflected light from the end face of the reference fiber in the optical coupler, respectively, to form a first interference light and a second interference light, wherein the first interference light and the second interference light are superimposed to form the total spectrum; The spectrometer is used to process the total spectrum to obtain a total spectral array.

[0008] In one embodiment of this application, the medical laser transmission path includes: a dichroic mirror and a beam combiner connected in sequence; The medical laser passes sequentially through the dichroic mirror, the beam combiner, and the medical laser fiber before exiting onto the surface of the stone.

[0009] In one embodiment of this application, the laser lithotripsy system further includes: Wavelength division multiplexer; The indicator light passes sequentially through the wavelength division multiplexer, the optical coupler, the medical laser transmission path, and the medical laser fiber before exiting onto the surface of the stone.

[0010] In one embodiment of this application, the medical laser system includes: A medical laser, said medical laser being used to emit an initial medical laser; A collimating lens is used to collimate the initial medical laser to obtain a medical laser.

[0011] In one embodiment of this application, the ranging light source system includes: SLD light source, used to provide initial ranging light; A mode scrambler is used to homogenize the initial ranging beam to obtain a first ranging beam. An optical circulator is used to shape the first ranging beam to obtain a ranging beam. The first interference light and the second interference light pass through the optical circulator and then reach the spectrometer.

[0012] As a second aspect of this application, this application also provides a laser ranging method applied to the aforementioned laser lithotripsy system to measure the distance between the fiber end face of a medical laser fiber and a stone, characterized in that the laser ranging method includes: Perform a Fourier transform on the total spectral array to obtain the optical spectrum; The optical spectrum is processed to obtain detection result data and prediction result events. The detection result data includes: the amplitude of the first spectral peak of the first interfering light and the corresponding first frequency, the first signal-to-noise ratio of the first interfering light, the amplitude of the second spectral peak of the second interfering light and the corresponding second frequency, the second signal-to-noise ratio of the second interfering light; the prediction result events include cutting events, loss events, drift events and normal events. When the predicted event is a normal event, the initial distance of the current frame is calculated based on the first frequency, the second frequency, the weighted average wavelength of the spectrum of the ranging light output by the ranging light source system, the refractive index of saline, and the sampling interval wavelength; the frequency change value is calculated based on the first frequency and the second frequency; when the frequency change value is within a preset range, or when the second signal-to-noise ratio is greater than the preset signal-to-noise ratio, the measured distance between the fiber end face of the medical laser fiber and the stone in the current frame is calculated based on the initial distance of the current frame, the initial distance of a preset number of frames before the current frame, and the weight of the second signal-to-noise ratio of the current frame.

[0013] In one embodiment of this application, the processing of the optical spectrum to obtain detection result data and prediction result events includes: Subpixel interpolation is performed on the optical spectrum to obtain the first spectral peak feature quantity of the first interference light and the second spectral peak feature quantity of the second interference light. The first spectral peak feature quantity includes the first peak amplitude, the first peak width and the corresponding first frequency; the second spectral peak feature quantity includes the second peak amplitude, the second peak width and the corresponding second frequency. The prediction result event is determined based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period before the current time. Calculate the first initial signal-to-noise ratio of the first interference light and the second initial signal-to-noise ratio of the second interference light based on the first spectral peak amplitude and the second spectral peak amplitude, respectively. When the second initial signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio, the second signal-to-noise ratio of the second interfering light is determined to be the second initial signal-to-noise ratio, and the first signal-to-noise ratio of the first interfering light is determined to be the first initial signal-to-noise ratio. The laser ranging method further includes: When the second initial signal-to-noise ratio is less than the preset signal-to-noise ratio, signal loss information is generated, and the attenuation of the variable optical attenuator is adjusted at least once according to the second initial signal-to-noise ratio until the second initial signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio.

[0014] In one embodiment of this application, the step of determining the prediction result event based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period prior to the current time includes: Based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period before the current time, calculate the amplitude change value at the current time; When the absolute value of the amplitude change is greater than a preset threshold, the prediction result event is determined to be a cutting event; When the absolute value of the amplitude change value is less than or equal to the preset threshold, and the amplitude change value decreases relative to the previous amplitude change value, and the decrease value is less than the preset decrease value, the prediction result event is determined to be a loss event. When the absolute value of the amplitude change is less than or equal to a preset threshold, and the first frequency is not equal to the previous first frequency, the prediction result event is determined to be a drift event. When the absolute value of the amplitude change is less than or equal to the preset threshold, and the amplitude change is greater than or equal to the previous amplitude change, the prediction result event is determined to be a normal event. When the absolute value of the amplitude change is less than or equal to the preset threshold, and the first frequency is equal to the previous first frequency, the predicted result event is determined to be a normal event.

[0015] In one embodiment of this application, the laser ranging method further includes: When the predicted event is a cutting event, an early warning message is generated. The early warning message is used to indicate that the ranging should be stopped, and to prompt the cutting of the end face of the medical laser fiber, and to calibrate the first frequency to update the first frequency. When the predicted event is a loss event, the loss rate is calculated, and when the loss rate is greater than the preset loss rate, a prompt message is generated. When the predicted event is a drift event, the first frequency is calibrated to update the first frequency. In one embodiment of this application, the laser ranging method further includes: When the measured distance between the end face of the medical laser fiber in the current frame and the stone is less than the first safe distance, a prompt message indicating that the distance is too close is generated. When the measured distance is greater than the second safety distance and less than the third safety distance, a prompt message indicating that the distance is too far is generated. When the measured distance is greater than or equal to the first safe distance and less than or equal to the second safe distance, a laser enable signal is generated so that the medical laser emits a laser towards the stone; When the measured distance is greater than or equal to the third safety distance, a light-cut-off command is generated to stop the medical laser from working. The laser lithotripsy system provided in this application uses an optical coupler to ensure that the components included in the optical paths of the medical laser, the ranging light, and the sample light overlap. The sample light reflected from the end face of the medical laser fiber and the light reflected from the stone interfere with the light reflected from the end face of the reference fiber in the optical coupler, forming a first interference beam and a second interference beam. The first and second interference beams are superimposed to form a total spectrum. A spectrometer receives and processes the total spectrum to obtain a total spectrum array. Then, the central controller calculates the measured distance between the end face of the medical laser fiber and the stone based on the total spectrum array. This application reduces the number of components and eliminates the need for two working channels, thus reducing structural complexity. Furthermore, the laser ranging method for laser lithotripsy systems provided in this application first performs a Fourier transform on the total spectral array transmitted by the spectrometer to obtain the optical spectrum. Based on the optical spectrum, it calculates the detection result data and predicted result events for the current frame. Different control information is generated based on the predicted result events and retrieved result data. When the predicted result event is a normal event, the validity of the detection result data is determined. If valid, an initial distance is first calculated based on the detection result data, and then added to a preset calculation queue. Finally, the measured distance is calculated based on the updated initial distance in the preset queue and its corresponding weight. Using the signal-to-noise ratio as a weighting factor and employing a weighted average to calculate the measured distance for the current frame improves calculation accuracy. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or 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 only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 The diagram shown is a structural schematic of a laser lithotripsy system provided in an embodiment of this application.

