Living body imaging equipment

Abstract

The utility model discloses living body imaging equipment which comprises a box body, a living body fluorescence imaging module, an ultrasonic / photoacoustic imaging module, an optical intervention imaging module, a multi-wavelength laser, a fiber optic spectrometer and a control module, the two sides of the box body are each provided with a first opening, and each first opening is provided with a rotary cover or a sliding cover. The living body fluorescence imaging module, the ultrasonic / photoacoustic imaging module and the optical intervention imaging module are arranged in the box body and are respectively connected with the control module through cables penetrating through the first opening; the multi-wavelength laser and the optical fiber spectrometer are positioned on the periphery of the box body; the multi-wavelength laser and the optical fiber spectrometer are connected with the control module. The living body imaging equipment adopts a modular design, each functional module is relatively independent and easy to assemble and maintain, various imaging functions such as living body fluorescence imaging, opto-acoustic / ultrasonic imaging and optical intervention imaging are integrated, and the requirements of different fields can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of biomedical equipment, and more specifically to a living body imaging device. Background Art

[0002] At present, with the progress of science and technology, especially the cross-integration of chemical imaging with life sciences, biomedicine and other disciplines, in vivo imaging technology has rapidly grown into an important international scientific research field. The core value of in vivo imaging technology lies in the ability to obtain information at the biomolecular level in real time and in situ without destroying the tissue structure of the organism, and therefore plays a vital role in early disease diagnosis, prognosis assessment and treatment effect monitoring. For example, oncology research can use in vivo imaging technology to achieve long-term tracking of tumor growth and metastasis, providing a scientific basis for cancer treatment strategies; in the field of drug development, by observing the distribution and metabolism of drugs in living animals, drug efficacy evaluation and drug safety analysis are more intuitive and accurate.

[0003] In vivo imaging systems are indispensable in modern biomedical research, especially in terms of real-time imaging and non-destructive monitoring, which provide technical support for maintaining normal physiological activities of experimental animals and implementing long-term observations. However, current in vivo imaging equipment still has significant limitations, with single functions, complex structures, and inconvenient assembly and disassembly. Utility Model Content

[0004] In view of this, the utility model provides a living body imaging device, which at least partially solves the problems of the existing living body imaging device having single function, complex structure and unchanged assembly and disassembly.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A living body imaging device, comprising: a housing, a living body fluorescence imaging module, an ultrasound / photoacoustic imaging module, an optical intervention imaging module, a multi-wavelength laser, a fiber optic spectrometer and a control module;

[0007] Both sides of the box are provided with a first opening, and the first opening is configured with a rotating cover or a sliding cover; the living fluorescence imaging module, the ultrasound / photoacoustic imaging module, and the optical interventional imaging module are built into the box, and are respectively connected to the control module through cables passing through the first openings; the multi-wavelength laser and the fiber optic spectrometer are both located on the periphery of the box; the multi-wavelength laser and the fiber optic spectrometer are both connected to the control module.

[0008] Furthermore, it also includes a monitoring camera, a display terminal and a controllable lighting lamp; the display terminal is connected to the monitoring camera;

[0009] The monitoring camera is installed on the top of the box body through an axially rotatable fixing seat and is connected to the control module; the controllable lighting lamp is connected to the control module.

[0010] Furthermore, it also includes: a breadboard stage built into the box; the breadboard stage is used to carry the laboratory table, the robot arm and the anesthesia component;

[0011] The experimental table is a lifting platform and is connected to the control module. The mechanical arm is fixed on the breadboard stage and is connected to the control module.

[0012] The anesthesia component is used to connect to the anesthesia system and release anesthetic.

[0013] Furthermore, the living body fluorescence imaging module comprises: an imaging camera and an annular light source bracket;

[0014] The imaging camera has an imaging lens with a filter, and the imaging camera is connected to the control module; the imaging camera is vertically installed on the top of the box, and the optical path is linear; the annular light source bracket is fixedly installed in the middle of the box, and the linear optical path of the imaging camera passes through the middle of the annular light source bracket.

