CN115067886A - Photoacoustic scanning imaging compensation method, photoacoustic scanning imaging compensation method and photoacoustic scanning imaging compensation system based on voice coil motor - Google Patents

Abstract

The invention belongs to the technical field of photoacoustic scanning imaging, and particularly relates to a photoacoustic scanning imaging compensation method, imaging method and system based on a voice coil motor. The photoacoustic scanning imaging compensation method includes: judging whether the deviation value of each actual light-emitting position and the corresponding set light-emitting position meets the requirements; if not, compensating each set light-emitting position according to each actual light-emitting position, and obtaining each compensated light-emitting position position, take each compensated light-emitting position as each set light-emitting position of the next movement, and execute step S2; It can realize the equidistant output at high speed through the motion control of pre-planning compensation, and realize the imaging function of high speed, high resolution and no distortion.

Description

Photoacoustic scanning imaging compensation method, imaging method and system based on voice coil motor

technical field

The invention belongs to the technical field of photoacoustic scanning imaging, and in particular relates to a photoacoustic scanning imaging compensation method, imaging method and system based on a voice coil motor.

Background technique

Photoacoustic Imaging (PAI) is a new non-invasive and non-ionizing biomedical imaging method developed in recent years. Among them, the optical resolution mode relies on the laser spot and motion mechanism to have extremely high resolution, which can reach 1-3 μm or even sub-micron level.

However, because of its imaging resolution, especially CSCAN imaging resolution, it needs to rely on the motion mechanism and signal trigger mechanism, and because the optical resolution mode needs to achieve acoustic and optical confocality, which leads to the use of traditional stepping or ordinary linear motors as the scanning speed of the brake. Too slow, and only moving the spot can not reach the acoustic and optical confocal conditions, easy to produce distortion, resulting in data distortion. At the same time, the controller with high-speed PSO function based on real-time position is expensive, and it is difficult to drive the voice coil motor, and the signal control and laser output have microsecond-level delay, and image distortion will occur when the movement speed reaches a certain level.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a photoacoustic scanning imaging compensation method and system based on a voice coil motor, and an imaging method and system.

In order to solve the above technical problems, the present invention provides a photoacoustic scanning imaging compensation method based on a voice coil motor. Set the actual light-emitting position corresponding to the light-emitting position; step S3, execute step S4 or step S5; step S4, judge whether the deviation value of each actual light-emitting position and the corresponding set light-emitting position meets the requirements; if not, according to each actual light-emitting position. The light emitting position compensates each set light emitting position, obtains each compensated light emitting position, uses each compensated light emitting position as each set light emitting position of the next movement, and executes step S2; Output as each set light emitting position that meets the requirements; step S5, compensate each set light emitting position according to each actual light emitting position, obtain each compensated light emitting position, and use each compensated light emitting position as each set light emitting position of the next movement, Step S2 is performed, and after the compensation times meet the preset times, each of the compensated light-emitting positions is output as each set light-emitting position that meets the requirements.

Further, step S1 includes: setting the starting position Sstart of the first movement; setting the light-emitting distance Sp of the first movement; then the set light-emitting positions of the first movement are: SFirst[n]=Sstart+Sp×(n-1) ; where n is an integer greater than 0.

Further, step S2 includes: obtaining S _m [n] according to STemp _m [n]; wherein STemp _m [n] is the light output position set for the mth movement, and STemp ₁ [n]=SFirst[n]; S _m [n] is the actual light-emitting position of the m-th movement.

Further, the judgment formula in step S4 is: |S _m [n]-SFirst[n]|≤A; wherein, A is the deviation value; if the judgment formula is not satisfied, then STemp _m is determined according to S _m [n] [n] Perform compensation to obtain each compensated light output position STTL _m [n], let STemp _m+1 [n]=STTL _m [n], and execute step S2; if the judgment formula is satisfied, then the STemp of this movement _m [n] is output as each set light output position that meets the requirements.

