Detection apparatus and detection method for autofluorescent tissue, and storage medium

Abstract

Provided in the present application are a detection apparatus and a detection method for an autofluorescent tissue, and a storage medium. The detection apparatus comprises: a laser emitter, causing a laser having a modulation frequency of f and a wavelength of λ to irradiate a tissue under examination; an acquisition apparatus, configured to acquire optical signals around the tissue under examination irradiated by the laser; a grating beam-splitting apparatus, optically coupled to the acquisition apparatus, and capable of performing beam splitting on the optical signals from the acquisition apparatus according to wavelengths, such that only optical signals having a wavelength range of λ1-λ2 are left; a processor, coupled to the laser emitter, the acquisition apparatus, and the grating beam-splitting apparatus; a memory, coupled to the processor, and storing instructions and data that cause the processor to perform operations; and a notification apparatus, coupled to the processor and notifying a detection result.

Description

Autofluorescent tissue detection device, method and storage medium TECHNICAL FIELD

[0001] The present disclosure relates to the field of medical detection, and in particular, to a device, method and storage medium for detecting autofluorescent tissue. BACKGROUND

[0002] Scientific research shows that some tissues of the human body have fluorescence characteristics and can emit fluorescence under the excitation of excitation light in a certain wavelength range. These tissues are called autofluorescent tissues. These tissues are often very small and difficult to be effectively identified by the naked eye, and are often mistakenly cut during surgery, which harms the postoperative life of patients and even endangers their lives. For example, the human body has two pairs of parathyroid glands, which are brownish yellow and resemble soybeans, and are located in the middle and lower parts of the back of the left and right thyroid glands (or buried in them). The main function is to secrete parathyroid hormone (PTH) to regulate the metabolism of calcium and phosphorus in the body. If the parathyroid function is low or completely removed, the secretion of PTH will be insufficient, which will gradually lower the blood calcium and gradually raise the blood phosphorus, leading to low blood calcium convulsions and even death. Since the parathyroid weighs 35-45 mg and is about 5x3x1 mm in size, the size is very small, and the location of the parathyroid is not fixed: the upper parathyroid is relatively constant, about 77% is located near the cricothyroid joint, 22% is located behind the upper pole of the thyroid gland, and only about 1% is located in the posterior pharynx and esophagus; the lower parathyroid varies greatly, with 42% located in the front and back of the lower pole of the thyroid gland, 39% located in the tongue of the thymus (i.e., using the thoracic-thyroid ligament to find the lower parathyroid), 2% located in the upper mediastinal thymus, 15% located in the tracheal esophageal groove near the thyroid gland, and 2% being a variation. Therefore, during thyroidectomy, it is difficult to distinguish the parathyroid from the surrounding tissues such as the thyroid, fat, etc. with the naked eye, which may damage the parathyroid or even accidentally remove it, causing great risks to the surgery.

[0003] It is known that the parathyroid can produce fluorescence with a peak at 820-830 nm under the excitation of a 785 nm wavelength laser. Using this property, there are related methods for detecting and identifying parathyroid glands. For example, a modulated excitation laser is used to irradiate human tissue, and whether the tissue is parathyroid is determined by analyzing whether the tissue produces fluorescence and the intensity of the fluorescence. Using such technology, it is possible to detect and identify whether the relevant tissue is parathyroid during surgery in real time, avoid damaging the parathyroid, and improve the success rate of the surgery.

[0004] However, in actual application scenarios such as surgery, various interferences inevitably exist around the autofluorescent tissue. For example, devices such as shadowless lamps are generally present during surgery, which can interfere with fluorescence analysis. Therefore, there is still room for improvement in the accuracy of autofluorescent tissue detection and other aspects in the art. SUMMARY

[0005] The application provides a self-fluorescent tissue detection device, a detection method and a storage medium.