[0015] Furthermore, the filter is at least one of a long pass filter, a band pass filter or a short pass filter.

[0016] Furthermore, when the imaging camera is an EMCCD, the top of the housing is further configured with a second opening; a dust cover is provided outside the second opening, and a cooling element connected to the control module is provided inside the second opening.

[0017] Furthermore, the ultrasound / photoacoustic imaging module includes: an ultrasound imaging probe, a photoacoustic imaging probe, a pulse laser and a photoacoustic imaging component.

[0018] Furthermore, the optical interventional imaging module comprises: an interventional needle consisting of a plurality of optical fibers in a bundle and a microscope system; the plurality of optical fibers are connected to the microscope system, the optical fiber spectrometer and the multi-wavelength laser via an optical interface adapter.

[0019] Furthermore, an endoscope is introduced into the working channel of the intervention needle, and the endoscope is connected to the control module.

[0020] Furthermore, the control module is a single chip microcomputer, which is connected to various hardware devices through a UART and / or RS-485 serial port.

[0021] It can be seen from the above technical solutions that, compared with the prior art, the present utility model discloses a living body imaging device, which has the following advantages:

[0022] 1. Modular design: The equipment adopts modular design, and each functional module is relatively independent and easy to assemble and maintain. For example, the living fluorescence imaging module, ultrasound / photoacoustic imaging module and optical interventional imaging module, each module can be used alone or in combination as needed, which enhances the flexibility and scalability of the equipment.

[0023] 2. Versatility: The device integrates multiple imaging functions such as in vivo fluorescence imaging, photoacoustic / ultrasound imaging, and optical interventional imaging to meet the needs of different fields. For example, in the medical field, it can be used for tumor diagnosis, treatment, and research, while in biological science research, it can be used for cell imaging and tissue structure analysis.

[0024] 3. Flexible sample handling: The device has a built-in breadboard stage and a robotic arm, which can flexibly handle samples of different types and sizes. The breadboard stage can conveniently place experimental samples or instruments, while the robotic arm can realize automated sample operation, improving experimental efficiency and accuracy.

[0025] 4. Real-time monitoring and control: The equipment is equipped with monitoring cameras, display terminals, controllable lighting and other auxiliary components, which can monitor the imaging process in real time and control and adjust each hardware device through the control module. This design ensures that operators can obtain imaging results in a timely manner and adjust and optimize the imaging process.

[0026] 5. Convenient connection method: The control module adopts a single-chip microcomputer, which realizes connection and control with various hardware devices through UART and / or RS-485 serial port. The connection method is simple and reliable, and easy to expand and upgrade. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0028] Figure 1 This is a schematic structural diagram of the living body imaging device provided by the utility model.

[0029] Figure 2 This is a schematic diagram of the structure of the box body provided by the utility model from a left perspective.

[0030] Figure 3 This is a schematic structural diagram of the box body provided by the utility model from a right perspective.

[0031] Figure 4This is a main structural diagram of the box body provided by the utility model. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0033] The utility model discloses a living body imaging device, such as Figure 1-4 As shown, it includes: a box 1, a living fluorescence imaging module 2, an ultrasound / photoacoustic imaging module 3, an optical intervention imaging module 4, a multi-wavelength laser 5, a fiber optic spectrometer 6 and a control module 7;