Further, step S5 includes: compensating STemp _m [n] according to S _m [n] to obtain each compensated light output position STTL _m [n], let STemp _m+1 [n]=STTL _m [n], and execute the step S2: When m=w, output the STTL _m [n] as each set light output position that meets the requirements.

Further, performing compensation on STemp _m [n] according to S _m [n] to obtain each compensated light output position STTL _m [n] includes: STTL _m [n]=STemp _m [n]-(S _m [n] -SFirst[n]).

Further, the deviation value is several times the resolution of the grating ruler.

In another aspect, the present invention provides a photoacoustic scanning imaging method based on a voice coil motor, comprising: sending a light-emitting command to the laser according to each set light-emitting position that meets the requirements; the laser emits light according to the light-emitting command; The ultrasonic signal is obtained for imaging; wherein each set light output position that meets the requirements is suitable for acquisition by the above-mentioned photoacoustic scanning imaging compensation method based on the voice coil motor.

In yet another aspect, the present invention provides a photoacoustic scanning imaging system based on a voice coil motor, comprising: a laser for emitting laser light; a scanning head on which a reflecting mirror and an ultrasonic probe are arranged, wherein the reflecting mirror is used for The laser emitted by the laser is reflected to the sample, and the ultrasonic probe is used to receive the ultrasonic signal emitted by the sample after being irradiated by the laser; the driver is used to drive the scanning head to move back and forth; the position acquisition module is used to collect the moving position of the scanning head; The probe is used to collect the split beam of the laser emitted by the laser; the signal processor is electrically connected with the laser, the position acquisition module and the spectroscopic probe; and the host computer, the driver, the signal processor and the ultrasonic probe are all electrically connected with the host computer; The host computer is adapted to control the driver to drive the scanning head to move back and forth, and send each set light-emitting position for the first movement to the signal processor, and the signal processor is adapted to send a signal to the signal processor when the moving position of the scanning head matches each of the set light-emitting positions. The laser sends a light-emitting instruction, and the signal processor is adapted to obtain the actual light-emitting position corresponding to each set light-emitting position through the spectroscopic probe and the position acquisition module; The photoacoustic scanning imaging compensation method obtains each set light-emitting position that meets the requirements, and sends light-emitting instructions to the laser according to each set light-emitting position that meets the requirements. to the host computer for imaging.

In another aspect, the present invention provides a photoacoustic scanning imaging compensation system based on a voice coil motor, including: a set light exit position acquisition module, suitable for acquiring each set light exit position; an actual light exit position acquisition module, suitable for Setting the light-emitting position to obtain the actual light-emitting position corresponding to each set light-emitting position; a processing module; wherein the processing module is suitable for judging whether the deviation value of each actual light-emitting position and the corresponding set light-emitting position meets the requirements; if not, Then compensate each set light emitting position according to each actual light emitting position, obtain each compensated light emitting position, use each compensated light emitting position as each set light emitting position of the next movement, and transmit it to the set light emitting position acquisition module; if yes, then Each set light emitting position of this movement is output as each set light emitting position that meets the requirements; or the processing module is suitable for compensating each set light emitting position according to each actual light emitting position to obtain each compensated light emitting position, and each The compensated light-emitting position is used as each set light-emitting position of the next movement, and is transmitted to the set light-emitting position acquisition module, and after the compensation times meet the preset times, the compensated light-emitting positions are output as the set light-emitting positions that meet the requirements .

The beneficial effect of the present invention is that the present invention can realize equidistant output in high-speed state through motion control of pre-planning and compensation, and realize high-speed, high-resolution, and distortion-free imaging functions.

Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the description, claims and drawings.

In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below, and are described in detail as follows in conjunction with the accompanying drawings.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

FIG. 1 is a flowchart of a photoacoustic scanning imaging compensation method based on a voice coil motor according to an embodiment of the present invention;

2 is a flow chart of a photoacoustic scanning imaging method based on a voice coil motor according to an embodiment of the present invention;

3 is a schematic diagram of a photoacoustic scanning imaging system based on a voice coil motor according to an embodiment of the present invention;

FIG. 4 is a signal schematic diagram of an embodiment of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In actual social production and life, some applications require high resolution, small stroke (<1mm), and high-speed scanning. Therefore, we use the characteristics of high-speed oscillation of the voice coil motor, and cooperate with the pre-planned compensation position algorithm to achieve equal-spaced laser output and photoacoustic. High-speed, high-resolution, distortion-free imaging capabilities in optical resolution mode.

