Multi-modal imaging catheter and system integrating optical and ultrasound ring scanning functions

Abstract

The application discloses a multi-mode imaging catheter and system integrating optical ring view and ultrasonic ring scan functions, and the catheter comprises a head end part at a distal end, wherein the head end part comprises a light transmission tube located at the outer periphery of the head end part, the light transmission tube being capable of transmitting light and ultrasonic waves; an optical camera module comprising an image sensor, a first lens assembly and a light reflector arranged in sequence along the central axis of the head end part from the proximal end to the distal end, the optical axis of the first lens assembly coincides with the central axis of the head end part, and the light reflector is capable of reflecting the light entering the head end part from the light transmission tube to the first lens assembly and then to the image sensor; and a ring array ultrasonic transducer arranged on the inner side of the light transmission tube, wherein the ultrasonic ring scan area of the ring array ultrasonic transducer in the lateral direction and the optical image shooting area of the optical camera module in the lateral direction at least partially coincide. The catheter has the multi-mode collaborative capability of lateral ring view optical imaging and lateral ultrasonic tomographic imaging, and the diagnostic accuracy can be improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a multimodal imaging catheter and system integrating optical panoramic vision and ultrasonic panoramic scanning functions. Background Technology

[0002] Existing imaging catheters that enter internal cavities through the working channel of an endoscope only have single optical imaging capabilities and lack ultrasound tomography and color Doppler blood flow imaging. Optical imaging can only acquire morphological information of the mucosal surface within the cavity, and cannot visualize lesions located in the submucosa or deep within the vessel wall (such as submucosal tumors, external pressure bulges, vascular malformations, etc.). Therefore, it cannot provide information on the deep structure and blood flow of the vessel wall. In clinical practice, many early cancer lesions do not have raised or depressed surfaces, but rather grow in a flat or depressed pattern. Optical imaging catheters cannot determine their depth of invasion, often requiring combined evaluation with other imaging methods (such as CT and EUS), increasing the number of examinations for patients and medical costs.

[0003] Therefore, existing imaging catheters have the problem of not being able to obtain information on the deep structure of the cavity wall, and cannot meet the current medical needs for simultaneous acquisition of multiple modalities and parameters, especially in terms of wall tomographic structure and blood flow assessment. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a multi-mode imaging catheter that integrates optical panoramic vision and ultrasonic panoramic scanning functions, so as to solve the problem that the existing imaging catheters have a single dimension of information acquisition and cannot simultaneously acquire information on the deep structure of the cavity wall.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A multimodal imaging catheter integrating optical panoramic and ultrasonic panoramic scanning functions, the catheter including a distal tip: the distal tip includes: A light-transmitting tube is located on the outer periphery of the head end, and the light-transmitting tube allows light and ultrasonic waves to pass through; An optical camera module for acquiring optical image data of a target object includes an image sensor, a first lens assembly, and a light reflector arranged sequentially from the near end to the far end along the central axis of the head end. The optical axis of the first lens assembly coincides with the central axis of the head end. The light reflector is capable of reflecting light entering the head end from the light-transmitting tube to the first lens assembly and then to the image sensor. A ring array ultrasonic transducer is coaxially disposed inside the light-transmitting tube. The ring array ultrasonic transducer is used to acquire ultrasonic tomographic image data of the target object. The ultrasonic ring scanning area of ​​the ring array ultrasonic transducer in the lateral direction of the head end and the optical image capturing area of ​​the optical imaging module in the lateral direction of the head end at least partially overlap.

[0006] Furthermore, the ring array ultrasonic transducer is coaxially disposed on the outer periphery of the first lens assembly. The cross-section of the ultrasonic ring scanning region of the ring array ultrasonic transducer is located at the center of the lateral optical image capturing area of ​​the optical camera module.

[0007] Furthermore, the inner side of the ring array ultrasonic transducer is fixedly disposed on the outer periphery of the proximal portion of the first lens assembly, and the outer side of the ring array ultrasonic transducer is attached and fixed to the inner wall of the light-transmitting tube.

[0008] Furthermore, the ring array ultrasonic transducer includes multiple transducer elements arranged in a cylindrical shape, forming a ring array in the circumferential direction of the first lens assembly. Each transducer element is independently connected to an ultrasonic signal line, which extends along the axial direction of the conduit and is electrically connected to the ultrasonic signal transceiver interface of the light guide. A backing layer is provided on the side of the multiple transducer elements facing the first lens assembly. The backing layer is made of acoustic impedance-matched sound-absorbing material and is used to absorb back-propagating sound waves to suppress clutter interference and improve axial resolution.

[0009] Furthermore, the outer wall surface of the light-transmitting tube is coated with an anti-reflective coating and / or a hydrophilic coating.

[0010] Furthermore, the light reflector is a meniscus hyperboloid mirror with its convex surface facing the image side. A common focal point design is achieved between one focal point of the meniscus hyperboloid mirror near the image sensor and one focal point of the first lens assembly near the image sensor.

[0011] Furthermore, the optical camera module also includes a second lens assembly arranged on the same optical axis as the first lens assembly. The second lens assembly is located at the far end of the light reflector. Light rays incident from the far end of the head end can pass through the second lens assembly, the light reflector, and the first lens assembly in sequence to the image sensor. The light reflector has a central through hole at its geometric center, which allows all or part of the light rays incident on the second lens assembly to pass through the central through hole.

[0012] Furthermore, light rays incident from the distal end of the head end pass sequentially through the second lens assembly, the light reflector, and the first lens assembly and are directed toward the central region of the photosensitive surface of the image sensor; Light rays entering from the side of the head end pass sequentially through the light reflector and the first lens assembly and are directed toward the peripheral area of ​​the photosensitive surface of the image sensor; The central region of the photosensitive surface and the peripheral region of the photosensitive surface are two distinct regions on the photosensitive surface that do not overlap.

[0013] Furthermore, the head end includes a first annular support and a second annular support located at the distal end of the first annular support, and the light-transmitting tube is fixedly connected between the first annular support and the second annular support; the first lens assembly and the annular ultrasonic transducer are both fixedly connected to the second annular support, and the light reflector and the second lens assembly are both fixedly connected to the second annular support.

[0014] Furthermore, the head end also includes a third annular support located near the first annular support. The outer periphery of the head end is provided with a light-transmitting window fixedly connected between the first annular support and the third annular support. An illumination element is provided on the inner side of the light-transmitting window. The illumination element is used to provide the light required for shooting for the optical camera module. The illumination element is an LED light or an illumination fiber.

[0015] Furthermore, the first lens assembly includes a first lens barrel and a first lens group disposed within the first lens barrel; the second lens assembly includes a second lens barrel, a second lens group disposed within the second lens barrel, and a protective glass window fixed to the second lens barrel and located at the distal end of the second lens group, wherein the first lens barrel is fixed to a second annular support, and the second lens is fixed to the first annular support.