[0018] Figure 2 The diagram shown illustrates the working principle of a laser lithotripsy system according to an embodiment of this application.

[0019] Figure 3 The image shows interference fringes of the total spectrum formed by the superposition of the first interference light and the second interference light according to an embodiment of this application.

[0020] Figure 4 The diagram shown is a schematic flowchart of a laser ranging method provided in an embodiment of this application.

[0021] Figure 5The image shown is a display diagram of the total spectral array before and after Fourier transform and a display diagram of the optical spectrum provided in an embodiment of this application.

[0022] Figure 6 The diagram shown is a flowchart of a laser ranging method provided in another embodiment of this application.

[0023] Figure 7 The diagram shown is a flowchart of a laser ranging method provided in another embodiment of this application.

[0024] Figure 8 The diagram shown is a flowchart of a laser ranging method provided in another embodiment of this application. Attached image description: 11-Medical laser, 12-Collimating lens, 13-Dichroic mirror, 14-Beam combiner / focuser, 15-Medical laser fiber, 20-SLD light source, 21-Mode scrambler, 22-Range-measuring collimating / focusing filter, 23-Optical coupler, 24-Wavelength division multiplexer, 25-Variable optical attenuator, 26-Reference arm fiber, 27-Waste light cell, 28-Optical circulator, 3-Spectrometer, 4-Central controller, 200-Display Detailed Implementation The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] In the description of this application, it should be noted that the terms "upper", "lower", "front", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0027] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "installation" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium; and it can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] Exemplary System As a first aspect of this application, this application provides a laser lithotripsy system. Figure 1The diagram shown is a structural schematic of a laser lithotripsy system according to an embodiment of this application. Figure 1 As shown, the laser lithotripsy system provided in this application includes: A medical laser system is used to emit medical laser light. Specifically, the medical laser system includes a medical laser 11 and a collimating lens 12. The medical laser 11 emits an initial medical laser beam. The collimating lens 12 collimates the initial medical laser beam to obtain the final medical laser beam.

[0029] The medical laser transmission path and the medical laser fiber 15 are used to transmit the medical laser to the medical laser fiber 15 and then emit it to the surface of the stone. The medical laser transmission path includes a dichroic mirror 13 and a beam combiner 14 connected in sequence. That is, the medical laser is transmitted to the laser fiber after passing through the dichroic mirror 13 and the beam combiner 14 in sequence and then emitted to the surface of the stone.

[0030] A ranging light source system is used to emit ranging light. Optionally, the ranging light source system uses an SLD light source 20 or a swept-source laser. This embodiment uses an SLD light source 20 as an example. The ranging light source system includes an SLD light source 20, a mode scrambler 21, and an optical circulator 28 connected in sequence. The SLD light source 20 can provide initial ranging light (the type of initial ranging light is SLD light). SLD (Superluminescent Diode) light is light emitted by a superluminescent diode, and the performance of SLD light is between that of laser and LED (Light Emitting Diode) light. The mode scrambler 21 can scatter and remix the initial ranging light into a smooth spot with uniform energy distribution, thereby homogenizing the initial ranging light to obtain the first ranging light. The homogenized ranging light, after reflection, can more accurately reflect its properties. The optical circulator can reshape the first ranging light to obtain the final ranging light. In addition, the optical circulator 28 has a unidirectional conduction rule, so the ranging light will not return through the port and damage the SLD light source 20.

[0031] Optical coupler 23 is used to split the ranging light into sample light and reference light.

[0032] A ranging light collimating and focusing filter 22 is disposed between the medical laser transmission path and the optical coupler 23; The variable optical attenuator 25, the reference arm fiber 26, and the waste optical cell 27 are connected in sequence. Spectrometer 3; Wavelength division multiplexer 24: The indicator light passes sequentially through wavelength division multiplexer 24, optical coupler 23, medical laser transmission path, and medical laser fiber 15 before exiting onto the stone surface. The indicator light provides visual guidance for the sample light in the ranging light to achieve precise positioning.

[0033] (1) The optical path trajectory of medical lasers: such as Figure 2 As shown, during the operation of the laser lithotripsy system, the optical paths of the medical laser, ranging beam (sample beam and reference beam), and indicator beam are as follows: Medical laser 11 → Collimating lens 12 → Dichroic mirror 13 → Beam combiner → Medical laser fiber 15.

[0034] The medical laser emitted by the medical laser 11 passes through the collimating lens 12, the dichroic mirror 13, the beam combiner 14, and the medical laser fiber 15 in sequence before exiting onto the surface of the stone.

[0035] (2) The optical path trajectory of the ranging beam: SLD light source 20 → Mode scrambler 21 → Optical circulator 28 → Optical coupler 23 → Split into sample light and reference light: Specifically, the optical circulator 28 has three interfaces, namely interface 1, interface 2 and interface 3. The ranging light enters the optical circulator 28 through interface 1 after passing through the mode scrambler 21, and then exits through interface 2 of the optical circulator 28 to the optical coupler 23.

[0036] The optical path of the sample light is as follows: sample light → ranging light collimating and focusing filter → dichroic mirror 13 → beam combining and focusing module → medical laser fiber 15 → stone.

[0037] Reference light path trajectory: Reference light → Variable optical attenuator 25 → Reference arm fiber 26 → Waste light pool 27.