[0006] In a first aspect, a self-fluorescent tissue detection device comprises:

[0007] A laser emitter irradiates a subject tissue with laser light having a modulation frequency f and a wavelength λ;

[0008] A collection device collects light signals around the subject tissue irradiated by the laser light;

[0009] A grating spectrometer is optically coupled to the collection device and can spectrally separate the light signals from the collection device according to wavelength, so that only light signals with a wavelength range of λ1-λ2 are left;

[0010] A processor is coupled to the laser emitter, the collection device and the grating spectrometer;

[0011] A memory is coupled to the processor and stores instructions and data for the processor to execute operations;

[0012] A notification device is coupled to the processor and notifies the detection result,

[0013] wherein J different wavelengths of data are extracted in the sampling period of the grating spectrometer, each wavelength is denoted as T i , and the corresponding fluorescence intensity is denoted as D i , wherein 0≤i≤J-1, and data of consecutive N sampling periods are extracted to obtain a time series x i (k) of each wavelength T iN , wherein 0≤k≤N-1;

[0014] The processor performs the following processing based on the data from the grating spectrometer:

[0015] Fourier transform is performed on the time series x iN (k) of each T i to obtain a frequency spectrum sequence X iN (k) of wavelength T i ;

[0016] For X iN (k), the value at frequency f is extracted as the fluorescence intensity value of wavelength T i , denoted as F(i);

[0017] A two-dimensional curve of fitting is plotted with T i as the abscissa and F(i) as the ordinate;

[0018] Based on the two-dimensional curve, it is determined whether the examined tissue is the target autofluorescent tissue, which is used as the detection result.

[0019] First, by using a grating beam splitter, only signals within the wavelength range of λ1 to λ2 can be retained. If the energy of the interference signal is mainly concentrated outside this band, then most of the interference signal can be filtered out in this way, while simultaneously triggering laser filtering.

[0020] Furthermore, if the frequency of the interfering light is different from the modulation frequency f, then the component value of the interfering light at the modulation frequency f is very small, even negligible. Therefore, by extracting each wavelength T... i spectral sequence X iN (k) The value corresponding to the modulation frequency f can further reduce the influence of interference light (such as shadowless lamps) whose frequency is far from the modulation frequency, and greatly enhance the anti-interference ability.

[0021] Furthermore, by using the fitted two-dimensional curve in the above method to determine whether the tested tissue is the target autofluorescent tissue, compared with the existing technology that only uses a single fluorescence intensity value to determine it, the two-dimensional curve contains a larger amount of data and has a higher error tolerance, thus further improving the accuracy of autofluorescent tissue detection.

[0022] Secondly, a method for detecting autofluorescent tissue includes the following steps:

[0023] The tissue under examination is irradiated with a laser with a modulation frequency of f and a wavelength of λ, and the optical signal around the tissue under examination is sampled.

[0024] The collected optical signal is split according to wavelength using a grating beam splitter, so that only the optical signal with a wavelength range of λ1 to λ2 is left.

[0025] J data points of different wavelengths are extracted in one sampling period, and each wavelength is denoted as T. i The corresponding fluorescence intensity is denoted as D. i Where 0≤i≤J-1;

[0026] Extract data from N consecutive sampling periods to obtain wavelengths T over a given time period. i time series x iN (k), where 0≤k≤N-1;

[0027] For each T i time series x iN (k) Perform a Fourier transform to obtain the wavelength T i spectral sequence X iN (k);

[0028] For X iN(k), the value at the extraction frequency f as the wavelength T i the fluorescence intensity value of the i-th wavelength, denoted as F(i);

[0029] with T i as the abscissa and F(i) as the ordinate, a two-dimensional curve of the fitting is plotted;

[0030] Based on the two-dimensional curve, it is determined whether the subject tissue is the target autofluorescent tissue.

[0031] In a third aspect, a computer readable storage medium stores a computer program, which, when executed by a processor, performs the above-mentioned detection method.

[0032] The detection method of the autofluorescent tissue of the second aspect and the computer readable storage medium of the third aspect can obtain the same beneficial technical effects as the above-mentioned detection device. BRIEF DESCRIPTION OF DRAWINGS

[0033] In the drawings, embodiments of the present application are shown by way of example and not limitation.

[0034] FIG. 1 shows a flowchart of a detection method of an autofluorescent tissue according to an embodiment of the present application.

[0035] FIG. 2 is an example of a two-dimensional curve of fitting with the abscissa being the wavelength and the ordinate being the fluorescence intensity.

[0036] FIG. 3 shows a schematic diagram of a detection device of an autofluorescent tissue according to an embodiment of the present application.