[0016] A multimodal imaging system integrating optical panoramic and ultrasonic panoramic scanning functions includes a host computer, a display, and a multimodal imaging conduit with integrated optical panoramic and ultrasonic panoramic scanning functions as described above. The conduit includes a light guide, a flexible conduit, and a head end arranged sequentially from the proximal end to the distal end. The light guide is plugged into the host computer, which is connected to the display. Optical image data acquired by the optical camera module and ultrasonic tomographic image data acquired by the panoramic ultrasonic transducer are processed by the host computer and then displayed on the display.

[0017] Furthermore, the host includes a system control module, and an optical light source module, an ultrasonic front-end module, and a catheter socket electrically connected to the system control module; The conduit socket is used to establish optical, electrical, and control signal connections with the light guide section of the conduit; When the lighting element is an optical fiber, the optical light source module is controlled by the system control module to generate an illumination beam, and the illumination beam emitted by the optical light source module is optically coupled to the optical fiber in the conduit through the illumination beam port; when the lighting element is an LED lamp, the optical light source module is controlled by the system control module to generate an illumination signal, and the illumination signal is transmitted to the LED lamp in the conduit through the illumination signal transmission line. The ultrasound front-end module is controlled by the system control module to generate excitation pulse signals. The excitation pulse signals emitted by the ultrasound front-end module are transmitted to the annular array ultrasound transducer at the distal end of the catheter through the ultrasound signal transceiver port. The ultrasound front-end module generates B-mode ultrasound raw image data and / or color Doppler blood flow raw image data based on the ultrasound echo signals returned by the annular array ultrasound transducer, and outputs the B-mode ultrasound raw image data and / or color Doppler blood flow raw image data to the system control module. The system control module includes a main processor and an imaging processing unit electrically connected to the main processor. The main processor is electrically connected to the imaging signal port of the light guide. The imaging processing unit includes an optical image processing unit, a B-mode ultrasound image processing unit, a color Doppler blood flow image processing unit, and an image fusion unit. The optical image processing unit is coupled between the main processor and the image fusion unit, and processes the returned optical image data to obtain an optical image. The B-mode ultrasound image processing unit is coupled between the main processor and the image fusion unit. The B-mode ultrasound image processing unit processes the raw B-mode ultrasound image data to obtain a B-mode ultrasound image. The color Doppler blood flow image processing unit is coupled between the main processor and the image fusion unit. The color Doppler blood flow image processing unit processes the returned color Doppler blood flow raw image data to obtain a color Doppler blood flow image, which is superimposed on the B-mode ultrasound image at the same location. The image fusion unit includes memory firmware storing an image fusion algorithm; the image fusion unit performs real-time fusion of the optical image, B-mode ultrasound image and color Doppler blood flow image in the same coordinate system based on the spatial mapping parameters of the optical image coordinate system and the ultrasound tomography image coordinate system obtained by factory calibration, and displays the optical-ultrasound superimposed image on the same screen of the display.

[0018] The technical solution of this invention has the following advantages: 1. The multimode imaging catheter integrating optical panoramic imaging and ultrasonic panoramic scanning functions provided by the present invention comprises a light-transmitting and sound-transmitting tube arranged on the outer periphery of the catheter tip, and an image sensor, a first lens assembly, and a light reflector arranged sequentially from proximal to distal end inside the tip. The light reflector reflects light entering the tip from the light-transmitting tube to the first lens assembly and then to the image sensor, enabling 360° panoramic optical imaging of the tip. The ring array ultrasonic transducer inside the light-transmitting tube enables 360° ultrasonic scanning of the tip. The surround-scan imaging technique, which combines surround-scan imaging with ultrasound imaging (including color Doppler), allows for the simultaneous acquisition of optical image data and ultrasound tomographic image data of the same target object in the lateral direction of the head. By integrating surround-scan optical imaging and surround-scan ultrasound imaging (including color Doppler function) within the head end of the same catheter, the surface morphology, deep structure, and blood flow information of the target object can be acquired simultaneously in a single examination, filling a technological gap in this field.

[0019] 2. The multi-mode imaging catheter with integrated optical panoramic and ultrasonic panoramic scanning functions provided by the present invention has an array of ultrasonic transducers coaxially disposed on the outer periphery of the first lens assembly. The array of ultrasonic transducers and the first lens assembly can achieve spatial alignment of the two imaging modes of ultrasonic imaging and optical imaging through coaxial design and factory calibration.

[0020] 3. The multimode imaging conduit with integrated optical panoramic and ultrasonic panoramic scanning functions provided by the present invention has an array of ultrasonic transducers fixedly disposed on the outer periphery of the first lens assembly biased towards the proximal end. This can reduce the interference of the array of ultrasonic transducers on the lateral panoramic light passing through the light-transmitting tube. The lateral light can pass through the gap between the array of ultrasonic transducers and the light reflector and be directed to the light reflector, which is beneficial to improving the clarity of panoramic optical imaging.

[0021] 4. The multimode imaging conduit with integrated optical surround view and ultrasonic surround scan functions provided by the present invention has an anti-reflective coating that can reduce the interference of stray light on the clarity of surround view optical imaging, and a hydrophilic coating that can promote liquid wetting of the outer wall of the light-transmitting tube and prevent the outer wall of the light-transmitting tube from affecting the ultrasonic imaging quality due to air gaps.

[0022] 5. The multimode imaging guide tube integrating optical surround view and ultrasonic surround scanning functions provided by this invention features a meniscus hyperboloid reflecting mirror with two focal points on either side of the mirror. The focal point closer to the image sensor and the focal point of the first lens assembly closer to the image sensor share a common focal point. Compared to spherical reflecting mirrors, hyperboloid reflecting mirrors do not exhibit spherical aberration under the set conjugate focal point operating state, avoiding aberration blurring caused by spherical reflection and thus ensuring the clarity of lateral surround view optical imaging. Compared to ellipsoidal reflecting mirrors, while achieving a common focal point design, the hyperboloid reflecting mirror's convex surface facing the image side allows for natural spatial separation of the reflected and incident light paths, eliminating the risk of mechanical obstruction. This facilitates the reflection and convergence of large-angle lateral surround view light rays passing through the light-transmitting tube to a common focal point on the optical axis, thereby achieving common focal point matching with the forward direct view light rays and ensuring that both beams form a clear and consistent image on the same intermediate image plane.

[0023] 6. The multimode imaging guide tube with integrated optical panoramic and ultrasonic scanning functions provided by the present invention can achieve axial optical imaging at the distal end of the head by cooperating with the second lens assembly and the first lens assembly; the geometric center of the light reflector is provided with a central through hole, which runs through the optical axis and allows the forward imaging beam to pass through without obstruction and directly enter the second lens assembly and the image sensor; the lateral imaging beam is directed towards the reflective surface around the central through hole, and after reflection and deflection, it also enters the second lens assembly and the image sensor. The two imaging beams do not interfere with each other and can be imaged simultaneously on the same image sensor.

[0024] 7. The multi-mode imaging conduit with integrated optical panoramic and ultrasonic panoramic scanning functions provided by the present invention has a partitioned arrangement of the central region and the peripheral region of the photosensitive surface on the image sensor, which enables simultaneous imaging of forward imaging light and lateral panoramic light without interference between them.