[0034] In order to make the hardware and software systems of the in vivo imaging device of the present application seamlessly integrated and support a variety of imaging methods and experimental subjects, a multi-wavelength laser 5 and a fiber spectrometer 6 (the two are integrated together in the figure) are configured in the in vivo imaging device. The multi-wavelength exciter can generate excitation light of multiple wavelengths, and can provide excitation light for the in vivo fluorescence imaging module. The control module 7 can select a suitable wavelength according to the input parameters to optimize the excitation of a specific fluorescent dye. The fluorescent dye will emit light at different wavelengths, and the fiber spectrometer 6 can detect and collect light from the fluorescent dye. The multi-wavelength laser 5 can switch to an excitation light suitable for different dyes, so that researchers or clinical experts can perform multi-label imaging on the same sample. Different labels correspond to different cell components or physiological conditions, and the fiber spectrometer can distinguish the emission spectra of different fluorescent dyes, which is necessary for multi-color imaging. Multi-color imaging allows multiple different biomarkers to be observed simultaneously, providing more detailed information for complex biological systems. The control module controls the collaborative work of the multi-wavelength laser and the fiber spectrometer, and can automatically tune the output of the multi-wavelength laser, while synchronizing the detection window of the fiber spectrometer to optimize the imaging process and reduce the frequency of manual adjustment. In in vivo imaging devices, the integration of multi-wavelength lasers and fiber spectrometers provides a powerful tool combination that supports imaging needs in a wide band from ultraviolet to near-infrared, which is critical for achieving high-sensitivity and high-resolution imaging.

[0035] A first opening is provided on both sides of the box, and the first opening is provided with a rotating cover or a sliding cover; the in vivo fluorescence imaging module 2, the ultrasound / photoacoustic imaging module 3, and the optical interventional imaging module 4 are built into the box 1, and are respectively connected to the control module 7 through cables passing through the first opening; the multi-wavelength laser 5 and the fiber spectrometer 6 are both located on the periphery of the box 1, and are both connected to the control module 7. In this way, the optical fiber can be introduced from the first opening when necessary, and the first opening can be closed during the experiment to keep the box as a dark room. For example, in the process of the synergistic effect of the multi-wavelength excitation light device and the fiber spectrometer, the multi-wavelength laser introduces the excitation light to the experimental object through the optical fiber, so that the fluorescent dye in the experimental object can be excited to emit light.

[0036] The in vivo imaging device has selection modes such as fluorescence imaging mode, ultrasound / photoacoustic imaging mode, interventional optical imaging mode, etc. It adopts modular design, and each functional module is relatively independent, easy to assemble and maintain. By integrating multiple imaging modes, it can help to achieve imaging of different physiological parts and different types of diseases in the living body. According to the needs of different application scenarios, a single imaging mode or a multi-modal imaging mode can be selected. Each module can be used alone or in combination as needed, which enhances the flexibility and scalability of the device.

[0037] In addition, for example, it can simultaneously obtain imaging effects with high spatiotemporal resolution, high sensitivity, high specificity and high contrast, which helps to achieve structural and functional imaging across spatiotemporal scales, and provides more effective possibilities for a more comprehensive understanding of life and disease information, such as monitoring tumor growth and metastasis, anti-tumor drug development and cancer mechanism research, drug efficacy evaluation at the living animal level, and observation of drug targeting, distribution and metabolism in living animals.

[0038] In one embodiment, referring to Figure 2-Figure 4 As shown, the living body imaging device also includes a monitoring camera 8, a display terminal (not shown in the figure) and a controllable lighting lamp 9; the display terminal is connected to the monitoring camera 8; the monitoring camera 8 is installed on the top of the box body 1 through an axially rotatable fixing seat and is connected to the control module 7; the controllable lighting lamp 9 is connected to the control module 7.

[0039] A breadboard stage 10 is arranged in the box body, which is used to carry a laboratory table 11, a mechanical arm 12 and an anesthesia component 13; the laboratory table 11 is a lifting platform and is connected to the control module 7, the mechanical arm 12 is fixed on the breadboard stage 11 and is connected to the control module 7; and the anesthesia component 13 is used to connect the anesthesia system to release anesthetics. The device has a built-in breadboard stage and a mechanical arm, which can flexibly handle samples of different types and sizes. The breadboard stage can be used to conveniently place experimental samples or instruments, and the mechanical arm can realize automated sample operation, thereby improving experimental efficiency and accuracy.