[0038] The ranging light sequentially passes through mode scrambler 21, optical circulator 28, and optical coupler 23 before being coupled into sample light and reference light. The sample light then sequentially passes through ranging light collimating and focusing filter 22, dichroic mirror 13, beam combining and focusing module, and medical laser fiber 15 before exiting onto the stone surface. The sample light is reflected after passing through the end face of the medical laser fiber, forming medical laser fiber end face reflected light. The sample light is also reflected after passing through the stone surface, forming stone reflected light.

[0039] The reference light passes sequentially through the variable optical attenuator 25 and the reference arm fiber 26 before exiting into the waste light pool 27. After being reflected by the end face of the reference arm fiber, the reference light forms the reference fiber end face reflected light.

[0040] (3) The optical path trajectory of the ranging light return: The return path of the ranging light refers to the return path of the light reflected from the reference fiber end face, the medical laser fiber end face, and the stone reflection light. The optical path trajectories of the return paths of the reference fiber end face, the medical laser fiber end face, and the stone reflection light are as follows: The optical path trajectory of light reflected from the end face of a medical laser fiber: Medical laser fiber end face reflected light → beam combiner 14 → dichroic mirror 13 → ranging light collimating and focusing filter 22 → optical coupler 23.

[0041] The light path trajectory of light reflected from a kidney stone: Stone reflected light → beam combiner 14 → dichroic mirror 13 → rangefinder collimating and focusing filter 22 → optical coupler 23.

[0042] The optical path trajectory of the light reflected from the reference fiber end face: Reference fiber end face reflected light → variable optical attenuator 25 → optical coupler 23.

[0043] The reflected light from the medical laser fiber end face and the reflected light from the kidney stone pass sequentially through the medical laser transmission path, the ranging light collimating and focusing filter 22, and then to the optical coupler 23. The reflected light from the reference fiber end face passes through the variable optical attenuator 25 and then to the optical coupler 23. The reflected light from the medical laser fiber end face and the reflected light from the kidney stone interfere with the reflected light from the reference fiber end face in the optical coupler 23, forming a first interference beam and a second interference beam, respectively. The superposition of the first and second interference beams forms the total spectrum, which reflects the distribution of light intensity with wavelength. The total spectrum then passes sequentially through the optical circulator 28 and the spectrometer feed interface to the spectrometer 3.

[0044] Spectrometer 3 processes the total spectrum to obtain a total spectral array. Specifically, the calculation method for the total spectrum by spectrometer 3 includes the following steps: Step (1): Acquire the rainbow fringes of the interference fringes corresponding to the total spectrum: The total spectrum represents the distribution of light intensity with wavelength. The light intensity may be different or the same for different wavelengths.

[0045] The spectrometer 3 is equipped with a linear array camera, which includes multiple photosensitive elements (e.g., 1024 photosensitive elements). Each photosensitive element receives light within a preset wavelength range in the total spectrum and converts the light intensity into an electrical signal (e.g., voltage), which is an analog signal.

[0046] Step (2): Convert each electrical signal into a digital signal, and the multiple digital signals constitute the total spectrum array.

[0047] Each photosensitive element in the linear scan camera transmits its corresponding electrical signal to the processing chip at the back end of the spectrometer 3. The processing chip then converts each electrical signal into a digital signal (e.g., 0 to 65535), that is, represents the electrical signal with numbers. The larger the number in the digital signal, the brighter the interference fringes at that location. After steps (1) and (2), each time sampling, the spectrometer 3 outputs a total spectral array, which includes multiple digital signals. Each digital signal represents the intensity of the interference spectrum. For example, the linear array camera in the spectrometer 3 includes 1024 photosensitive elements, and the corresponding total spectral array includes 1024 digital signals.

[0048] The spectrometer 3 transmits the total spectral array to the central controller 4, which then calculates the distance between the fiber end face of the medical laser fiber 15 and the stone based on the total spectral array. When the distance between the fiber end face of the medical laser fiber 15 and the stone meets a preset condition, such as 0.3 ≤ distance between the fiber end face of the medical laser fiber 15 and the stone ≤ 0.5, the central controller 4 generates a laser enable signal, causing the medical laser 11 to emit laser light towards the stone to break it up.

[0049] It should be noted that, as Figure 2 As shown, the laser lithotripsy system also includes a display 200. The spectrometer 3 can transmit the total spectrum to the display 200, which then displays the interference fringes corresponding to the total spectrum, such as... Figure 3 As shown.

[0050] Specifically, the central controller 4 calculates the total spectral array to obtain the specific calculation method of the distance between the fiber end face of the medical laser fiber 15 and the stone. That is, the central controller 4 executes the laser ranging method, and the specific laser ranging method is as described below.

[0051] Exemplary methods As a second aspect of this application, this application also provides a laser ranging method applied to the aforementioned laser lithotripsy system to measure the distance between the fiber end face of the medical laser fiber 15 and the stone. Figure 4 The diagram shown is a schematic flowchart of a laser ranging method provided in an embodiment of this application. Figure 4 As shown, the laser ranging method provided in this application includes the following steps: S1: Perform a Fourier transform on the total spectral array to obtain the optical spectrum; Specifically, spectrometer 3 receives the total spectrum from the superposition of the first and second interference beams. The total spectrum represents the distribution of light intensity with wavelength, and its display is shown as interference fringes, such as... Figure 3 As shown. Spectrometer 3 then calculates the total spectrum to obtain the total spectral array.

[0052] Upon receiving the total spectral array transmitted by spectrometer 3, a Fourier transform is performed on the total spectral array to obtain the light spectrum, which represents the distribution of light intensity with frequency. The graphs corresponding to the total spectral array and the light spectrum are shown below. Figure 5 As shown.

[0053] Specifically, before performing a Fourier transform on the total spectral array, the total spectral array can be preprocessed. Specific preprocessing methods include, but are not limited to: dark noise subtraction; normalization based on a pre-stored reference spectrum; and windowing.

[0054] The total spectral array is transformed into the optical spectrum by Fourier transform, changing it from the wavelength domain to the frequency domain.

[0055] S2: Process the optical spectrum to obtain detection result data and prediction result events. The detection result data includes: the amplitude of the first spectral peak of the first interference light and the corresponding first frequency, the first signal-to-noise ratio of the first interference light, the amplitude of the second spectral peak of the second interference light and the corresponding second frequency, the second signal-to-noise ratio of the second interference light; the prediction result events include cutting events, loss events, drift events and normal events. Specifically, once the optical spectrum is obtained, the corresponding detection result data can be obtained based on the optical spectrum.