[0025] 8. The multimode imaging guide tube integrating optical surround view and ultrasonic surround scan functions provided by the present invention, in the imaging optical path of the optical camera module, the forward direct-viewing light beam passes through the central through hole of the second lens assembly and the light reflector in sequence, forming a forward real image on the object side of the first lens assembly. The lateral surround-viewing light beam forms a virtual image after being reflected by the light reflector. The forward real image and the virtual image are located on the same intermediate image plane on the object side of the first lens assembly. The first lens assembly images the forward real image and the virtual image on the intermediate image plane onto the photosensitive surface of the image sensor. The forward real image is imaged in the central area of ​​the photosensitive surface of the image sensor after passing through the first lens assembly to obtain a forward direct-viewing image. The virtual image is imaged in the peripheral area of ​​the photosensitive surface of the image sensor after passing through the first lens assembly to obtain a lateral surround-viewing image. Thus, the forward direct-viewing image and the lateral surround-viewing image are presented in separate sections on the photosensitive surface without interfering with each other, which facilitates the simultaneous partitioned imaging of the forward imaging beam and the lateral surround-viewing beam in low-light environments.

[0026] 9. The multimode imaging catheter with integrated optical panoramic and ultrasonic panoramic scanning functions provided by the present invention, wherein the first annular support and the second annular support enable the coaxial integrated installation of the light-transmitting tube, the first lens assembly, the annular ultrasonic transducer, the light reflector and the second lens assembly on the head end seat.

[0027] 10. The multimodal imaging system integrating optical panoramic and ultrasonic scanning functions provided by the present invention adopts the aforementioned multimodal imaging catheter integrating optical panoramic and ultrasonic scanning functions. It integrates panoramic optical imaging and ultrasonic scanning tomographic imaging functions, and realizes the organic fusion of four modes on a single imaging catheter: 360° lateral panoramic optical imaging, forward direct optical imaging, 360° lateral ultrasonic tomographic imaging (mode B), and color Doppler blood flow imaging. Furthermore, lateral panoramic optical imaging and lateral ultrasonic tomographic imaging can realize the fine surface morphology, deep structure, and blood flow information of the same target tissue. Without increasing the number of instruments and operational complexity, it significantly improves the multidimensional information acquisition capability of intracavitary imaging and can be widely used in various diagnostic and treatment scenarios of internal cavities.

[0028] 11. The multi-mode imaging system integrating optical panoramic and ultrasound panoramic scanning functions provided by the present invention includes a color Doppler blood flow image processing unit coupled between the main processor and the image fusion unit. The color Doppler blood flow image processing unit processes the returned color Doppler blood flow raw image data to obtain a color Doppler blood flow image. The color Doppler blood flow image is superimposed on a B-mode ultrasound image at the same location, enabling the acquisition of blood flow information within the protruding tissue. The image fusion unit, based on the spatial mapping parameters of the optical image coordinate system and the ultrasound tomographic image coordinate system obtained by factory calibration, can perform real-time fusion of the optical image, B-mode ultrasound image, and color Doppler blood flow image in the same coordinate system to obtain an optical-ultrasound superimposed image. The optical-ultrasound superimposed image is then displayed on the same screen of the monitor, facilitating a full view of the lesion in the same frame and improving diagnostic accuracy. Attached Figure Description

[0029] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of a multimodal imaging catheter integrating optical panoramic and ultrasonic panoramic scanning functions in an embodiment of the present invention; Figure 2This is a three-dimensional structural diagram of the distal portion of the multimode imaging catheter integrating optical panoramic and ultrasonic panoramic scanning functions in an embodiment of the present invention. Figure 3 This is an exploded view of the distal portion of the multimode imaging catheter integrating optical panoramic and ultrasonic circumferential scanning functions in an embodiment of the present invention. Figure 4 This is an upright sectional view of the distal portion of the multimodal imaging catheter integrating optical panoramic and ultrasonic panoramic scanning functions in an embodiment of the present invention. Figure 5 This is a schematic diagram showing the partitioning of the forward-looking direct imaging area and the lateral panoramic imaging area on the image sensor in an embodiment of the present invention; Figure 6 This is a simplified structural diagram of a multi-mode imaging system integrating optical surround view and ultrasonic surround scanning functions in an embodiment of the present invention.

[0031] Explanation of reference numerals in the attached figures: 100. Catheter; 110. Light guide section; 111. Imaging signal port; 112. Illumination beam port; 113. Ultrasonic signal transceiver port; 120. Flexible catheter section; 121. Flexible protective sleeve; 130. Head end; 140. Light-transmitting tube; 150. Optical camera module; 151. Image sensor; 1511. Central area of ​​photosensitive surface; 1512. Peripheral area of ​​photosensitive surface; 1513. Dashed line; 152. First lens assembly; 1521. First lens group; 1522. First lens barrel; 153. Light reflector; 154. Second lens assembly; 1541. Second lens group; 1542. Second lens barrel; 1543. Protective glass window; 155. Image signal transmission line; 156. Sensor housing; 157. Sensor protective glass; 160. Ring array ultrasonic transducer; 161. Transducer array element; 162. Backing layer; 163. Ultrasonic signal transmission line; 171. First annular support; 172. Second annular support; 173. Third annular support; 181. LED lights; 182. Lighting signal cables; 183. Lighting fiber optic cables; 190. Light-transmitting window; 200. Host; 210. Optical light source module; 2101. Light source assembly; 2102. Focusing lens; 2103. Light source driver board; 220. Ultrasonic front-end module; 2201. Ultrasonic transmitting and receiving circuit; 2202. Beam synthesizer; 2203. Doppler signal processing unit; 230. System control module; 2301. Main processor; 2302. Imaging processing unit; 300. Monitor; 400. Input devices. Detailed Implementation

[0032] The technical solution of the present invention 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 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.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. The distal end refers to the end furthest from the operator, and the proximal end refers to the end closest to the operator. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] Among known imaging catheters that enter body cavities through the working channel of an endoscope, these catheters only possess a single optical imaging function and lack ultrasound tomography and color Doppler blood flow imaging capabilities. Optical imaging can only acquire morphological information of the mucosal surface within the cavity, and it cannot visualize lesions located in the submucosa or deep within the vessel wall (such as submucosal tumors, external pressure bulges, vascular malformations, etc.). Therefore, it cannot provide information on the deep structure and blood flow of the vessel wall. Clinically, many early cancerous lesions do not have raised or depressed surfaces, but rather grow in a flat or depressed pattern. Optical imaging catheters cannot determine their depth of invasion, often requiring combined evaluation with other imaging methods (such as CT and EUS), increasing the number of examinations for patients and medical costs.

[0036] To address the problem that existing imaging catheters cannot acquire deep structural information of the vessel wall, this application provides a multi-mode imaging catheter integrating optical panoramic and ultrasonic panoramic scanning functions. This catheter 100 can be inserted into the working channel of standard gastrointestinal endoscopes, duodenoscopes, bronchoscopes, and other master endoscopes. The catheter 100 can also be inserted into the lumen of a blood vessel via a vascular sheath. Figure 1 As shown, the catheter 100 includes a light guide portion 110, a flexible catheter portion 120, and a head portion 130 arranged sequentially from the proximal end to the distal end.

