The invention discloses a
thyroid intraoperative real-time navigation method and a
thyroid intraoperative real-time
navigation system based on multi-mode optical fusion. The
thyroid intraoperative real-time navigation method comprises the following steps: outputting visible light through an
endoscope and
coupling light
waves of a narrow-band multispectral
light source to irradiate an operative field, exciting parathyroid glands to generate near-
infrared fluorescence, and receiving reflected visible light, split light, near-
infrared fluorescence and
laser speckle signals through an
endoscope probe. And separating the composite optical
signal into four channels, and respectively generating an anatomical structure
color image, a
blood vessel spectroscopic image, a
parathyroid gland near-
infrared fluorescence image and a
laser speckle image. Performing
decorrelation processing on the
laser speckle image to generate a
blood flow dynamic pseudo-color
decorrelation speckle image; an anatomical structure, a
blood vessel center line, a
parathyroid gland contour and
blood flow dynamic feature points are extracted through a multi-
modal registration technology, after affine transformation space alignment is conducted, a comprehensive imaging map containing the anatomical structure,
blood vessel distribution and
parathyroid gland function marking information is generated through a
wavelet fusion
algorithm, and intraoperative multi-dimensional real-time tissue navigation is achieved.