As shown in Figure 3, it is an optional voice coil motor-based photoacoustic scanning imaging system.

imaging process

The laser 1 is focused by the focusing mirror 2, and irradiated on the sample 10 by the reflecting mirror 4 and the acoustic lens 5. The ultrasonic probe 7 receives the ultrasonic signal emitted by the sample 10 after being irradiated by the laser 1, and after secondary amplification, it is transmitted to the upper computer through the acquisition card. .

sports

The focusing mirror 2, the triangular mirror 3, the reflecting mirror 4, the acoustic lens 5 and the ultrasonic probe 7 are fixed on the moving coil 6 of the voice coil motor; the driver generates current to the moving coil 6 according to the planning pulse of the motion control card, and the moving coil 6 generates magnetic force, Under the action of the left and right magnets, a high-frequency commutation force is generated, so that the moving coil 6 and its fixed element can form a high-frequency reciprocating motion along the linear track 8 .

signaling

First, set the command in the host computer software, write a series of moving point positions and time into the control card, the control card converts the planning curve into a pulse signal to the driver, and the driver converts the pulse signal into a driving current to control the motor to operate at high speed. During the reciprocating motion, the grating ruler 9 transmits the position signal (differential pulse) of the motion of the moving coil 6 to the FPGA signal processor, and the host computer sends the scan start command, the end position and the trigger distance of the laser 1 to the FPGA signal processor, and the FPGA signal processor According to the pulse level and number of pulses of the grating ruler 9, it is judged that the motor moves from the start position to the end position and sends a pulse signal to the laser when the trigger distance is positive, or judges that the motor moves from the end position to the start position and moves in a negative direction. When the distance is triggered, a pulse signal is sent to the laser, so that the laser can realize the light output from the start position to the end position during the reciprocating motion. However, because the electronic system and the laser send a trigger signal from the FPGA to the laser light output, there will be a signal delay. The laser 1 splits the beam through the beam splitter 11, and sends the pulse signal at the actual light-emitting time to the FPGA through the photoelectric probe 12. The FPGA records each set light-emitting position and each actual light-emitting position, and performs compensation, so as to obtain the required light output. Set the light output position and control the laser light output according to it, so that the distance between the actual light output positions is nearly equal, so that high-resolution and distortion-free imaging can be obtained.

As shown in FIG. 1 , this embodiment provides a photoacoustic scanning imaging compensation method based on a voice coil motor, including:

Step S1, obtaining each set light-emitting position of the first movement;

Step S2, obtaining the actual light emitting position corresponding to each set light emitting position according to each set light emitting position;

Step S3, execute step S4 or step S5;

Step S4, judging whether the deviation value of each actual light-emitting position and the corresponding set light-emitting position meets the requirements;

If not, compensate each set light emitting position according to each actual light emitting position, obtain each compensated light emitting position, use each compensated light emitting position as each set light emitting position of the next movement, and execute step S2;

If yes, output the set light-emitting positions of this movement as the set light-emitting positions that meet the requirements;

Step S5: Compensate each set light-emitting position according to each actual light-emitting position, obtain each compensated light-emitting position, use each compensated light-emitting position as each set light-emitting position of the next movement, and execute step S2, and the number of compensations meets the preset number of times. Afterwards, each compensated light-emitting position is output as each set light-emitting position that meets the requirements.

In this embodiment, preferably, step S1 includes:

Set the starting position Sstart of the first movement;

Set the light-emitting distance Sp of the first movement;

Then, the set light-emitting positions of the first motion are: SFirst[n]=Sstart+Sp×(n-1); wherein n takes an integer greater than 0.