[0037] like Figures 1 to 4 As shown, the distal end 130 integrates an optical imaging module, a ring array ultrasound transducer 160, and an illumination element. The catheter 100 adopts a coaxial layered layout, integrating the optical imaging module and the ring array ultrasound transducer 160 array into the same distal end 130 of the catheter 100. The optical imaging module is used to acquire optical image data of the target tissue, the illumination element provides illumination light for the optical imaging module to capture optical images, and the ring array ultrasound transducer 160 acquires ultrasound tomographic image data of the target tissue by transmitting and receiving ultrasound waves. The ultrasound tomographic image data includes B-mode ultrasound image data and color Doppler blood flow image data. The optical image signal is transmitted from the distal distal end 130 to the proximal light guide 110, the illumination light is transmitted from the proximal light guide 110 to the distal distal end 130, and the ultrasound tomographic image data is transmitted from the distal distal end 130 to the proximal light guide 110.

[0038] like Figures 1 to 4 As shown, the head end portion 130 also includes a light-transmitting tube 140 located on the outer periphery of the head end portion 130, which allows light and ultrasound to pass through. Specifically, the light-transmitting tube 140 is made of glass or polymer with high light transmittance and sterilization resistance, such as sapphire, lanthanum flint glass, and other materials that are chemically resistant, have high light transmittance, and high hardness.

[0039] like Figures 2 to 5 As shown, the optical camera module includes an image sensor 151, a first lens assembly 152, and a light reflector 153 arranged sequentially from the near end to the far end along the central axis of the head end 130. The optical axis of the first lens assembly 152 coincides with the central axis of the head end 130. The light reflector 153 can reflect lateral panoramic light rays entering the head end 130 from the light-transmitting tube 140 to the first lens assembly 152 and then to the image sensor 151. A ring array ultrasonic transducer 160 is coaxially disposed inside the light-transmitting tube 140. The ultrasonic ring scanning area b of the ring array ultrasonic transducer 160 in the lateral direction of the head end 130 and the optical image capturing area a of the optical camera module in the lateral direction of the head end 130 at least partially overlap.

[0040] This multimode imaging catheter, integrating optical panoramic imaging and ultrasonic panoramic scanning, achieves 360° panoramic optical imaging of the outer periphery of the tip 130 through a light-transmitting tube 140, a light reflector 153, a first lens assembly 152, and an image sensor 151. It also achieves 360° ultrasonic panoramic imaging of the outer periphery of the tip 130 through a ring-array ultrasonic transducer 160 located inside the light-transmitting tube 140. Furthermore, since the ultrasonic panoramic scanning area b of the ring-array ultrasonic transducer 160 on the outer periphery of the tip 130 partially overlaps with the optical panoramic imaging area a of the optical camera module on the outer periphery of the tip 130, they can simultaneously acquire optical image data and ultrasonic tomographic image data of the same target object in the lateral direction of the tip 130. Integrating panoramic optical imaging and ring-array ultrasonic imaging (including B-mode imaging and color Doppler imaging) within the tip 130 of the same catheter 100 allows for the simultaneous acquisition of surface morphology, deep structure, and blood flow information of the target object in a single examination, filling a technological gap in this field.

[0041] like Figures 2 to 4 As shown, the light reflector 153 has a central through-hole 1531 at its geometric center, which extends along the optical axis. The optical imaging module also includes a second lens assembly 154 arranged coaxially with the first lens assembly 152, located at the distal end of the light reflector 153. Forward direct-viewing light rays incident from the distal end of the head end 130 can sequentially pass through the second lens assembly 154, the central through-hole 1531 of the light reflector 153, and the first lens assembly 152 before reaching the image sensor 151. The central through-hole 1531 allows all or part of the light rays incident from the second lens assembly 154 to pass through it. The central through-hole 1531 allows the forward imaging beam to pass through unobstructed, directly entering the second lens assembly 154 and the image sensor 151, thus achieving forward direct-viewing optical imaging at the distal end of the head end 130. The lateral imaging beam is directed towards the reflective surface surrounding the central through-hole 1531. After reflection and deflection, it also enters the second lens assembly 154 and the image sensor 151, achieving 360° lateral panoramic optical imaging around the outer periphery of the head end 130. The two imaging beams do not interfere with each other, and the conduit 100 can simultaneously achieve forward direct optical imaging and 360° lateral panoramic optical imaging on the same image sensor 151.

[0042] like Figures 2 to 4As shown, the head end 130 includes a first annular support 171 and a second annular support 172 located at the distal end of the first annular support 171. A light-transmitting tube 140 is fixedly connected between the first annular support 171 and the second annular support 172. A first lens assembly 152 and a ring array ultrasonic transducer 160 are both fixedly connected to the second annular support 172. A light reflector 153 and a second lens assembly 154 are also fixedly connected to the second annular support 172. The first annular support 171 and the second annular support 172 enable coaxial integrated mounting of the light-transmitting tube 140, the first lens assembly 152, the ring array ultrasonic transducer 160, the light reflector 153, and the second lens assembly 154 on the head end base.

[0043] In some embodiments, the illumination element may further include an LED light located at the distal end of the first annular support 171, with the illumination signal line connected to the LED light extending axially along the conduit 100 to the proximal end. When the multimode imaging conduit of this application autonomously enters the cavity without passing through the mammary endoscope clamp channel, the LED light is used to provide illumination for forward direct-view optical imaging.

[0044] like Figure 3 and Figure 4 As shown, the first lens assembly 152 includes a first lens barrel 1521 and a first lens group 1522 fixed within the first lens barrel 1521. One end of the first lens barrel 1521 is sealed and fixed to a first annular support 171. The first lens group 1522 may include a single biconvex lens or a combination of multiple different lenses. The second lens assembly 154 includes a second lens barrel 1541 and a second lens group 1542 fixed within the second lens barrel 1541. The second lens barrel 1541 and the second annular support 172 are sealed and fixed to each other. The second lens group 1542 may include a single concave lens with its concave surface facing the image sensor 151 or a combination of multiple different lenses. The second lens barrel 1541 is also fixedly connected to a protective glass window 1543 located at the distal end of the second lens group 1542. The protective glass window 1543 is used to prevent stains from getting on the surface of the second lens group 1542. Protective glass window 1543 is made of high light transmittance and sterilization resistant glass or polymer, such as sapphire, heavy lanthanum flint glass, and other materials that are chemically resistant, have high light transmittance, and high hardness.

[0045] like Figure 3 and Figure 4As shown, in some embodiments, the light reflector 153 is a meniscus hyperboloid reflector with its convex surface facing the image side. The two focal points of the meniscus hyperboloid reflector are located on opposite sides of the lens, with the focal point closer to the image sensor and the focal point of the first lens assembly closer to the image sensor sharing a common focal point. Compared to spherical reflectors, hyperboloid reflectors do not exhibit spherical aberration in their conjugate focal point configuration, avoiding aberration blurring caused by spherical reflection and ensuring the clarity of lateral panoramic optical imaging. Compared to ellipsoidal reflectors, hyperboloid reflectors, while achieving a conjugate focal point design, also feature a convex surface facing the image side, allowing the reflected light path and incident light path to be naturally separated in space, eliminating the risk of mechanical obstruction. This facilitates the reflection and convergence of large-angle lateral panoramic light rays passing through the light-transmitting tube 140 to a common focal point on the optical axis, thereby achieving conjugate focal point matching with the forward direct-view light rays and ensuring that both light beams form a clear and consistent image on the same intermediate image plane.