[0056] Specifically, the detection results data include, but are not limited to: the first spectral peak amplitude A1 and the corresponding first frequency f1 of the first interference light (the interference light generated by the interference between the reflected light of the sample light after being reflected by the end face of the medical laser fiber and the reflected light of the reference fiber end face), the first signal-to-noise ratio SNR1 of the first interference light (the interference light generated by the interference between the reflected light of the sample light after being interpreted and the reflected light of the reference fiber end face), the second spectral peak amplitude A2 and the corresponding second frequency f2 of the second interference light, and the second signal-to-noise ratio SNR2 of the second interference light.

[0057] Once the test results data is obtained, the current outcome event of the laser lithotripsy system can be predicted based on the test results data, i.e., the outcome event is predicted.

[0058] Among them, the predicted result event refers to the event that the current laser lithotripsy system may process based on the detection result data, such as cutting event, wear event, drift event, and normal event.

[0059] The cutting event refers to the need to cut the fiber end face of the medical laser fiber 15.

[0060] A loss event refers to the need for the fiber end face of the medical laser fiber 15 to be rinsed.

[0061] A drift event refers to the need for the optical fiber of the sample light to be cut.

[0062] A normal event refers to a situation where all optical fibers in the laser lithotripsy system are functioning normally and require no intervention.

[0063] Once the predicted event is determined, corresponding information can be generated based on the predicted event, such as early warning information, prompt information, and direct calculation of the distance between the end face of the medical laser fiber and the stone.

[0064] S30: When the predicted event is a normal event, calculate the initial distance of the current frame based on the first frequency f1, the second frequency f2, the weighted average wavelength of the spectrum of the ranging light output by the ranging light source system, the refractive index of the end face of the medical laser fiber, and the sampling interval wavelength. Specifically, the initial distance d-raw of the current frame is calculated using the following formula: d-raw = (Δf × λ0²) / (2 × n(T)×Δλ) (Formula 1) In Formula 1, D1 is the initial distance between the end face of the medical laser fiber and the stone in the current frame. Δf = f1 - f2, λ0 is the weighted average wavelength of the spectrum of the ranging light output by the ranging light source system, and n(T) is the refractive index of the perfused saline. Δλ is the sampling interval wavelength. That is, the minimum step distance (i.e., the number of wavelength changes per acquisition) that the photosensitive element corresponding to the linear array camera in spectrometer 3 moves between two adjacent acquisition processes when acquiring interference light within the preset wavelength range.

[0065] The formula for calculating the weighted average wavelength λ0 is as follows: Formula 2 In Formula 2, λ represents the wavelength, and I(λ) represents the light intensity corresponding to that wavelength. That is, the weighted average wavelength is obtained by weighting all wavelengths λ with the light intensity I(λ) as the weight. The weighted average wavelength represents the "center" of the entire spectral energy. This value is the factory-calibrated value of the ranging light source system.

[0066] Specifically, the weighted average wavelength λ0 of the ranging light source system is obtained as follows: the output spectrum of the ranging light source system is directly measured using spectrometer 3 to obtain the I(λ) data array; then λ0 is calculated offline using the above formula 2; the calculated λ0 is written as a fixed parameter into the system firmware (factory calibration). Wherein, n(T) is the refractive index of the infused saline solution, and the specific calculation method is as follows: Formula 3: Formula 3 In Formula 3: T represents the current temperature of the saline solution infused into the body during the lithotripsy procedure; T0 is the reference temperature of physiological saline, i.e., T0 = 20℃; n0 is the refractive index of physiological saline at a reference temperature of 20℃, i.e., n0 = 1.33; α is the temperature coefficient corresponding to the refractive index of physiological saline at a reference temperature of 20℃, i.e., α = -1 × 10⁻¹⁰. -4 / ℃; The refractive index of physiological saline decreases as the temperature of physiological saline increases. For example, when the temperature of physiological saline rises to 37°C, the refractive index of physiological saline will decrease to 1.3283.

[0067] S31: Calculate the frequency change value based on the first frequency f1 and the second frequency f2; The frequency change value, Δf = f1 - f2, is proportional to the optical path difference, which is the distance between the end face of the medical laser fiber 15 and the stone.

[0068] S32: Determine whether the frequency change value is within the preset range, or whether the second signal-to-noise ratio is greater than the preset signal-to-noise ratio; Specifically, the preset range is 0-15mm. The preset signal-to-noise ratio is 10dB.

[0069] When the judgment result of S32 is yes, that is, the frequency change value is within the preset range, for example, the frequency change value is within the preset range of 0-15mm. Or the second signal-to-noise ratio SNR2 is greater than the preset signal-to-noise ratio, for example, SNR2 is greater than 10dB. The initial distance corresponding to the current frame and the signal-to-noise ratio of the second interference light are added to the preset calculation queue, and the measured distance is calculated according to the initial distance in the calculation queue, that is, S33 is executed.

[0070] Specifically, the preset calculation queue includes the initial distances corresponding to a preset number of frames and the signal-to-noise ratio of the second interference light. When the judgment result of S32 is yes, the initial distance corresponding to the current frame and the corresponding signal-to-noise ratio of the second interference light are added to the preset calculation queue, and the initial distance corresponding to the first frame in the previous preset calculation queue is deleted. In this way, the number of frames contained in the preset calculation queue is the preset number.

[0071] When the judgment result of S32 is negative, that is, the frequency change value is not within the preset range, for example, the frequency change value is within the preset range of 0-15mm, or the second signal-to-noise ratio SNR2 is less than or equal to the preset signal-to-noise ratio, for example, SNR2≤10dB. In this case, it means that the data collected in the current frame is invalid. Therefore, the initial distance and the corresponding signal-to-noise ratio of the second interference light corresponding to the current frame are not added to the preset calculation queue. Thus, the measured distance measurement corresponding to the current frame is invalid, or the measured distance corresponding to the current frame is equal to the measured distance corresponding to the previous frame.