[0040] For example, refer to Figure Figure 3-Figure 4 As shown, when researchers and clinicians need to image mice, they inject fluorescently labeled dyes into the mice through the robot arm 12. In this operation, the robot arm 12, the control module 7, the anesthesia system and the laboratory table 11 need to cooperate with each other to ensure the accuracy of the injection process. Generally speaking, before the injection, the mouse first needs to be anesthetized by the anesthesia system, which is usually performed by inhaling anesthetics, such as ethane, to reduce unnecessary activities of the mouse and keep the mouse still during the entire operation to prevent affecting the experimental results. The robot arm 12 can refer to the existing programs on the market and is equipped with a precise positioning and operating system. It can control the injection needle to accurately reach the injection position, and can be programmed and adjusted according to the specific location of the injection point.

[0041] The control module 7 controls the movement path and injection action of the robotic arm based on a preset program (which can also refer to existing technologies on the market and is not an innovation of the present utility model) to ensure that the fluorescent dye is accurately injected into the mouse. In addition, the control module 7 can also respond to feedback from the anesthesia system to ensure that the mouse remains in an anesthetized state during the experiment. All operations are completed on the experimental table 11 while keeping the mouse stable.

[0042] During the entire process, for example, the surveillance camera 8 can monitor the dynamic conditions of the entire experimental table 11 in real time, including the status of the mouse, the position of the robotic arm 12 and the injection, to ensure that everything is carried out according to the predetermined procedure. Through such a tight procedure, researchers and clinicians can accurately and safely inject fluorescently labeled dyes into mice and perform aggregated logical analysis, which is very important for disease research and in vivo testing during drug development.

[0043] In some preferred embodiments, the experimental table 11 is a lifting platform that can automatically adjust the height. The monitoring camera 8 here is preferably fixedly installed on the top of the box body 1 through an axis rotation, so that panoramic monitoring and observation of specific details inside the box body can be achieved. The monitoring camera 8 here can choose a high-resolution monitoring camera with a zoom function, and it is set to maintain image monitoring when stretching to observe details at close range. In order to achieve blind spot monitoring of the box state, the design here allows the monitoring camera to rotate and stretch 360°, for example, it can be a pull-rotatable adjustable limit base, because the pull-rotatable adjustable limit base can move within a sufficient range to drive the monitoring camera to move, so that the monitoring camera can approach the area of ​​interest, and at the same time, it is necessary to have a stable residence and locking function to ensure that the monitoring camera is stable and does not shake in the stretched state. The pull-rotatable adjustable limit base is further fixed by the interface of the safety bracket on the top of the box body. The control module 7 is configured with a preset position function so that the monitoring camera can quickly move to a commonly used observation point. In specific implementation, for example, the control of the motor by the control module: the pull-rotatable adjustable limit base is equipped with a motor, and the control module can control the movement of these motors through the circuit. These motors can be used to rotate and stretch the camera through the controller. The control module can send commands to the motors to instruct them to rotate or stretch according to a specific angle.

[0044] After the pretreatment experiment on mice is completed, the mice can be imaged first through the in vivo fluorescence imaging module. The in vivo fluorescence imaging module 2 includes an imaging camera 21 and an annular light source bracket 22. The imaging camera 21 has an imaging lens with a filter, and the imaging camera is connected to the control module 7; the imaging camera 21 is vertically installed at the top of the box 1, and the optical path is linear; the annular light source bracket 22 is fixedly installed in the middle of the box, and the linear optical path of the imaging camera 21 passes through the middle of the annular light source bracket 22. The annular light source bracket plays a role in providing uniform lighting during the imaging process. Specifically, the annular light source bracket is fixedly installed in the middle of the equipment box, and the light source arranged in an annular shape inside it can surround the imaging area and provide uniform lighting. This annularly arranged light source can ensure that the sample or target object is fully illuminated during imaging, so that the imaging quality is clearer and more accurate.