[0046] like Figure 4 and Figure 5 As shown, in the imaging optical path of the optical camera module, the forward-looking direct light rays incident from the far end of the head end 130 pass through the central through-hole 1531 of the second lens assembly 154 and the light reflector 153 in sequence, forming a forward real image on the object side of the first lens assembly 152; the lateral surrounding light rays incident from the side of the head end 130 are reflected by the light reflector 153, forming a virtual image on the object side of the first lens assembly 152. The forward real image and the virtual image are located on the same intermediate image plane, which is the object plane of the first lens assembly 152. The first lens assembly 152 images the forward real image and the virtual image on the intermediate image plane onto the photosensitive surface of the image sensor 151, so that the forward direct image and the lateral surrounding image are presented separately on the photosensitive surface and do not interfere with each other.

[0047] like Figure 4 and Figure 5 As shown, the photosensitive surface of the image sensor 151 includes a central region 1511 located in the central area and a peripheral region 1512 located around the central region 1511. The central region 1511 and the peripheral region 1512 are two different regions on the photosensitive surface of the image sensor 151 that do not intersect. The center of the peripheral region 1512 and the center of the central region 1511 are both located on the optical axis.

[0048] In terms of optical imaging, forward-looking light rays enter through the far end of the first lens assembly 152, are converged by the first lens group 1522, pass through the central through-hole 1531 of the light reflector 153 and the second lens assembly 154, and finally enter the central region 1511 of the photosensitive surface of the image sensor 151, forming a forward-looking optical image. Lateral-looking light rays (360° circumferential direction) enter from the side wall of the light-transmitting tube 140, are reflected by the curved surface of the light reflector 153, and are converged by the second lens assembly 154 to the peripheral region 1512 of the photosensitive surface of the image sensor 151, forming a lateral-looking optical image surrounding the tube wall. The partitioning of the central region 1511 and the peripheral region 1512 of the photosensitive surface on the image sensor 151 enables simultaneous imaging of the forward-looking and lateral-looking light rays without interference. Because the curvature of the light reflector 153 is specially designed, the distortion of the lateral-looking optical image is ensured to be within a correctable range. The electrical signal output by the image sensor 151 is transmitted to the host computer via the image sensor 151 signal line for distortion correction, unfolding and fusion processing to generate a forward-looking direct optical image and a 360° side-view optical image.

[0049] like Figure 3 , Figure 4 and Figure 6 As shown, the image sensor 151 is a CMOS or CCD image sensor with high spatial resolution. The image sensor 151 is connected to an image signal transmission line 155. The light guide section 110 is provided with an imaging signal port 111, an illumination beam port 112, and an ultrasonic signal transceiver port 113. The image signal transmission line 155 extends along the axial direction of the guide tube 100 and is electrically connected to the imaging signal port 111 of the light guide section 110. A sensor housing 156 is fixed to the outside of the image sensor 151, and the sensor housing 156 is fixedly connected to the first annular support 171. A sensor protective glass 157 is also fixed inside the sensor housing 156, and the sensor protective glass 157 is located on the side of the image sensor 151 facing the first lens assembly 152.

[0050] like Figure 2 , Figure 3 and Figure 4As shown, the head end portion 130 also includes a third annular support 173 located near the first annular support 171. A light-transmitting window 190 is fixedly connected between the first annular support 171 and the third annular support 173 on the outer periphery of the head end portion 130. The light-transmitting window 190 is made of high-transmittance, sterile-resistant glass or polymer, such as sapphire, lanthanum flint glass, COC, COP, etc., which are chemically resistant, have high light transmittance, and high hardness. The lighting element is located inside the light-transmitting window 190 and fixedly connected to the first annular support 171 or the third annular support 173. The lighting element is an LED lamp 181 or an optical fiber 183. When the lighting element is an LED lamp 181, it is an LED array composed of multiple LED lamps 181. The LED lamps 181 are connected to a lighting signal transmission line 182, which extends axially along the conduit 100 to the light guide portion 110. When the lighting element is an illumination fiber 183, the illumination fiber 183 extends along the axial direction of the conduit 100 and is coupled to the illumination beam port 112 of the light guide 110.

[0051] like Figures 2 to 4 As shown, the catheter 100 includes a flexible protective sheath 121, which is fixedly connected to the proximal end of the third annular support 173. Image signal transmission lines, ultrasound signal lines 1172, and illumination signal transmission lines or illumination optical fibers 183 pass through the inner lumen of the flexible protective sheath 121. The flexible protective sheath 121 is composed of a polymer outer sheath and a metal or high-strength fiber braided reinforcing layer to ensure that it maintains resistance to compression and torsion when passing through the curved section of the endoscope.

[0052] like Figure 3 and Figure 4 As shown, preferably, the ring array ultrasonic transducer 160 is coaxially disposed on the outer periphery of the first lens assembly 152, and the cross-section of the ultrasonic ring scanning region of the ring array ultrasonic transducer 160 is located at the center of the lateral optical image capturing region of the optical camera module. The ring array ultrasonic transducer 160 and the first lens assembly 152 can achieve spatial alignment of both ultrasonic imaging and optical imaging modes through coaxial design and factory calibration.

[0053] like Figure 3 and Figure 4 As shown, in some embodiments, the inner side of the ring array ultrasonic transducer 160 is fixedly disposed on the outer periphery of the proximal portion of the first lens assembly 152, and the outer side of the ring array ultrasonic transducer 160 is fitted and fixed to the inner wall of the light transmission tube 140. This arrangement reduces the interference of the ring array ultrasonic transducer 160 on the lateral panoramic light passing through the light transmission tube 140. The lateral panoramic light can pass through the gap between the ring array ultrasonic transducer 160 and the light reflector 153 and be directed to the light reflector 153, which is beneficial for improving the clarity of panoramic optical imaging.

[0054] like Figure 3 and Figure 4 As shown, the ring array ultrasonic transducer 160 includes multiple transducer elements 161 arranged in a cylindrical shape. The number of transducer elements 161 can be 64 or 128. The multiple transducer elements 161 are arranged at equal intervals in the circumferential direction of the first lens assembly 152 to form a ring array. Each transducer element 161 is independently connected to an ultrasonic signal transmission line 163, which extends along the axial direction of the conduit 100 and is electrically connected to the ultrasonic signal transceiver interface of the light guide section 110. A backing layer 162 is provided on the side of the multiple transducer elements 161 facing the first lens assembly 152. The backing layer 162 is made of acoustic impedance matching sound-absorbing material. The backing layer 162 is used to absorb back-propagating sound waves to suppress clutter interference and improve axial resolution. An acoustic matching layer (not shown) is coated or pasted on the side of the multiple transducer elements 161 facing the light-transmitting tube 140 to improve the transmission efficiency of ultrasonic energy.