[0072] S33: Based on the initial distance of the current frame, the initial distance of a preset number of frames before the current frame, and the weight of the second signal-to-noise ratio of the current frame, calculate the measured distance between the fiber end face of the medical laser fiber 15 and the stone in the current frame.

[0073] Specifically, the measured distance d between the fiber end face of the medical laser fiber 15 corresponding to the current frame and the stone. - The specific calculation formula for final is as follows: Formula 4: Formula 4 In Formula 4, W - i represents the weight of the second signal-to-noise ratio in the i-th frame. d-raw-i represents the initial distance between the fiber end face of the medical laser fiber 15 and the stone, calculated in the i-th frame.

[0074] The laser lithotripsy system provided in this application uses an optical coupler 23 to ensure that the components included in the optical paths of the medical laser, the ranging light, and the sample light overlap. The sample light reflected from the end face of the medical laser fiber and the light reflected from the stone interfere with the light reflected from the end face of the reference fiber in the optical coupler 23, forming a first interference beam and a second interference beam. The first and second interference beams are superimposed to form a total spectrum. The spectrometer 3 receives and processes the total spectrum to obtain a total spectrum array. Then, the central controller 4 calculates the measured distance between the end face of the medical laser fiber 15 and the stone based on the total spectrum array. This application reduces the number of components and eliminates the need for two working channels, thus reducing structural complexity. Furthermore, the laser ranging method for laser lithotripsy systems provided in this application first performs a Fourier transform on the total spectral array transmitted by spectrometer 3 to obtain the optical spectrum. Based on the optical spectrum, it calculates the detection result data and predicted result events for the current frame. Different control information is generated based on the predicted result events and retrieved result data. When the predicted result event is a normal event, the validity of the detection result data is determined. If valid, an initial distance is first calculated based on the detection result data, and then added to a preset calculation queue. Finally, the measured distance is calculated based on the updated initial distance in the preset queue and its corresponding weight. Using the signal-to-noise ratio as a weighting factor and employing a weighted average to calculate the measured distance for the current frame improves calculation accuracy.

[0075] In another embodiment of this application, such as Figure 6 As shown, the laser ranging method of this application further includes the following steps: S4: When the predicted result event is a cutting event, generate an early warning message. The early warning message is used to indicate that the ranging should be stopped and to prompt the cutting of the end face of the medical laser fiber 15. The first frequency is calibrated to update the first frequency. When the predicted event is a cutting event, a warning message indicating a pause in ranging is generated, i.e., ranging is stopped, and the end face of the medical laser fiber 15 is cut. After cutting the end face of the medical laser fiber 15, the first frequency is recalibrated to obtain an updated first frequency.

[0076] When the doctor cuts the end face of the medical laser fiber 15, the length of the medical laser fiber 15 will be shortened by a certain amount. This will change the peak value (i.e., the amplitude A1 of the first spectral peak) and the corresponding first frequency of the first interference light in the optical spectrum. Therefore, the first frequency needs to be recalibrated to update the first frequency. It should be noted that the reason for needing to update the first frequency is as follows: The first spectral peak in the optical spectrum reflects the first optical path difference change, i.e., the first optical path difference change ΔOPD1 = 2·n_fiber·ΔL. The second spectral peak reflects the second optical path difference change, i.e., the second optical path difference change ΔOPD2 = 2·n_fiber·ΔL.

[0077] The first and second spectral peaks will shift synchronously by the same amount on the frequency axis. Therefore, the frequency change difference Δf = f2 – f1 between the first and second frequencies corresponding to the first and second spectral peaks needs to remain constant.

[0078] When a doctor cuts the end face of the optical fiber, the length of the medical laser fiber 15 will shorten by a certain amount (this amount is unknown, for example, 0.5mm). The spectral peaks corresponding to the first and second interference beams in the optical spectrum will change. Therefore, it is necessary to identify the new first spectral peak, that is, to re-identify the first frequency corresponding to the first spectral peak, i.e., f1_new. Otherwise, directly using the old f1_ref to calculate the distance will produce a fixed deviation, as detailed below: After the end face of the medical laser fiber 15 is cut, the first frequency corresponding to the first spectral peak is f1_new = f1_old + Δf_cut. The second frequency corresponding to the first spectral peak is f2_new = f2_old + Δf_cut At this point, the old formula is used for calculation: Δf = f2_new – f1_old = (f2_old + Δf_cut) – f1_old = Δf_old + Δf_cut. If this Δf = Δf_old + Δf_cut is substituted into the initial distance calculation formula, it will cause a fixed error in the distance calculation. Therefore, after the end face of the medical laser fiber 15 is cut, the old f1_ref is updated immediately to improve the ranging accuracy and continuity.

[0079] Specifically, the calibration method for the first frequency is as follows: Obtain the new total spectral array sent by spectrometer 3, then perform a Fourier transform on the new total spectral array to obtain the new optical spectrum, and then find the first spectral peak and the corresponding first frequency in the new optical spectrum. That is, execute S1-S2 to find the first spectral peak and the corresponding first frequency in the new optical spectrum.

[0080] S5: When the predicted event is a loss event, calculate the loss rate. If the loss rate is greater than the preset loss rate, generate a prompt message. When the predicted event is a loss event, the loss rate is calculated. That is, the loss rate is calculated based on the amplitude A1 of the first spectral peak corresponding to the first spectral peak and the amplitude A1 of the first spectral peak corresponding to the previous preset frame. If the loss rate is greater than the preset loss rate, a prompt message is generated. This prompt message is used to indicate that the fiber end face of the medical laser fiber 15 needs to be rinsed.

[0081] S6: When the predicted event is a drift event, calibrate the first frequency to update the first frequency.

[0082] When the preset result event is a drift event, the first frequency is calibrated to update the first frequency. The calibration method is as follows: obtain the new total spectral array sent by spectrometer 3, then perform a Fourier transform on the new total spectral array to obtain a new optical spectrum, and then find the first spectral peak and its corresponding first frequency in the new optical spectrum. That is, execute S1-S2 to find the first spectral peak and its corresponding first frequency in the new optical spectrum.