[0045] Among them, the imaging lens with a filter (preferably EMCCD), for example, can detect diffuse light and fluorescence when imaging at wavelengths in the near-infrared region II. The former is produced by the excitation light diffusing through the biological sample, and the latter is the fluorescence produced by the fluorescent probe injected into the body after laser excitation. At this time, a filter is needed to reduce or remove the interference of diffuse light on imaging detection. In actual application scenarios, it can be a long-pass filter, a band-pass filter, a short-pass filter, etc.

[0046] Among them, the imaging lens is arranged in the vertical direction of the experimental table, because the optical path is linear, for example, in some preferred embodiments, the light of the excitation light source may be incident obliquely, and then the imaging camera detects vertically. The control module 7 controls the sensing and zooming functions by connecting with the interface of the imaging lens. When the in vivo imaging device selects the in vivo fluorescence imaging module 2, the control module 7 will send a signal to the imaging lens, and the imaging lens will adjust the focal length and focus according to the preset parameters or real-time feedback data.

[0047] The controllable lighting lamp 9 (preferably an LED lighting lamp) configured in the box 1, the control module 7 can adjust the opening and / or closing and brightness of the lamp, so that the experiment can be carried out in both the bright field and the dark field. When the experiment is carried out in the bright field, the controllable lighting lamp 9 helps to improve the brightness of the box, thereby improving the image quality. When the experiment is carried out in the dark field, the imaging is required to be carried out in a dark box. In this way, the control module 7 can turn off the controllable lighting lamp 9. The LED lighting lamp here can also be a halogen lamp. The halogen lamp has a near-infrared spectrum and can be used for near-infrared live imaging illumination. If necessary, it can also cooperate with an imaging camera to take pictures of live small animals. As mentioned above, the imaging lens here is preferably an EMCCD (electron multiplying charge coupled device) camera. Due to its working principle, it needs to be cooled to reduce thermal noise and improve the quality of the image. Therefore, a second opening is also configured at the top of the housing 1, and a dust cover 14 is provided outside the second opening. A cooling element can be arranged in the second opening. In order to ensure effective cooling of the EMCCD camera, the second opening at the top of the housing 1 allows cold air to flow to the cooling element, and also provides a heat exchange space for the cooling element. Here, the cooling element is preferably a thermoelectric cooler, which removes heat by current drive, thereby stabilizing the temperature of the EMCCD camera at a lower set point, thereby greatly reducing image distortion caused by thermal noise. The temperature control of the EMCCD camera by the cooling element can be achieved through the control and management of the control module 7. For example, the control module 7 can set the cooling temperature, while continuously monitoring the temperature of the EMCCD camera, and adjust the current of the thermoelectric cooler to maintain a constant cooling effect to ensure stability during the imaging process. Through the above design and coordination, the in vivo imaging device can maintain the EMCCD camera running at the optimal operating temperature, reduce noise, and improve the signal-to-noise ratio, thereby obtaining high-quality imaging effects. In addition, the multi-wavelength laser 5 mentioned above provides the required excitation light source for the in vivo fluorescence imaging module 2, and the control module 7 can adjust its wavelength and power to adjust the power output of the multi-wavelength laser. The optical fiber spectrometer 6 collects the fluorescent signal emitted by the mouse and transmits the data to the control module 7, which analyzes the received data to optimize the experimental parameters.

[0048] The control module 7, as the center of each module, coordinates the operation of the entire in vivo imaging device, from the setting of experimental parameters to data collection and analysis, and automatically adjusts the light source angle and imaging lens parameters to adapt to dynamic changes during the experiment. Here, the control module integrates the hardware and processing algorithms to ensure the coordination and automation of the imaging device through precise algorithms and feedback mechanisms. The algorithms and programs involved are not protected by this utility model.

[0049] The control module 7 can continuously optimize the experimental conditions according to the real-time data, thereby helping to improve the efficiency and accuracy of the entire device. The in vivo fluorescence imaging module 2 can provide information about the molecular activity and cell function of mice, which can be used to preliminarily locate the region or biomarker of interest.

[0050] After fluorescence imaging, ultrasound / photoacoustic imaging technology can be used to further explore the internal structure and functional information of mouse samples.