[0055] like Figure 3 and Figure 4 As shown, in some embodiments, there is a gap between the outer side of the ring array ultrasonic transducer 160 and the inner wall of the light-transmitting tube 140. The cavity enclosed by the first annular support 171, the second annular support 172, and the light-transmitting tube 140 is also filled with a light-transmitting and sound-transmitting coupling medium, which can meet both optical refractive index matching and ultrasonic propagation requirements. The first lens assembly 152, the second lens assembly 154, and the image sensor 151 are sealed to prevent the coupling medium from entering the interior of these components.

[0056] like Figure 3 and Figure 4 As shown, the outer wall of the light-transmitting tube 140 is coated with an anti-reflective coating and / or a hydrophilic coating. The anti-reflective coating can reduce the interference of stray light on the clarity of the panoramic optical imaging, and the hydrophilic coating can promote liquid wetting of the outer wall of the light-transmitting tube 140, preventing the influence of air gaps on the ultrasonic imaging quality.

[0057] like Figure 3 and Figure 4 As shown, in terms of ultrasound imaging, the annular array ultrasound transducer 160 achieves 360° radial scanning in a plane perpendicular to the axis of the catheter 100 using electronic beamforming technology. Each transducer element 161 excites ultrasound waves with a predetermined emission delay, receives the echo signal from the target tissue, and forms a B-mode ultrasound tomographic image via a beam combiner. Simultaneously, Doppler processing technology is used to extract blood flow velocity information, generating a color Doppler flow map superimposed on the B-mode ultrasound tomographic image. Because the geometric center of the annular array ultrasound transducer 160 coincides with the axis of the optical camera module, the cross-section of the ultrasound tomographic scan corresponds precisely to the center position of the lateral panoramic imaging area 1512. Figure 5As shown, the intersection of the vessel wall cross-section displayed by the ultrasound tomographic image and the lateral panoramic optical image is a dashed line 1513 located at the center of the lateral panoramic imaging area 1512. The operator can intuitively identify the surface features of the cavity wall through the lateral panoramic optical image, and at the same time obtain the deep structure and blood flow information of the same cross-section of the cavity wall.

[0058] like Figure 3 and Figure 4 As shown, the flexible catheter section 120 includes a flexible protective sleeve 121, which wraps around the periphery of the illumination optical fiber 183 or illumination signal transmission line 182, ultrasound signal transmission line 163, and image signal transmission line 155. The flexible protective sleeve 121 is composed of a polymer outer sheath and a metal or high-strength fiber braided reinforcing layer to ensure that it maintains its resistance to compression and torsion when passing through the curved section of the magnifying glass.

[0059] This multimodal imaging catheter, which integrates optical panoramic and ultrasonic scanning functions, has the synergistic capability of four modes: 360° lateral panoramic optical imaging, forward direct optical imaging, 360° lateral ultrasound tomography (mode B), and color Doppler blood flow imaging. It can be widely used in the diagnosis and treatment of various internal cavities.

[0060] In the field of digestive system, the 100 catheter can be inserted into the esophagus, stomach, duodenum, colon, and rectum through the standard endoscopic working channel for screening and evaluation of early gastrointestinal cancers, submucosal tumors, inflammatory bowel disease, and vascular malformations. For example, during colonoscopy, traditional anterior-viewing endoscopes can easily miss flat polyps located at the bends or dorsal sides of the colonic folds. However, the 360° lateral panoramic optical image of this catheter can comprehensively display the entire circumferential mucosa of the intestinal wall, while the annular array ultrasound transducer acquires cross-sectional images of the catheter wall at the same axial height, revealing the depth of invasion and blood supply beneath the polyp, assisting doctors in determining whether endoscopic resection is necessary.

[0061] In the biliary and pancreatic system, the catheter 100 can be inserted into the common bile duct or pancreatic duct through the forceps channel of the duodenoscope. The papillary opening is located using forward direct optical imaging, and then the lateral panoramic optical imaging mode is switched to observe the panoramic view inside the bile duct. Ultrasound tomography images can clearly show the layered structure of the bile duct wall, the location of stones, and the hemodynamic information of adjacent blood vessels (such as portal vein and hepatic artery). It is of great value for the etiological differentiation of obstructive jaundice and the preoperative assessment of stent implantation.

[0062] In the respiratory system, the Catheter 100 can be inserted into the trachea, main bronchus, and segmental bronchi via the working channel of a bronchoscope for early lung cancer screening and assessment of airway stenosis. Lateral panoramic optical images can show subtle changes in the airway mucosa (such as congestion, nodules, and erosion), while ultrasound tomography can penetrate the airway wall to show the wall thickness, cartilage ring morphology, and the size and internal echo characteristics of mediastinal lymph nodes. Color Doppler flow patterns help differentiate reactive lymph node hyperplasia from malignant metastasis (the latter often shows abundant blood flow signals).

[0063] In laparoscopic surgery, the catheter 100 can be used as an auxiliary instrument for the laparoscope. It enters the abdominal cavity through the puncture port and uses lateral panoramic optical images to observe scattered metastatic lesions on the surface of organs. At the same time, ultrasound tomography images can detect space-occupying lesions deep inside organs (such as the liver and pancreas), and color Doppler can distinguish tumor vessels from normal vessels, enabling real-time navigation during the operation.

[0064] Example 2 like Figure 6 As shown, the present invention also provides a multi-mode imaging system integrating optical panoramic and ultrasonic panoramic scanning functions, including a host 200, an endoscope (not shown), a display 300, an input device 400, and a multi-mode imaging catheter integrating optical panoramic and ultrasonic panoramic scanning functions as described in Embodiment 1 above. The display 300 and the input device 400 are both connected to the host 200. The host 200 is provided with a catheter socket 270, and the catheter 100 is connected to the catheter socket 270 of the host 200 through a light guide portion 110 at its proximal end. The catheter socket 270 is used to establish optical, electrical, and control signal connections with the light guide portion 110 of the catheter 100. The host 200 internally includes a system control module 230, which is responsible for optical image processing, ultrasonic transmission and reception, beamforming, Doppler parameter extraction, and image fusion management. The optical image data acquired by the optical camera module, the B-mode ultrasound tomography image data acquired by the ring array ultrasound transducer 160, and the color Doppler blood flow image data are processed by the system control module 230 to obtain a fused image, which is then displayed on the same screen of the display 300. The endoscope has a working channel inside, through which the catheter 100 can be inserted into the target cavity. The endoscope also has a fluid supply channel inside; during ultrasound scanning by the catheter 100, the fluid supply channel injects liquid, acting as an acoustic coupling agent, into the ultrasound scanning area of ​​the catheter 100 to maintain ultrasound transmission efficiency.