In this embodiment, preferably, step S2 includes: obtaining S _m [n] according to STemp _m [n];

Wherein STemp _m [n] is the set light output position of the mth movement, and STemp ₁ [n]=SFirst[n]; S _m [n] is the actual light output position of the mth movement.

In this embodiment, preferably, the judgment formula in step S4 is: |S _m [n]-SFirst[n]|≤A; wherein, A is the deviation value;

If the above judgment formula is not satisfied, then compensate STemp _m [n] according to S _m [n] to obtain each compensation light output position STTL _m [n], let STemp _m+1 [n]=STTL _m [n], Execute step S2;

If the judgment formula is satisfied, the STemp _m [n] of the current movement is output as each set light-emitting position that satisfies the requirement.

In this embodiment, preferably, step S5 includes:

Compensate STemp _m [n] according to S _m [n] to obtain each compensated light output position STTL _m [n], set STemp _m+1 [n]=STTL _m [n], and execute step S2;

When m=w, the STTL _m [n] is output as each set light output position satisfying the requirement.

Using the compensation method of step S4, the output can be output as soon as each set light-emitting position is obtained to meet the requirements; and the compensation method of step S5, the value of w can be set according to experience, for example, in an optional application scenario , after accumulated experience, generally after 31 times, 35 times, and 37 times of compensation, the requirements can be met, but the number of times of output is not fixed, then according to experience, w can be set to 40 times, that is, after 40 times of fixed compensation The output of each set light output position that meets the requirements is output, and subsequent imaging has been performed.

Therefore, steps S4 and S5 can be selected and executed according to actual needs.

In this embodiment, preferably, performing compensation on STemp _m [n] according to S _m [n] to obtain each compensated light exit position STTL _m [n] includes:

STTL _m [n]= _STempm [n]-(Sm[n] _-SFirst [n]).

In this embodiment, obtaining each compensated light-emitting position STTL _m [n] is to fit each actual light-emitting position to the corresponding first-time set light-emitting position, so that the deviation value satisfies the requirement, thereby obtaining a clear image.

In this embodiment, preferably, the deviation value is several times the resolution of the grating ruler. For example, when the resolution of the grating scale is 0.1 μm, the deviation value can be taken as 5 times, that is, 0.5 μm.

On the basis of the above embodiment, as shown in FIG. 2 , this embodiment provides a photoacoustic scanning imaging method based on a voice coil motor, which includes: sending a light-emitting instruction to the laser according to each set light-emitting position that meets the requirements; Lighting according to the light-emitting instruction; acquiring the ultrasonic signal of the sample after being irradiated by the laser for imaging; wherein each set light-emitting position that meets the requirements is suitable to be obtained by the above-mentioned photoacoustic scanning imaging compensation method based on the voice coil motor.

On the basis of the above embodiment, as shown in FIG. 3 , this embodiment provides a photoacoustic scanning imaging system based on a voice coil motor, including: a laser for emitting laser light; a scanning head on which a mirror is arranged and an ultrasonic probe, wherein the mirror is used to reflect the laser emitted by the laser to the sample, and the ultrasonic probe is used to receive the ultrasonic signal emitted by the sample after being irradiated by the laser; a driver is used to drive the scanning head to move back and forth; a position acquisition module , used to collect the motion position of the scanning head; the spectroscopic probe, used to collect the split beam of the laser emitted by the laser; the signal processor, electrically connected with the laser, the position acquisition module, and the spectroscopic probe; and the host computer, the driver, signal processing Both the device and the ultrasonic probe are electrically connected with the host computer; wherein the host computer is adapted to control the driver to drive the scanning head to move back and forth, and send the first movement to the signal processor to set the light output position, and the signal processor is suitable for the scanning head The signal processor is adapted to obtain the actual light-emitting position corresponding to each set light-emitting position through the spectroscopic probe and the position acquisition module; and the signal processor is adapted to The above-mentioned photoacoustic scanning imaging compensation method based on the voice coil motor is used to obtain each set light-emitting position that meets the requirements, and sends a light-emitting command to the laser according to each set light-emitting position that meets the requirements, and the ultrasonic probe is suitable for receiving. The ultrasonic signal emitted after the sample is irradiated by the laser is transmitted to the upper computer for imaging.