[0037] FIG. 4 shows a schematic diagram of an embodiment of a detection device of an autofluorescent tissue according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] The technical solutions of the present application will be described in detail below with reference to the embodiments of the present application and the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all embodiments. Those skilled in the art can construct or obtain other embodiments on the basis of the described embodiments without creative effort. Therefore, the described embodiments are only exemplary and not limiting.

[0039] Referring to FIG. 1, a flowchart of a detection method of an autofluorescent tissue according to an embodiment of the present application is shown. In the description of the embodiments of the present application, the parathyroid gland is sometimes taken as an example of the autofluorescent tissue, but obviously the method of the present application is not limited to the parathyroid gland, but can be applied to the detection of all autofluorescent tissues.

[0040] The method for detecting autofluorescent tissue according to the embodiments of the present application starts from step S101. In step S101, a laser with a modulation frequency of f and a wavelength of λ is used to irradiate the tissue under examination, and the light signals around the tissue under examination are sampled.

[0041] The device for emitting laser can be various laser emitters, such as solid-state lasers, gas lasers, etc.

[0042] If the tissue under examination is autofluorescent tissue, the tissue under examination can generate fluorescence under the excitation of laser. For example, if the tissue under examination is parathyroid, the parathyroid can generate fluorescence with a wavelength of 800-900 nm under the excitation of laser with a wavelength of 760-800 nm. Therefore, if the target autofluorescent tissue is parathyroid, λ can be set to a certain wavelength in the range of 760-800 nm, and preferably λ is 785 nm.

[0043] In a surgical scenario, the light signals around the tissue under examination can include not only the fluorescence generated by the tissue under examination, but also the laser reflected by the tissue under examination, and the interference light from the surrounding environment, etc. The interference light can be generated by a device such as a shadowless lamp. Of course, there can be other environmental light signals, which are not limited in the present application.

[0044] The sampling device for sampling the fluorescence generated by the tissue under examination can be, for example, a fiber probe. In a surgical scenario, a medical staff can hold the laser emitter in one hand and the fiber probe in the other hand, and sample the light signals around the tissue under examination using the fiber probe while the laser emitter irradiates the modulated laser to the tissue under examination.

[0045] As another way, a technical solution of simultaneously arranging the output fiber and the receiving fiber in the same probe can also be used. That is, the laser output fiber and the receiving fiber are included in the probe. The laser output fiber is coupled to the laser emitter, and the laser emitted from the laser emitter is emitted through the front end of the output fiber. At the same time, the receiving fiber receives the light signals around the tissue under examination. The light signals can include laser, fluorescence, interference light, etc. In operation, the laser emission and the light signal sampling can be conveniently realized by contacting the probe with the tissue under examination, further simplifying the operation.

[0046] In step S102, the received light signals are spectrally dispersed according to wavelength by using a grating spectrometer, so that only the light signals with a wavelength range of λ1-λ2 are left.

[0047] For example, a spectrometer is a common grating spectrometer, which can separate the required wavelength or waveband, and measure the light intensity at the required wavelength or waveband.

[0048] For the fluorescence generated by autofluorescence tissue, the energy can be concentrated in a certain band, and thus by filtering the optical signal using the grating spectrometer, for example, band-pass filtering, the interfering optical signal can be removed to some extent. For example, if the parathyroid gland is excited by a modulated laser with a wavelength of 760-800 nm, the parathyroid gland generates fluorescence with energy concentrated in the band of 800-900 nm. In this case, if the range of λ1-λ2 is set to 800-900 nm, only the signal in this band can be left. If the energy of the interfering signal is mainly concentrated outside this band, most of the interfering signal can be filtered out in this way, and the excitation laser can also be filtered out.

[0049] According to the sampling theorem, if the modulation frequency of the laser is f, the grating spectrometer samples and processes the optical signal at a frequency f s that should satisfy f s ≥ 2f.

[0050] Next, in step S103, data of J different wavelengths is extracted in one sampling period, and each wavelength is denoted as T i , and the corresponding fluorescence intensity is denoted as D i , where 0≤i≤J-1.