[0065] like Figure 6As shown, the host 200 also includes an optical light source module 210 and an ultrasonic front-end module 220 electrically connected to the system control module 230. The optical light source module 210 is controlled by the system control module 230 to generate an illumination beam. The ultrasonic front-end module 220 is controlled by the system control module 230 to generate an excitation pulse signal. The excitation pulse signal emitted by the ultrasonic front-end module 220 is transmitted to the annular array ultrasonic transducer 160 at the distal end of the catheter 100 via the ultrasonic signal transceiver port 113. The ultrasonic front-end module 220 generates B-mode raw ultrasound image data or color Doppler blood flow raw image data based on the ultrasonic echo signal returned by the annular array ultrasonic transducer 160, and outputs the B-mode raw ultrasound image data or color Doppler blood flow raw image data to the system control module 230.

[0066] The system control module 230 includes a main processor 2301 and an imaging processing unit 2302 electrically connected to the main processor 2301. The main processor 2301 is electrically connected to the imaging signal port 111 of the light guide section 110. The imaging processing unit 2302 includes an optical image processing unit, a B-mode ultrasound image processing unit, a color Doppler blood flow image processing unit, and an image fusion unit.

[0067] The optical image processing unit is coupled between the main processor 2301 and the image fusion unit. The optical image processing unit processes the returned optical image data to obtain an optical image.

[0068] The B-mode ultrasound image processing unit is coupled between the main processor 2301 and the image fusion unit. The B-mode ultrasound image processing unit processes the raw B-mode ultrasound image data to obtain B-mode ultrasound images.

[0069] The color Doppler blood flow image processing unit is coupled between the main processor 2301 and the image fusion unit. The color Doppler blood flow image processing unit processes the returned color Doppler blood flow raw image data to obtain a color Doppler blood flow image, which is superimposed on the B-mode ultrasound image at the same location.

[0070] The image fusion unit includes memory firmware storing the image fusion algorithm. Based on the spatial mapping parameters of the optical image coordinate system and the ultrasound tomographic image coordinate system obtained by factory calibration, the image fusion unit performs real-time fusion of the optical image, B-mode ultrasound image and color Doppler blood flow image in the same coordinate system to obtain an optical-ultrasound superimposed image, and displays the optical-ultrasound superimposed image on the same screen of the display 300.

[0071] like Figure 6As shown, if the lighting element is an optical fiber 183, the optical light source module 210 includes a light source assembly 2101 that provides white light illumination and narrowband illumination, a focusing lens 2102 that focuses the parallel light output from the light source assembly 2101 into a light spot, and a light source driver board 2103 that controls the light source assembly 2101 to emit light. The illumination beam generated by the focusing lens 2102 is optically coupled to the optical fiber 183 through the illumination beam port 112. If the lighting element is an LED lamp, the optical light source module 210 is an LED driver. The LED driver is controlled by the system control module 230 to generate an illumination signal, which is transmitted to the LED lamp 181 inside the conduit 100 through the illumination signal transmission line 182.

[0072] like Figure 6 As shown, the ultrasound front-end module 220 includes an ultrasound transmitting and receiving circuit 2201, a beam combiner 2202, and a Doppler signal processing unit 2203. The image fusion unit is responsible for real-time synchronous registration of the optical image output by the optical image processing unit, the B-mode structural image output by the B-mode ultrasound image processing unit, and the color Doppler blood flow image output by the color Doppler blood flow image processing unit.

[0073] In addition, the main processor 2301 receives instructions from the input device 400 and switches between pure optical mode, pure ultrasound mode, optical plus ultrasound superposition mode and color Doppler blood flow mode. The switching process does not affect the position of the catheter 100 inside the endoscope.

[0074] During the assembly and calibration process, each catheter 100 undergoes coaxial optical and ultrasonic calibration. A standard phantom target is used to obtain the spatial correspondence between the optical image center and the ultrasonic sector scan center at different working distances, and the axial depth difference between the optical and ultrasonic imaging surfaces is recorded and written into the host 200's memory for real-time intraoperative fusion registration. The calibration data is stored in the storage chip of the light guide 110 in the form of a unique identification code. The host 200 automatically reads and retrieves the corresponding calibration parameters when the catheter 100 is connected, ensuring interchangeability and consistency between different catheters 100. By adopting the above technical solution, the organic integration of three modalities—optical imaging, B-mode ultrasound tomography, and color Doppler flow imaging—is achieved on a single catheter 100 that can be accessed through a standard endoscopic working channel. This provides users with optional configurations for forward direct-view optical imaging, lateral circumferential imaging, and ultrasonic circumferential scanning imaging, significantly improving the multi-dimensional information acquisition capability for endoscopic diagnosis without increasing the number of instruments or operational complexity.

[0075] In summary, the multimodal imaging catheter and system integrating optical panoramic and ultrasonic scanning functions provided by the embodiments of the present invention have the following beneficial effects: 1. Coaxial integration of panoramic optical imaging and ultrasonic circumferential scanning imaging.

[0076] 2. Lateral panoramic light rays are reflected by the curved surface of the light reflector 153 and enter the first lens assembly 152 and the image sensor 151. Forward direct-viewing light rays are reflected by the central through-hole 1531 of the light reflector 153 and enter the first lens assembly 152 and the image sensor 151. This can simultaneously realize lateral panoramic optical imaging and forward direct-viewing optical imaging. Moreover, the two imaging beams share the second lens assembly 152 and the image sensor 151, realizing an integrated design.

[0077] 3. The ring array ultrasonic transducer 160 is coaxially arranged on the outer periphery of the first lens assembly 152. The ring array ultrasonic transducer 160 and the first lens assembly 152 can achieve spatial alignment of the two imaging modes of ultrasonic imaging and optical imaging through the coaxial design.

[0078] 4. Optical images display the fine morphology of the target mucosal surface, while B-mode ultrasound images and color Doppler blood flow images display the deep structure of the vessel wall and blood flow information. When the two are superimposed, the entire lesion can be seen in the same picture, improving diagnostic accuracy.

[0079] 5. Compact structure and wide applicability: The 130-degree diameter of the catheter tip is small and the structure is stable. It can be adapted to a variety of standard endoscope working channels and is suitable for various cavity diagnostic scenarios such as digestive tract, biliary tract, pancreatic duct, etc.

[0080] 6. The catheter 100 is coaxially calibrated at the factory, which can improve the spatial registration accuracy of ultrasound imaging and optical imaging during the use of the catheter 100.

[0081] 7. During the operation, it can switch between four modes at any time: pure optics, pure ultrasound, overlay display, and blood flow imaging, to meet the needs of different diagnostic stages from routine observation and structural assessment to blood flow analysis.

[0082] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A multimodal imaging catheter integrating optical panoramic and ultrasonic panoramic scanning functions, characterized in that, The catheter (100) includes a distal tip (130): the distal tip (130) includes: A light-transmitting tube (140) is located on the outer periphery of the head end (130), and the light-transmitting tube (140) allows light and ultrasonic waves to pass through; An optical camera module for acquiring optical image data of a target object includes an image sensor (151), a first lens assembly (152), and a light reflector (153) arranged sequentially from the near end to the far end along the central axis of the head end (130). The optical axis of the first lens assembly (152) coincides with the central axis of the head end (130). The light reflector (153) is capable of reflecting light entering the head end (130) from the light-transmitting tube (140) to the first lens assembly (152) and then to the image sensor (151). A ring array ultrasonic transducer (160) is coaxially disposed inside the light-transmitting tube (140) for acquiring ultrasonic tomographic image data of the target object; the ultrasonic ring scanning area of ​​the ring array ultrasonic transducer (160) in the lateral direction of the head end (130) and the optical image capturing area of ​​the optical imaging module in the lateral direction of the head end (130) at least partially overlap.