On the basis of the above embodiment, this embodiment also provides a photoacoustic scanning imaging compensation system based on a voice coil motor, including: a set light exit position acquisition module, suitable for acquiring each set light exit position; acquisition of the actual light exit position A module, adapted to obtain the actual light-emitting position corresponding to each set light-emitting position according to each set light-emitting position; a processing module; wherein the processing module is suitable for judging whether the deviation value of each actual light-emitting position and the corresponding set light-emitting position is equal Satisfy the requirements; if not, compensate each set light output position according to each actual light output position, obtain each compensated light output position, use each compensated light output position as each set light output position of the next movement, and transmit it to the set light output position acquisition module; if yes, output the set light-emitting positions of this movement as the set light-emitting positions that meet the requirements; or the processing module is adapted to compensate each set light-emitting position according to the actual light-emitting positions, and obtain each set light-emitting position. Compensate the light-emitting position, take each compensated light-emitting position as each set light-emitting position of the next movement, and transmit it to the set light-emitting position acquisition module, and after the compensation times meet the preset times, the compensated light-emitting position is regarded as the one that meets the requirements. Each set light output position output.

In an optional application scenario, based on the photoacoustic scanning imaging of the voice coil motor, the moving coil 6 moves back and forth in a 1mm 25HZ state, the maximum speed can reach 260mm/s, the grating resolution is 0.1μm, and the laser sends out pulse signals from the FPGA The delay to light output is 15μs, and the equal spacing is set to emit light at 3μm. Before compensation, the laser trigger signal is triggered in steps of 3μm, but the laser emits light in a gradual range of 3-6.9μm, which cannot meet the imaging standard. After compensation, the laser can achieve 3.0±0.3 The equidistant light output of μm ensures that the image is not distorted at high speed.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may also be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality and possible implementations of apparatuses, methods and computer program products according to various embodiments of the present invention. operate. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the present invention may be integrated to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

Taking the above ideal embodiments according to the present invention as inspiration, and through the above description, relevant personnel can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the contents in the specification, and the technical scope must be determined according to the scope of the claims.

Claims (10)

1. A photoacoustic scanning imaging compensation method based on a voice coil motor is characterized by comprising the following steps:

step S1, acquiring each set light emitting position of the first movement;

step S2, acquiring actual light emitting positions corresponding to the set light emitting positions according to the set light emitting positions;

step S3, executing step S4 or step S5;

step S4, judging whether the deviation value of each actual light-emitting position and the corresponding set light-emitting position meets the requirement;

if not, compensating each set light-emitting position according to each actual light-emitting position to obtain each compensated light-emitting position, taking each compensated light-emitting position as each set light-emitting position of the next movement, and executing the step S2;

if yes, outputting each set light-emitting position of the movement as each set light-emitting position meeting the requirement;

and step S5, compensating each set light-emitting position according to each actual light-emitting position to obtain each compensated light-emitting position, taking each compensated light-emitting position as each set light-emitting position of the next movement, executing step S2, and outputting each compensated light-emitting position as each set light-emitting position meeting the requirement after the compensation times meet the preset times.

2. The photoacoustic scan imaging compensation method of claim 1,

step S1 includes:

setting a starting position Sstart of the first movement;

setting a light-emitting interval Sp of the first movement;

then the first movement sets the light-emitting positions as follows: SFirst [ n ] ═ Sstart + Sp × (n-1); where n is an integer greater than 0.

3. The photoacoustic scan imaging compensation method of claim 2,

step S2 includes: according to STemp _m [n]Obtaining S _m [n]；

Wherein STemp _m [n]Setting the light-emitting position for each mth movement, and STemp ₁ [n]＝SFirst[n]；S _m [n]The actual light exit positions for the mth movement.