[0051] For example, for an optical signal in the band of 800-900 nm, J can be set to 10, 15, 20, etc. The larger J is set, the larger the amount of data processed by the grating spectrometer, but the more accurate the spectrum obtained subsequently, which is beneficial to the fitting of the two-dimensional curve.

[0052] In step S104, the above step S103 is repeated for N consecutive sampling periods to obtain the time series x i (k) of each wavelength T iN , where 0≤k≤N-1.

[0053] Thus, by steps S103 and S104, the time series data x i (k) of each wavelength T iN is obtained.

[0054] Next, in step S105, the Fourier transform is performed on the time series x i (k) of each wavelength T iN to obtain the frequency spectrum sequence X iN (k). In order to reduce the amount of calculation, it is preferred to use fast Fourier transform to obtain the frequency spectrum sequence.

[0055] In step S106, the value of the frequency spectrum sequence X i (k) of each wavelength T iN at the modulation frequency f is extracted, denoted as F(i), as the wavelength Ti The fluorescence intensity value.

[0056] If the frequency of the interfering light is different from the modulation frequency, the component value of the interfering light at the modulation frequency f is very small, even negligible. Therefore, by extracting each wavelength T... i spectral sequence X iN (k) The component value corresponding to the modulation frequency f can reduce the influence of interference light (such as shadowless lamps) whose frequency is far from the modulation frequency, and greatly enhance the anti-interference ability.

[0057] In step S107, T i Let F(i) be the x-axis and F(i) be the y-axis. Plot a discrete graph and use this as the basis for drawing the fitted two-dimensional curve. Any existing method can be used to fit the curve. For easier analysis and comparison, the two-dimensional curve can also be normalized.

[0058] In step S108, based on the above two-dimensional curve, it is determined whether the tested tissue is the target autofluorescent tissue.

[0059] In one example of the above method, the modulation frequency f is set to 200Hz, λ to 785nm, λ1 to 800nm, λ2 to 900nm, J to 10, N to 256, and the sampling frequency f of the grating beam splitter is... s The frequency is 2000Hz. Take the wavelength T for each wavelength. i spectral sequence X iN (k) The value at the modulation frequency f, i.e., 200 Hz, is taken as the wavelength T. i The fluorescence intensity value.

[0060] Figure 2 shows an example of a fitted two-dimensional curve when the examined tissue is a parathyroid gland. In the figure, the horizontal axis represents wavelength, ranging from 800 nm to 900 nm. The vertical axis represents fluorescence intensity, in au, with a maximum fluorescence intensity of 100. This figure reveals some characteristics of the parathyroid gland fluorescence spectrum; for example, the curve peaks in the 815 nm–825 nm range.

[0061] As a method of judgment, the fluorescence intensity F' at a certain wavelength T' can be compared with the fluorescence intensity F” of other nearby tissues at the same wavelength T' measured beforehand under the same conditions. Based on the comparison result, it can be determined whether the examined tissue is the target autofluorescent tissue. For example, under the same conditions, the fluorescence intensity emitted by the parathyroid gland is much higher than that of other nearby tissues (such as the thyroid gland). Therefore, if the target autofluorescent tissue is the parathyroid gland, then if F' and F” differ by more than three times, the examined tissue can be considered to be the parathyroid gland.

[0062] In addition, as another alternative of the judging method, the sum S of each F(i) in the two-dimensional curve is compared with the sum S' of the fluorescence intensity at each wavelength of the nearby other tissue measured in advance under the same condition, and it is judged based on the comparison result whether the subject tissue is the target autofluorescence tissue. For example, if the target autofluorescence tissue is the parathyroid gland, if S differs from S' by more than 3 times, it can be considered that the subject tissue is the parathyroid gland. Compared with the single point comparison, this summing method can further improve the accuracy of the judgment and identification.

[0063] In addition, it is known in the art that the fluorescence spectrum has invariability regardless of the excitation wavelength, and therefore, for the normalized two-dimensional curve, the curve characteristics of the two-dimensional curve can also be analyzed, and it is judged based on the analysis result whether the subject tissue is the target autofluorescence tissue.