2. The multimodal imaging catheter integrating optical panoramic and ultrasonic scanning functions according to claim 1, characterized in that, The ring array ultrasonic transducer (160) is coaxially disposed on the outer periphery of the first lens assembly (152).

3. The multi-mode imaging catheter integrating optical panoramic and ultrasonic scanning functions according to claim 2, characterized in that, The inner side of the ring array ultrasonic transducer (160) is fixedly disposed on the outer periphery of the proximal portion of the first lens assembly (152), and the outer side of the ring array ultrasonic transducer (160) is attached and fixed to the inner wall of the light-transmitting tube (140).

4. The multimodal imaging catheter integrating optical panoramic and ultrasonic scanning functions according to claim 1, characterized in that, The outer wall of the light-transmitting tube (140) is coated with an anti-reflective coating and / or a hydrophilic coating.

5. The multimodal imaging catheter integrating optical panoramic and ultrasonic scanning functions according to claim 1, characterized in that, The light reflector (153) is a meniscus hyperboloid reflective lens with its convex surface facing the image side.

6. The multimodal imaging catheter with integrated optical panoramic and ultrasonic scanning functions according to claim 1 or 5, characterized in that, The light reflector (153) has a central through-hole (1531) at its geometric center; the optical camera module also includes a second lens assembly (154) arranged on the same optical axis as the first lens assembly (152), the second lens assembly (154) being located at the far end of the light reflector (153), and light rays incident from the far end of the head end (130) can sequentially pass through the second lens assembly (154), the central through-hole (1531) of the light reflector (153), and the first lens assembly (152) to the image sensor (151); the central through-hole (1531) allows at least a portion of the light rays incident on the central through-hole (1531) via the second lens assembly (154) to pass through.

7. The multimodal imaging catheter integrating optical panoramic and ultrasonic circumferential scanning functions according to claim 6, characterized in that, Light rays entering from the distal end of the head (130) pass sequentially through the second lens assembly (154), the central through-hole (1531) of the light reflector (153), and the first lens assembly (152) and are directed toward the central region (1511) of the photosensitive surface of the image sensor (151). Light rays entering from the side of the head end (130) pass sequentially through the reflective surface of the light reflector (153) and the first lens assembly (152) and are directed to the peripheral area (1512) of the photosensitive surface of the image sensor (151). The central region (1511) and the peripheral region (1512) of the photosensitive surface are two distinct regions on the photosensitive surface that do not overlap.

8. The multimodal imaging catheter integrating optical panoramic and ultrasonic scanning functions according to claim 6, characterized in that, The head end (130) includes a first annular support (171) and a second annular support (172) located at the distal end of the first annular support (171). The light-transmitting tube (140) is fixedly connected between the first annular support (171) and the second annular support (172). The first lens assembly (152) and the annular array ultrasonic transducer (160) are both fixedly connected to the second annular support (172). The light reflector (153) and the second lens assembly (154) are both fixedly connected to the second annular support (172).

9. The multimodal imaging catheter integrating optical panoramic and ultrasonic scanning functions according to claim 8, characterized in that, The head end (130) also includes a third annular support (173) located near the first annular support (171). The outer periphery of the head end (130) is provided with a light-transmitting window (190) fixedly connected between the first annular support (171) and the third annular support (173). The inner side of the light-transmitting window (190) is provided with an illumination element, which is used to provide the light required for shooting for the optical camera module. The illumination element is an LED light (181) or an illumination fiber (183).

10. A multi-modal imaging system integrating optical panoramic and ultrasonic panoramic scanning functions, characterized in that, The device includes a host (200) and a multimode imaging catheter with integrated optical surround view and ultrasonic surround scan functions as described in any one of claims 1-9 above; the catheter (100) includes a light guide (110), a flexible catheter section (120) and a head end (130) arranged sequentially from the proximal end to the distal end; the light guide (110) is plugged into the host (200), and the host (200) is connected to a display (300); the optical image data acquired by the optical camera module and the ultrasonic tomographic image data acquired by the surround ultrasonic transducer (160) are processed by the host (200) and displayed on the display (300).

11. The multi-mode imaging system integrating optical panoramic and ultrasonic panoramic scanning functions according to claim 10, characterized in that, The host (200) includes a system control module (230), an optical light source module (210), an ultrasonic front-end module (220), and a catheter socket (270) electrically connected to the system control module (230); The conduit socket (270) is used to establish optical, electrical and control signal connections with the light guide section (110) of the conduit (100); When the lighting element is an optical fiber (183), the optical light source module (210) is controlled by the system control module (230) to generate an illumination beam. The illumination beam emitted by the optical light source module (210) is optically coupled to the optical fiber (183) in the conduit (100) through the illumination beam port (112). When the lighting element is an LED lamp (181), the optical light source module (210) is controlled by the system control module (230) to generate an illumination signal. The illumination signal is transmitted to the LED lamp (181) in the conduit (100) through the illumination signal transmission line (182). The ultrasound front-end module (220) is controlled by the system control module (230) to generate excitation pulse signals. The excitation pulse signals emitted by the ultrasound front-end module (220) are transmitted to the annular array ultrasound transducer (150) at the distal end of the catheter (100) through the ultrasound signal transceiver port (113). The ultrasound front-end module (220) generates B-mode ultrasound raw image data and / or color Doppler blood flow raw image data according to the ultrasound echo signals returned by the annular array ultrasound transducer (150), and outputs the B-mode ultrasound raw image data and / or color Doppler blood flow raw image data to the system control module (230). The system control module (230) includes a main processor (2301) and an imaging processing unit (2302) electrically connected to the main processor (2301). The main processor (2301) is electrically connected to the imaging signal port (111) of the light guide (110). The imaging processing unit (2302) includes an optical image processing unit, a B-mode ultrasound image processing unit, a color Doppler blood flow image processing unit, and an image fusion unit. The optical image processing unit is coupled between the main processor (2301) and the image fusion unit, and processes the returned optical image data to obtain an optical image. The B-mode ultrasound image processing unit is coupled between the main processor (2301) and the image fusion unit. The B-mode ultrasound image processing unit processes the raw B-mode ultrasound image data to obtain a B-mode ultrasound image. The color Doppler blood flow image processing unit is coupled between the main processor (2301) and the image fusion unit. The color Doppler blood flow image processing unit processes the returned color Doppler blood flow raw image data to obtain a color Doppler blood flow image. The color Doppler blood flow image is superimposed on the B-mode ultrasound image at the same location. The image fusion unit includes memory firmware storing an image fusion algorithm; the image fusion unit performs real-time fusion of the optical image, B-mode ultrasound image and color Doppler blood flow image in the same coordinate system based on the spatial mapping parameters of the optical image coordinate system and the ultrasound tomography image coordinate system obtained by factory calibration, and displays the optical-ultrasound superimposed image.

Images