[0051] In one embodiment, the ultrasound / photoacoustic imaging module 3 includes: an ultrasound imaging probe, a photoacoustic imaging probe, a pulsed laser, and a photoacoustic imaging component connected to the control module 7 .

[0052] Photoacoustic imaging generates images by emitting laser pulses and capturing the rays generated by the tissue after absorbing the laser energy. The thermal effect after laser irradiation of the tissue is used to increase the temperature of the tissue and cause it to vibrate. The vibrating mechanical signal generates ultrasound, and imaging is performed by detecting ultrasound. That is, photoacoustic imaging is the conversion of light signals into sound signals. For imaging of deep tissues, ultrasound imaging can provide better imaging and clear images of tissue structures. Photoacoustic / ultrasound imaging does not rely on external lighting, so it can be used to observe deep tissue structures and combined with fluorescence imaging results to provide more comprehensive imaging information. In the process of combining fluorescence imaging and ultrasound / photoacoustic imaging technology to explore the internal structure and functional information of mice, the robot arm 12 can accurately move the ultrasound / photoacoustic probe to adapt to different imaging positions and depths. In automatic mode, the robot arm 12 can perform tasks according to a preset path.

[0053] The ultrasound / photoacoustic probe emits laser pulses (photoacoustic imaging) or ultrasound waves (ultrasound imaging), and receives the acoustic wave signals generated by the absorption of laser or emission in the ultrasound / photoacoustic probe barrel. The ultrasound / photoacoustic probe can respond to the instructions of the control module and emit the laser according to the set parameters. The control module can adjust the wavelength, energy and pulse duration of the laser (for photoacoustic imaging), as well as the frequency and intensity of the emission (for ultrasound imaging), analyze and process the photoacoustic signals and ultrasound signals received from the ultrasound / photoacoustic probe, obtain information about the internal structure and function of the mouse, combine the graphic results with the fluorescent imaging structure, and provide more detailed three-dimensional images and functional information through software algorithms. It can be known to those skilled in the art that the principle of photoacoustic imaging also involves acoustic characteristics, so it can be fused with ultrasound imaging to achieve ultrasound / photoacoustic dual-modality imaging. The ultrasound / photoacoustic imaging mode has potential advantages in early tumor detection, such as breast cancer, prostate cancer, bladder cancer, ovarian cancer, etc., and can also be applied to vascular imaging and other aspects.

[0054] After completing fluorescence imaging and ultrasound / photoacoustic imaging, the optical interventional imaging module 3 can further guide the observation of specific areas that have been located by the first two modes, such as diseased tissue or tumor cells. By adjusting the focus and scanning, the module provides images at the cellular or even subcellular level. This imaging technology is suitable for the observation of living cells and can be used to study changes in the internal structure of cells, interactions between cells, and treatment.

[0055] In one embodiment, the optical interventional imaging module 4 includes: an interventional needle composed of a plurality of optical fibers in a bundle and a microscope system; the plurality of optical fibers are connected to the microscope system, the fiber spectrometer 6 and the multi-wavelength laser 5 through an optical interface adapter. In the process of optical interventional imaging, the interventional needle is usually used to perform interventional operations inside living tissues, while the microscope system can be used to observe the changes of the target object or tissue structure during the interventional process in real time. Through the microscope system, the operator can accurately locate the intervention point to ensure the accuracy and safety of the interventional operation. At the same time, the microscope system can also be used to collect high-resolution imaging data to provide reliable data support for subsequent analysis and research.