[0083] In one embodiment of this application, as Figure 7 As shown, S2 (processing the optical spectrum to obtain detection result data and prediction result events) specifically includes the following steps: S21: Perform sub-pixel interpolation calculation on the optical spectrum to obtain the first spectral peak feature quantity of the first interference light and the second spectral peak feature quantity of the second interference light. The first spectral peak feature quantity includes the first peak amplitude A1, the first peak width and the corresponding first frequency f1; the second spectral peak feature quantity includes the second peak amplitude A2, the second peak width and the corresponding second frequency f2. Specifically, S21 (performing sub-pixel interpolation calculations on the light spectrum to obtain the first spectral peak feature of the first interference light and the second spectral peak feature of the second interference light) includes the following steps S210-S212: S210: Search for a first initial amplitude value and a second initial amplitude value in the optical spectrum; S211: Take a preset number of amplitude values ​​near the first initial amplitude value, and perform parabolic fitting or Gaussian fitting on the preset number of amplitude values ​​to calculate the first sub-pixel offset; take a preset number of amplitude values ​​near the second initial amplitude value, and perform parabolic fitting or Gaussian fitting on the preset number of amplitude values ​​to calculate the second sub-pixel offset. S212: Calculate the first spectral peak amplitude value of the first interference light based on the first sub-pixel offset and the first initial amplitude value, and find the corresponding first frequency based on the first spectral peak amplitude value; calculate the second spectral peak amplitude value of the second interference light based on the second sub-pixel offset and the second initial amplitude value, and find the corresponding second frequency based on the second spectral peak amplitude value.

[0084] S22: Determine the predicted event based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period before the current time; Specifically, S22 (determining the prediction result event based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period before the current time) includes the following steps S221-S226: S221: Calculate the amplitude change value at the current time based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period before the current time; Specifically, the first historical amplitude can be the first historical amplitude corresponding to the previous frame of the current frame. Alternatively, the first historical amplitude can be the average of the first historical amplitudes corresponding to the previous few frames of the current frame. S222: When the absolute value of the amplitude change is greater than the preset threshold, the prediction result event is determined to be a cutting event; Specifically, the preset threshold is the product of 50% and the first historical amplitude. When the absolute value of the amplitude change is greater than the preset threshold, it indicates a large change, and the fiber end face of the medical laser fiber 15 needs to be cut. Therefore, the predicted result event is recorded as the cutting event. At this time, ranging stops, and the doctor cuts the fiber end face of the medical laser fiber 15.

[0085] S223: When the absolute value of the amplitude change value is less than or equal to the preset threshold, and the amplitude change value decreases relative to the previous amplitude change value, and the decrease value is less than the preset decrease value, the predicted result event is determined to be a loss event; If the absolute value of the amplitude change is less than or equal to the preset threshold, the amplitude change value corresponding to the current frame is further compared with the amplitude change value corresponding to the previous frame to calculate the amplitude change value decrease value, that is, to calculate the amplitude change value change magnitude. If the amplitude change value decrease value is less than the preset decrease value, it means that the amplitude change value change magnitude is small, and the prediction result event is determined to be a loss event. Then the loss rate is further calculated. If the loss rate is greater than the preset loss rate, then flushing or gain is performed.

[0086] S224: When the absolute value of the amplitude change is less than or equal to the preset threshold, and the first frequency is not equal to the previous first frequency, the prediction result event is determined to be a drift event. If the absolute value of the amplitude change is less than or equal to the preset threshold, and the first frequency is not equal to the first frequency of the previous frame, then the predicted event is determined to be a drift event.

[0087] S225: When the absolute value of the amplitude change is less than or equal to the preset threshold, and the amplitude change is greater than or equal to the previous amplitude change, the predicted event is determined to be a normal event. S226: When the absolute value of the amplitude change is less than or equal to the preset threshold, and the first frequency is equal to the previous first frequency, the predicted event is determined to be a normal event.

[0088] S23: Calculate the first initial signal-to-noise ratio of the first interference light and the second initial signal-to-noise ratio of the second interference light based on the first peak amplitude and the second peak amplitude, respectively; S24: When the second initial signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio, determine the second signal-to-noise ratio of the second interference light as the second initial signal-to-noise ratio, and determine the first signal-to-noise ratio of the first interference light as the first initial signal-to-noise ratio. When the second initial signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio (e.g., 10 dB), it indicates that the second spectral peak in the optical spectrum truly exists. Therefore, the second initial signal-to-noise ratio is determined as the second signal-to-noise ratio of the second interfering light. The first initial signal-to-noise ratio is determined as the first signal-to-noise ratio of the first interfering light.

[0089] The laser ranging method also includes the following steps: S25: When the second initial signal-to-noise ratio is less than the preset signal-to-noise ratio, generate signal loss information and adjust the attenuation of the variable optical attenuator 25 at least once according to the second initial signal-to-noise ratio until the second initial signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio.

[0090] When the second initial signal-to-noise ratio (SNR) is less than the preset SNR, it indicates that the second spectral peak in the optical spectrum may be submerged in noise. In this case, both the first and second initial SNRs are invalid, indicating that the signal is actually present, and thus signal loss information is generated. Then, the attenuation of the variable optical attenuator 25 is adjusted according to the second initial SNR until the second initial SNR is greater than or equal to the preset SNR.

[0091] In one embodiment of this application, as Figure 8 As shown, the laser ranging method also includes the following steps: S7: When the measured distance between the end face of the medical laser fiber 15 in the current frame and the stone is less than the first safe distance, a prompt message indicating that the distance is too close is generated. Specifically, the first safety distance is 0.3mm.

[0092] When the measured distance is less than the first safe distance, it indicates that the distance between the fiber end face of the medical laser fiber 15 and the stone is too close. Therefore, a prompt message indicating that the distance is too close is generated. At this time, according to the corresponding prompt message, the medical laser will not be enabled so as not to break up the stone.

[0093] S8: When the measured distance is greater than the second safety distance and less than the third safety distance, generate a prompt message that the distance is too far; Specifically, the second safety distance is 0.5mm. The third safety distance is 5mm.

[0094] When the measured distance is greater than the second safe distance, it indicates that the distance between the fiber end face of the medical laser fiber 15 and the stone is too far. Therefore, a prompt message indicating that the distance is too far is generated. At this time, according to the corresponding prompt message, the medical laser will not be enabled so as not to break up the stone.