[0064] For example, the curve characteristics of the parathyroid gland fluorescence spectrum can include the peak wavelength of the curve, the half-peak wavelength lower than the peak wavelength, and the half-peak wavelength higher than the peak wavelength, etc. By comparing the curve characteristics of the above two-dimensional curve with the curve characteristics of the parathyroid gland, it can be used to judge whether the subject tissue is the parathyroid gland.

[0065] In addition, as another alternative of the curve characteristic comparison, the above two-dimensional curve can be compared with the standard curve of the target autofluorescence tissue for similarity, and it is judged based on the comparison result whether the subject tissue is the target autofluorescence tissue.

[0066] For example, the above two-dimensional curve is compared with the standard curve of the parathyroid gland for similarity, and such comparison can use the method known in the field of curve comparison. For example, the Pearson correlation coefficient method can be used. The above two-dimensional curve is denoted as X, and the standard curve is denoted as Y, and the Pearson correlation coefficient of X and Y is:

[0067] Wherein, cov is the covariance, and δ is the standard deviation.

[0068] The simplified formula can be obtained as:

[0069] When the absolute value of the correlation coefficient r is more than 0.8, it can be considered as a very strong correlation, and when it is between 0.6 and 0.8, it is considered as a strong correlation.

[0070] Alternatively, the distance least square method can also be used to measure the distance between the two-dimensional curve and the standard curve.

[0071] Alternatively, the two-dimensional curve and the standard curve can be regarded as two independent images, and an image matching method is used to judge the curve profile of the two-dimensional curve and the standard curve. If the matching degree is high, it is determined that the detected tissue is the target autofluorescence tissue, otherwise it is determined that the detected tissue is not the target autofluorescence tissue.

[0072] The embodiment of the present application also provides a detection device for autofluorescence tissue.

[0073] As shown in FIG. 3, the detection device 10 includes a processor 20, a memory 30, a laser emitter 40, an acquisition device 50, a grating spectrometer 60, and a notification device 70. The processor 20, the memory 30, the laser emitter 40, the acquisition device 50, the grating spectrometer 60, and the notification device 70 can be communicatively coupled through a bus 100 or other means.

[0074] The processor 20 controls each component in the detection device 10 to perform the operations in the foregoing method and performs the calculations described in each step of the foregoing method. The processor 20 described above can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0075] Of course, the processor 20 of the detection device 10 can also be a cloud server or the like. After sampling and processing, the grating spectrometer 60 transmits data to the cloud server, and the cloud server performs control and calculation.

[0076] The memory 30 is used to store instructions and data for the processor 20 to perform operations. The memory 30 can include read-only memory and random access memory.

[0077] The laser emitter 40 can emit modulated laser with a modulation frequency f and a wavelength λ towards the detected tissue.

[0078] The acquisition device 50 acquires light signals around the detected tissue irradiated by the laser. The acquisition device 50 can be separately arranged from the laser emitter 40, or can be arranged in one component or integrally arranged with the laser emitter 40. The light signals acquired by the acquisition device 50 can include fluorescence emitted by the detected tissue, reflected laser, and interference light existing in the surrounding environment. The interference light can be shadowless lamp light or the like.

[0079] The grating spectrometer 60 is optically coupled with the acquisition device 50 and spectrally separates the light signals acquired by the acquisition device 50 according to wavelength. In order to meet the sampling theorem, the sampling frequency f of the grating spectrometer 60 should be greater than twice the maximum frequency of the light signals acquired by the acquisition device 50. s The sampling frequency f of the grating spectrometer 60 should be greater than twice the maximum frequency of the light signals acquired by the acquisition device 50. s≥2f. After sampling and processing the light signal by the aforementioned method, the grating spectrometer 60 sends the signal to the processor 20. In order to increase the detection accuracy, a filter, preferably a long-pass filter, can be arranged between the collection device 50 and the grating spectrometer 60, for pre-filtering the light signal entering the grating spectrometer 60.

[0080] The notification device 70 is used to notify the detection result of the detection method. For example, the notification device 70 can be a display device for notifying the detection result in the form of text or graphics, etc. Or the notification device 70 can be an acoustic device for notifying the detection result in the form of sound. The detection result can be the judgment result of whether the examined tissue belongs to the target autofluorescent tissue. In the surgical scenario, for example, if the examined tissue belongs to the target autofluorescent tissue, such as the parathyroid, then the notification device 70 can display the result on the display screen in the form of text or graphics, such as "the examined tissue is the parathyroid" or a graphical prompt sign, or play a prompt sound to the user, etc.