[0056] In the optical interventional imaging mode, the robot arm 12 is responsible for precisely manipulating the position and angle of the intervention needle to ensure that it can accurately reach the position in the mouse body for percutaneous intervention. The robot arm 12 precisely manipulates the intervention needle under the command of the control module 7. In addition, the control module 7 is also responsible for coordinating the operation of the optical interventional imaging module 3 with the multi-wavelength laser 5, the fiber spectrometer 6 and other components. The multi-wavelength laser 5 provides the necessary excitation light for the optical interventional imaging module, and the excitation light is transmitted to the intervention needle through an optical interface adapter connected to multiple fiber bundles. The control module 7 controls the multi-wavelength laser 5 to excite the photoluminescent material injected into the target site with a suitable excitation wavelength. The imaging fiber bundle receives the imaging response light emitted by the target site after absorbing the excitation light, and transmits these signals to the control module 7. After analysis and processing, it can reconstruct a detailed image of the target site, such as three-dimensional reconstruction, image fusion, etc. In the whole process, the software platform of the control module provides interfaces and coordination mechanisms for all hardware components and analysis and processing modules to ensure seamless integration and automated operation of the entire imaging device from logic to analysis. It is emphasized here that the control module of the utility model and the control programs of other components can adopt relevant technologies on the market, and the innovation of the program is not within the scope of protection of this application.

[0057] In another embodiment of the optical interventional imaging mode, an endoscope can also be introduced into the working channel of the intervention needle, and the endoscope is integrated into the working channel of the intervention needle. The endoscope can provide real-time, high-resolution visual images to help identify and locate lesions and perform precise treatment. In the in vivo imaging device, the endoscope directly enters the predetermined internal position through the working channel of the intervention needle, which can provide the ability to observe the target area from an internal perspective. The softness and operability of the endoscope need to be matched with the rigidity and precise control of the intervention needle to ensure the accuracy and safety of the operation. The mechanical arm controls the precise entry and positioning of the intervention needle, and also provides the necessary support and guidance for the endoscope. The operation of the endoscope may also require additional degrees of freedom, and the mechanical arm can be adjusted as needed to adapt to this flexibility. The control module is responsible for adjusting the entry depth, rotation angle and focal length of the endoscope, as well as adjusting the brightness of the light source and other important parameters. The control module also needs to provide real-time image dynamic feedback based on the endoscope to adjust the operation of the mechanical arm. The control module analyzes and processes the image information provided by the endoscope, and can analyze the image in real time to provide diagnostic information.

[0058] In this embodiment, the in vivo imaging device not only helps to provide accurate navigation and high-quality images, but also improves the safety and success rate of the operation, especially when performing complex or minimally invasive operations. In the field of minimally invasive intervention, automated optical imaging is of great significance for improving surgical accuracy and safety, because during minimally invasive procedures, the patient's lesions are mostly located deep in the body, and the treatment process is completely carried out subcutaneously, which is difficult for doctors to observe directly.

[0059] In the implementation of the application, the control module is the core of the imaging device, and is connected to other modules through hard-wired electrical connections (such as cables) or wireless communication connections (such as WiFi, Bluetooth, NFC, Internet, wide area network, WiMax, satellite, cellular, IP network, etc.), to control the operation of each module or to select an imaging mode, such as starting or shutting down the operation of each module, connecting or interrupting the communication of each module, and realizing centralized control of the in vivo imaging device. For imaging control, the control module mainly controls the imaging operation or selects the imaging mode through a dedicated medical imaging interface protocol (such as DICOM). Here, the imaging module mainly refers to a fluorescence imaging module, an ultrasound / photoacoustic imaging module, and an interventional optical imaging module, but is not limited to these.

[0060] The monitoring camera 8 and the lifting test bench are mainly controlled by the control module through industrial control protocols (such as Modbus, CAN), such as the control of the incident angle of the excitation light source, the control of the light source intensity, the display screen human-computer interaction interface, etc. The mechanical arm and the control module are mainly connected by electrical connection or communication connection to achieve module interconnection, and can receive precise position and action instructions issued by the control module. These instructions can be transmitted through the robot operating system middleware integrated in the living imaging device, or directly transmitted through the control module. The mechanical arm can perform corresponding operations according to the instructions of the control module, such as fixing the living animal, injecting anesthetics into the living animal, and performing interventional puncture on the living animal. At the same time, the control module analyzes and processes the received signal into an electrical signal or image information, and then performs necessary data processing and analysis, and finally feedbacks in a form suitable for the judgment of doctors or researchers. At this time, the control module can be connected to the host computer and the display screen through a standard serial interface USB or HDMI to complete the two-way communication of user interface information and the display of image data. In this way, the user interface can provide intuitive control options and status information, so that users can easily operate and monitor the entire system. The control module may be a component such as a single-chip microcomputer, which can communicate with various hardware devices on the control end and the host computer through UART and RS-485 serial ports. The connection method is simple and reliable, and easy to expand and upgrade.