[0095] S9: When the measured distance is greater than or equal to the first safety distance and less than or equal to the second safety distance, a laser enable signal is generated so that the medical laser 11 emits a laser to the stone; When the measured distance is greater than or equal to the first safety distance and less than or equal to the second safety distance, it indicates that the distance between the fiber end face of the medical laser fiber 15 and the stone is appropriate. At this time, the medical laser is enabled so that the medical laser 11 emits laser light to the stone to complete the stone breaking.

[0096] S90: When the measured distance is greater than or equal to the third safety distance, a light-cutting command is generated to stop the medical laser 11 from working.

[0097] When the measured distance is greater than the third safety distance, a light-cut-off command is generated, causing the medical laser 11 to stop working.

[0098] Exemplary controller As a third aspect of this application, such as Figure 2 As shown, this application also provides a central controller 4 for executing the laser ranging method described above. Specifically, the central controller 4 includes a data processing unit 41 and a main control unit 42. Optionally, as... Figure 2As shown, the central controller 4 also includes a power distribution unit 40, which distributes the power output from the AC-DC switching power supply to various devices (such as the spectrometer 3, the display 200, etc.).

[0099] The data processing unit performs a Fourier transform on the total spectral array to obtain the optical spectrum; processes the optical spectrum to obtain detection result data and predicted result events; and when the predicted result event is a normal event, it calculates the initial distance of the current frame based on the first frequency f1, the second frequency f2, the weighted average wavelength of the spectrum of the ranging light output by the ranging light source system, the refractive index of the medical laser fiber end face, and the sampling interval wavelength. It also calculates the frequency change value based on the first and second frequencies. When the frequency change value is within a preset range, or the second signal-to-noise ratio (SNR2) is greater than a preset SNR, it calculates the measured distance between the end face of the medical laser fiber and the stone in the current frame based on the initial distance of the current frame, the initial distances of a preset number of frames preceding the current frame, and the weight of the second SNR of the current frame. In other words, the data processing unit executes steps S1-S33 of the laser ranging method described above.

[0100] The main control unit generates an early warning message when the predicted event is a cutting event. This message indicates that ranging should be stopped, prompts the user to cut the end face of the medical laser fiber, and calibrates and updates the first frequency. When the predicted event is a loss event, it calculates the loss rate; if the loss rate exceeds a preset loss rate, it generates a prompt message. When the predicted event is a drift event, it calibrates and updates the first frequency. In other words, the main control unit executes steps S4-S6 of the laser ranging method described above.

[0101] Optionally, the main control unit is also used to generate a "closer" prompt when the measured distance between the fiber end face of the medical laser fiber and the stone in the current frame is less than a first safety distance; to generate a "too far" prompt when the measured distance is greater than a second safety distance and less than a third safety distance; to generate a laser enable signal when the measured distance is greater than or equal to the first safety distance and less than or equal to the second safety distance, so that the medical laser emits laser light to the stone; and to generate a "light cut-off" command when the measured distance is greater than or equal to the third safety distance, so that the medical laser stops working. That is, the main control unit is also used to execute S7-S90 in the laser ranging method described above.

[0102] Exemplary electronic devices As a fourth aspect of this application, this application also provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and when the processor executes the computer program, it performs the laser ranging method described above.

[0103] Specifically, the electronic device includes a processor, memory, network interface, and input device connected via a device bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores operating devices and computer programs. The internal memory provides an environment for the operation of the operating devices and computer programs in the non-volatile storage medium. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it follows the steps of a laser ranging method according to various embodiments of this specification as described in the above embodiments.

[0104] The processor may include the main processor, as well as baseband chips, modems, etc.

[0105] The memory stores a program for executing the technical solution of this application, and may also store operating devices and other key business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0106] The processor can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0107] The control handle may include a device for receiving user input data and information, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor.

[0108] Output devices may include devices that allow information to be output to the user, such as displays, printers, speakers, etc.

[0109] The communication interface may include any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0110] The processor executes the program stored in the memory and calls other devices, which can be used to implement the various steps of the laser ranging method provided in the above embodiments of this specification.

[0111] The electronic device may also include a display component and a voice component. The display component may be a liquid crystal display or an e-ink display. The input device of the controller may be a touch layer covering the display component, or a button, trackball, or touchpad set on the controller housing, or an external keyboard, touchpad, or mouse, etc.

[0112] Exemplary computer program products and storage media In addition to the methods and devices described above, a laser ranging method provided in the embodiments of this specification can also be a computer program product, which includes computer program instructions that, when executed by a processor, cause the processor to perform the steps in a laser ranging method according to various embodiments of this specification as described in the "Exemplary Methods" section above.

[0113] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium; in another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0114] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this specification. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages.

[0115] Furthermore, embodiments of this specification also provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor of the steps in a laser ranging method according to various embodiments of this specification as described in the "Exemplary Methods" section above.

[0116] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this specification can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0117] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] The embodiments described above are merely illustrative of several implementation methods outlined in this specification. While the descriptions are specific and detailed, they should not be construed as limiting the scope of the solutions provided in this specification. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this specification, and these all fall within the scope of protection of this specification. Therefore, the scope of protection for this patent should be determined by the appended claims.

Claims

1. A laser lithotripsy system, characterized in that, include: A medical laser system, wherein the medical laser system is used to emit medical lasers; A medical laser transmission path and a medical laser fiber, wherein the medical laser is transmitted through the medical laser transmission path to the medical laser fiber and then emitted to the surface of the stone; A ranging light source system used to emit ranging light; An optical coupler, wherein the optical coupler is used to split the ranging light into a sample light and a reference light; A ranging light collimating and focusing filter is disposed between the medical laser transmission path and the optical coupler; The variable optical attenuator, the reference arm fiber, and the waste optical cell are connected in sequence. Spectrometer; The medical laser passes through the medical laser transmission path and the medical laser fiber in sequence before being emitted onto the surface of the stone. The sample light passes sequentially through the ranging light collimating and focusing filter, the medical laser transmission path, and the medical laser fiber before being emitted onto the surface of the stone. The sample light is reflected by the end face of the medical laser fiber and the surface of the stone, respectively, to form medical laser fiber end face reflected light and stone reflected light. The reference light passes through a variable optical attenuator and a reference arm fiber before reaching the waste light cell. The reference light is reflected at the end face of the reference arm fiber to form the reference fiber end face reflected light. The reflected light from the end face of the medical laser fiber and the reflected light from the stone pass sequentially through the medical laser transmission path and the ranging light collimating and focusing filter before reaching the optical coupler. The light reflected from the end face of the reference fiber passes through the variable optical attenuator and then to the optical coupler. The reflected light from the end face of the medical laser fiber and the reflected light from the stone interfere with the reflected light from the end face of the reference fiber in the optical coupler, respectively, to form a first interference light and a second interference light, wherein the first interference light and the second interference light are superimposed to form the total spectrum; The spectrometer is used to process the total spectrum to obtain a total spectral array.