[0081] Of course, the notification device 70 can also display other information, such as displaying the fitted two-dimensional curve, or displaying the background value standard two-dimensional curve of the target autofluorescent tissue together. In addition, the notification device 70 can also be used as an input component, for example, the user can input the parameters used in the detection device 10 through the notification device 70, etc.

[0082] FIG. 4 shows a schematic diagram of an embodiment of the autofluorescent tissue detection device according to the embodiment of the present application.

[0083] As shown in the figure, the control system is an embodiment of the processor 20. The control system is coupled with the light splitting device based on the grating light splitting principle and the laser emitter, and collects the optical signal through the optical fiber and as a passage for the outward emission of laser. Specifically, the optical signal such as fluorescence, laser, etc. is collected through the optical fiber end 1-1 and enters the light splitting device based on the grating light splitting principle at the optical fiber end 1-2. The light splitting device based on the grating light splitting principle splits the optical signal according to the wavelength, performs the sampling operation and the like as described in the foregoing method, and then sends the signal to the control system. On the other hand, the laser emitted by the laser emitter enters the optical fiber through the optical fiber end 2-2 and then exits through the optical fiber end 2-1. The control system performs the operation of the foregoing method, and sends a notification through the HMI human-machine interface when necessary. The HMI human-machine interface is an embodiment of the notification device 70 described above. The HMI human-machine interface is used to notify the detection result. For example, the HMI human-machine interface notifies in the form of text or graphics, etc. Or the HMI human-machine interface notifies in the form of sound. The content of the detection result can be the judgment result of whether the detected tissue belongs to the target autofluorescence tissue. The HMI human-machine interface can also display other information, such as displaying the fitted two-dimensional curve and / or the background value standard two-dimensional curve. In addition, the HMI human-machine interface can also be used as an input component, such as inputting parameters of the detection device, etc.

[0084] In addition, the embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is run by a processor, the steps described in the method embodiment are executed. The storage medium can be a volatile or non-volatile computer readable storage medium.

[0085] The method in the embodiment of the present application can be realized by software, hardware, firmware or any combination thereof, in whole or in part. When realized by software, it can be realized in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the flow or function described in the present application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, a core network device, an OAM or other programmable devices.

[0086] The computer program or instructions can be stored in or transferred from one computer-readable medium to another computer-readable medium, e.g., from one website site, computer, server or data center to another website site, computer, server or data center, through wired or wireless ways. The computer-readable medium can be any available medium or a data storage device, such as a server, data center, etc., integrated with one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; an optical medium, such as a digital video disc; or a semiconductor medium, such as a solid state disk. The computer-readable medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0087] The content of the present application becomes clear through the above description of the embodiments. Those skilled in the art should understand that the above detailed description is only illustrative, not restrictive. Therefore, the scope of the present application should be determined with reference to the appended claims.