[0061] The in vivo imaging device provided by the utility model has a modular design in structure, and under the coordination of the software system, has the advantages of multifunctionality, flexible sample processing, real-time monitoring and control, and convenient connection methods, and can meet the needs of different application scenarios. In addition, the overall in vivo imaging device, as a pure hardware structure, can be sold independently on the market, and has high practical value after loading the software system.

[0062] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0063] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A living body imaging device, characterized in that: include: Box, in vivo fluorescence imaging module, ultrasound / photoacoustic imaging module, optical interventional imaging module, multi-wavelength laser, fiber optic spectrometer and control module; Both sides of the box are provided with a first opening, and the first opening is configured with a rotating cover or a sliding cover; the living fluorescence imaging module, the ultrasound / photoacoustic imaging module, and the optical interventional imaging module are built into the box, and are respectively connected to the control module through cables passing through the first openings; the multi-wavelength laser and the fiber optic spectrometer are both located on the periphery of the box; the multi-wavelength laser and the fiber optic spectrometer are both connected to the control module.

2. A living body imaging device according to claim 1, characterized in that: It also includes a monitoring camera, a display terminal and a controllable lighting lamp; the display terminal is connected to the monitoring camera; The monitoring camera is installed on the top of the box body through an axially rotatable fixing seat and is connected to the control module; the controllable lighting lamp is connected to the control module.

3. A living body imaging device according to claim 1, characterized in that: Also includes: A breadboard stage built into the box; the breadboard stage is used to carry a laboratory table, a robotic arm and an anesthesia component; The experimental table is a lifting platform and is connected to the control module; the mechanical arm is fixed on the breadboard stage and is connected to the control module; The anesthesia component is used to connect to the anesthesia system and release anesthetic.

4. A living body imaging device according to claim 1, characterized in that: The living body fluorescence imaging module comprises: an imaging camera and a ring light source bracket; The imaging camera has an imaging lens with a filter, and the imaging camera is connected to the control module; the imaging camera is vertically installed on the top of the box, and the optical path is linear; the annular light source bracket is fixedly installed in the middle of the box, and the linear optical path of the imaging camera passes through the middle of the annular light source bracket.

5. A living body imaging device according to claim 4, characterized in that: The filter is at least one of a long pass filter, a band pass filter or a short pass filter.

6. A living body imaging device according to claim 4, characterized in that: When the imaging camera is an EMCCD, the top of the box is further configured with a second opening; a dust cover is provided outside the second opening, and a cooling element connected to the control module is provided inside the second opening.

7. The in vivo imaging device according to claim 1, characterized in that: The ultrasound / photoacoustic imaging module comprises: an ultrasound imaging probe, a photoacoustic imaging probe, a pulse laser and a photoacoustic imaging component.

8. The in vivo imaging device according to claim 1, characterized in that: The optical intervention imaging module comprises: an intervention needle formed by a plurality of optical fibers in a bundle and a microscope system; the plurality of optical fibers are connected to the microscope system, the optical fiber spectrometer and the multi-wavelength laser through an optical interface adapter.

9. A living body imaging device according to claim 8, characterized in that: An endoscope is introduced into the working channel of the intervention needle, and the endoscope is connected to the control module.

10. A living body imaging device according to any one of claims 1 to 9, characterized in that: The control module is a single chip microcomputer, which is connected to various hardware devices through UART and / or RS-485 serial port.

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