2. The laser lithotripsy system according to claim 1, characterized in that, The medical laser transmission path includes: a dichroic mirror and a beam combiner connected in sequence; The medical laser passes sequentially through the dichroic mirror, the beam combiner, and the medical laser fiber before exiting onto the surface of the stone.

3. The laser lithotripsy system according to claim 1, characterized in that, Also includes: Wavelength division multiplexer; The indicator light passes sequentially through the wavelength division multiplexer, the optical coupler, the medical laser transmission path, and the medical laser fiber before exiting onto the surface of the stone.

4. The laser lithotripsy system according to claim 1, characterized in that, The medical laser system includes: A medical laser, said medical laser being used to emit an initial medical laser; A collimating lens is used to collimate the initial medical laser to obtain a medical laser.

5. The laser lithotripsy system according to claim 1, characterized in that, The ranging light source system includes: SLD light source, used to provide initial ranging light; A mode scrambler is used to homogenize the initial ranging beam to obtain a first ranging beam. An optical circulator is used to shape the first ranging beam to obtain a ranging beam. The first interference light and the second interference light pass through the optical circulator and then reach the spectrometer.

6. A laser ranging method, applied to the laser lithotripsy system according to any one of claims 1-5, for measuring the distance between the fiber end face of a medical laser fiber and a stone, characterized in that, The laser ranging method includes: Perform a Fourier transform on the total spectral array to obtain the optical spectrum; The optical spectrum is processed to obtain detection result data and prediction result events. The detection result data includes: the amplitude of the first spectral peak of the first interfering light and the corresponding first frequency, the first signal-to-noise ratio of the first interfering light, the amplitude of the second spectral peak of the second interfering light and the corresponding second frequency, the second signal-to-noise ratio of the second interfering light; the prediction result events include cutting events, loss events, drift events and normal events. When the predicted event is a normal event, the initial distance of the current frame is calculated based on the first frequency, the second frequency, the weighted average wavelength of the spectrum of the ranging light output by the ranging light source system, the refractive index of saline, and the sampling interval wavelength; the frequency change value is calculated based on the first frequency and the second frequency; when the frequency change value is within a preset range, or when the second signal-to-noise ratio is greater than the preset signal-to-noise ratio, the measured distance between the fiber end face of the medical laser fiber and the stone in the current frame is calculated based on the initial distance of the current frame, the initial distance of a preset number of frames before the current frame, and the weight of the second signal-to-noise ratio of the current frame.

7. The laser ranging method according to claim 6, characterized in that, The process of processing the optical spectrum to obtain detection result data and prediction result events includes: Subpixel interpolation is performed on the optical spectrum to obtain the first spectral peak feature quantity of the first interference light and the second spectral peak feature quantity of the second interference light. The first spectral peak feature quantity includes the first peak amplitude, the first peak width and the corresponding first frequency; the second spectral peak feature quantity includes the second peak amplitude, the second peak width and the corresponding second frequency. The prediction result event is determined based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period before the current time. Calculate the first initial signal-to-noise ratio of the first interference light and the second initial signal-to-noise ratio of the second interference light based on the first spectral peak amplitude and the second spectral peak amplitude, respectively. When the second initial signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio, the second signal-to-noise ratio of the second interfering light is determined to be the second initial signal-to-noise ratio, and the first signal-to-noise ratio of the first interfering light is determined to be the first initial signal-to-noise ratio. The laser ranging method further includes: When the second initial signal-to-noise ratio is less than the preset signal-to-noise ratio, signal loss information is generated, and the attenuation of the variable optical attenuator is adjusted at least once according to the second initial signal-to-noise ratio until the second initial signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio.

8. The laser ranging method according to claim 7, characterized in that, The event for determining the prediction result based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period prior to the current time includes: Based on the amplitude of the first spectral peak and the first historical amplitudes of multiple historical first interference lights within a preset historical time period before the current time, calculate the amplitude change value at the current time; When the absolute value of the amplitude change is greater than a preset threshold, the prediction result event is determined to be a cutting event; When the absolute value of the amplitude change value is less than or equal to the preset threshold, and the amplitude change value decreases relative to the previous amplitude change value, and the decrease value is less than the preset decrease value, the prediction result event is determined to be a loss event. When the absolute value of the amplitude change is less than or equal to a preset threshold, and the first frequency is not equal to the previous first frequency, the prediction result event is determined to be a drift event. When the absolute value of the amplitude change is less than or equal to the preset threshold, and the amplitude change is greater than or equal to the previous amplitude change, the prediction result event is determined to be a normal event. When the absolute value of the amplitude change is less than or equal to the preset threshold, and the first frequency is equal to the previous first frequency, the predicted result event is determined to be a normal event.

9. The laser ranging method according to claim 6, characterized in that, Also includes: When the predicted event is a cutting event, an early warning message is generated. The early warning message is used to indicate that the ranging should be stopped, and to prompt the cutting of the end face of the medical laser fiber, and to calibrate the first frequency to update the first frequency. When the predicted event is a loss event, the loss rate is calculated, and when the loss rate is greater than the preset loss rate, a prompt message is generated. When the predicted event is a drift event, the first frequency is calibrated to update the first frequency.

10. The laser ranging method according to claim 6, characterized in that, Also includes: When the measured distance between the end face of the medical laser fiber in the current frame and the stone is less than the first safe distance, a prompt message indicating that the distance is too close is generated. When the measured distance is greater than the second safety distance and less than the third safety distance, a prompt message indicating that the distance is too far is generated. When the measured distance is greater than or equal to the first safe distance and less than or equal to the second safe distance, a laser enable signal is generated so that the medical laser emits a laser towards the stone; When the measured distance is greater than or equal to the third safety distance, a light-cut-off command is generated to stop the medical laser from working.

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