Claims

1.A device for detecting autofluorescent tissue, comprising: a laser emitter configured to irradiate a target tissue with laser light having a modulation frequency of f and a wavelength of λ; a collector configured to collect light signals around the target tissue irradiated with the laser light; a grating spectrometer optically coupled to the collector and configured to spectrally separate the light signals from the collector by wavelength, so that only light signals having a wavelength in a range of λ1 to λ2 remain; a processor coupled to the laser emitter, the collector, and the grating spectrometer; a memory coupled to the processor and storing instructions and data for the processor to execute; and a notifier coupled to the processor and configured to notify a detection result, wherein the processor is configured to execute the following processes based on data from the grating spectrometer: determining whether the target tissue is a target autofluorescent tissue based on the two-dimensional curve, as the detection result. 2.The device according to claim 1, wherein determining whether the target tissue is the target autofluorescent tissue based on the two-dimensional curve comprises: comparing a fluorescence intensity value F’ corresponding to a given wavelength T’ in the two-dimensional curve with a fluorescence intensity value F” corresponding to the wavelength T’ measured in advance for other tissues in the vicinity of the target autofluorescent tissue under the same conditions, and determining whether the target tissue is the target autofluorescent tissue based on a comparison result. 3.The device according to claim 1, wherein the target autofluorescent tissue is a parathyroid gland. 4.The device according to claim 1, wherein determining whether the target tissue is the target autofluorescent tissue based on the two-dimensional curve comprises: determining whether the target tissue is the target autofluorescent tissue based on a curve feature of the two-dimensional curve. 5.The device according to claim 1, wherein determining whether the target tissue is the target autofluorescent tissue based on the two-dimensional curve comprises: performing a similarity comparison between the two-dimensional curve and a standard curve of the target autofluorescent tissue, and determining whether the target tissue is the target autofluorescent tissue based on a comparison result. The similarity comparison uses at least one of a Pearson correlation coefficient algorithm, a distance least squares method, and an image matching comparison method. The target autofluorescent tissue is a parathyroid gland, λ is set to be between 760 nm and 800 nm, λ1 is 800 nm, and λ2 is 900 nm. Wherein, in the sampling period of the grating spectrometer, data of J different wavelengths are extracted, and each wavelength is denoted as T i , and the corresponding fluorescence intensity is denoted as D i , wherein 0≤i≤J-1, data of continuous N sampling periods are extracted to obtain the time sequence x i of each wavelength T iN in a period of time, wherein 0≤k≤N-1. The target autofluorescent tissue is a parathyroid gland, and when F’ is more than three times F” or S is more than three times S’, it is determined that the target tissue is a parathyroid gland. For each T i time series x iN (k) Fourier transform is performed to obtain the frequency spectrum sequence X i of wavelength T iN (k). For X iN (k), the value at frequency f is extracted as the wavelength T i fluorescence intensity value, denoted F(i); T i The fitted two-dimensional curve is plotted with T as the abscissa and F(i) as the ordinate. The target autofluorescent tissue is a parathyroid gland, and the curve feature of the two-dimensional curve includes a curve peak wavelength, a half-peak wavelength lower than the peak wavelength, and a half-peak wavelength higher than the peak wavelength. The grating spectrometer is a spectrometer. A filter is provided between the collector and the grating spectrometer. The filter is a long-pass filter. The judging whether the tested tissue is the target autofluorescence tissue based on the two-dimensional curve comprises: comparing the sum S of each F(i) in the two-dimensional curve with a sum of corresponding fluorescence intensity values S' determined in advance for other tissues near the target autofluorescence tissue under the same condition i The sum S' of corresponding fluorescence intensity values is compared, and whether the tested tissue is the target autofluorescence tissue is judged based on a comparison result. 13.A method for detecting autofluorescent tissue, comprising the following steps: irradiating a target tissue with laser light having a modulation frequency of f and a wavelength of λ, and sampling light signals around the target tissue; ​ ​ ​ 6. The probe device of claim 5, wherein, ​ 7. The probe device according to any one of claims 1-6, characterized in that, ​ 8. The probe device according to claim 2 or 3, characterized in that ​ 9. The probe device of claim 4, wherein, ​ 10. The probe device of claim 1, wherein, ​ 11. The probe device according to any one of claims 1-6, characterized in that, ​ 12. The probe device of claim 11, wherein, ​ ​ ​ The collected light signals are spectrally dispersed according to wavelengths by using a grating spectrometer, so that only light signals with wavelengths in the range of λ1-λ2 are left; Data of J different wavelengths are extracted in one sampling period, and each wavelength is recorded as T i Corresponding fluorescence intensity is recorded as D i Wherein, 0≤i≤J-1; Extracting data of consecutive N sampling periods, obtaining time series x i (k) of each wavelength T iN in a period of time, where 0≤k≤N-1; For each T i time series x iN (k) Fourier transform to get the spectrum sequence X i (k) of wavelength T iN ; For X iN (k), the value at the frequency f is extracted as the wavelength T i fluorescence intensity value, denoted F(i); T i A two-dimensional curve is plotted with T as the horizontal coordinate and F(i) as the vertical coordinate. Based on the two-dimensional curve, it is determined whether the detected tissue is the target autofluorescence tissue. 14.A computer readable storage medium storing a computer program, wherein the program, when executed by a processor, performs the method of claim 13.

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