4. The photoacoustic scan imaging compensation method of claim 3,

in step S4, the formula is: i S _m [n]-SFirst[n]|≤A；

Wherein A is a deviation value;

if the judgment formula is not satisfied, according to S _m [n]For STemp _m [n]Compensating to obtain each compensation light-emitting position STTL _m [n]Order STemp _m+1 [n]＝STTL _m [n]Step S2 is executed;

if the judgment formula is satisfied, the STemp of the movement is determined _m [n]And outputting the light as each set light-emitting position meeting the requirement.

5. The photoacoustic scan imaging compensation method of claim 3,

step S5 includes:

according to S _m [n]For STemp _m [n]Compensating to obtain each compensation light-emitting position STTL _m [n]Order STemp _m+1 [n]＝STTL _m [n]Step S2 is executed;

when m is equal to w, STTL _m [n]And outputting the light as each set light-emitting position meeting the requirement.

6. The photoacoustic scan imaging compensation method of claim 4 or 5,

said according to S _m [n]For STemp _m [n]Compensating to obtain each compensation light-emitting position STTL _m [n]The method comprises the following steps:

STTL _m [n]＝STemp _m [n]-(S _m [n]-SFirst[n])。

7. the photoacoustic scan imaging compensation method of claim 4,

the deviation value is several times of the resolution of the grating ruler.

8. A photoacoustic scanning imaging method based on a voice coil motor is characterized by comprising the following steps:

sending a light emitting instruction to the laser according to each set light emitting position meeting the requirement;

the laser emits light according to the light emitting instruction;

acquiring an ultrasonic signal of a sample after laser irradiation so as to perform imaging; wherein

The required light emitting positions are suitable for being obtained by the voice coil motor-based photoacoustic scanning imaging compensation method according to any one of claims 1 to 7.

9. A photoacoustic scanning imaging system based on a voice coil motor, comprising:

a laser for emitting laser light;

the scanning head is provided with a reflecting mirror and an ultrasonic probe, wherein the reflecting mirror is used for reflecting laser emitted by a laser to a sample, and the ultrasonic probe is used for receiving an ultrasonic signal emitted by the sample after the sample is irradiated by the laser;

the driver is used for driving the scanning head to move back and forth;

the position acquisition module is used for acquiring the motion position of the scanning head;

the beam splitting probe is used for collecting a split beam of laser emitted by the laser;

the signal processor is electrically connected with the laser, the position acquisition module and the light splitting probe; and

the driver, the signal processor and the ultrasonic probe are electrically connected with the upper computer; wherein

The upper computer is suitable for controlling the driver to drive the scanning head to move back and forth and sending each set light-emitting position for the first movement to the signal processor, the signal processor is suitable for sending a light-emitting instruction to the laser when the movement position of the scanning head accords with each set light-emitting position, and the signal processor is suitable for acquiring the actual light-emitting position corresponding to each set light-emitting position through the light-splitting probe and the position acquisition module; and

the signal processor is suitable for acquiring each set light-emitting position meeting the requirement by adopting the photoacoustic scanning imaging compensation method based on the voice coil motor according to any one of claims 1 to 7, and sending a light-emitting instruction to the laser according to each set light-emitting position meeting the requirement, and the ultrasonic probe is suitable for receiving an ultrasonic signal emitted by a sample after being irradiated by laser and transmitting the ultrasonic signal to the upper computer for imaging.

10. A photoacoustic scanning imaging compensation system based on a voice coil motor, comprising:

the set light-emitting position acquisition module is suitable for acquiring each set light-emitting position;

the actual light-emitting position acquisition module is suitable for acquiring actual light-emitting positions corresponding to the set light-emitting positions according to the set light-emitting positions;

a processing module; wherein

The processing module is suitable for judging whether the deviation value of each actual light-emitting position and the corresponding set light-emitting position meets the requirement; if not, compensating each set light-emitting position according to each actual light-emitting position to obtain each compensated light-emitting position, taking each compensated light-emitting position as each set light-emitting position of the next movement, and transmitting the compensated light-emitting position to a set light-emitting position acquisition module; if so, outputting each set light-emitting position of the movement as each set light-emitting position meeting the requirement; or

The processing module is suitable for compensating the set light-emitting positions according to the actual light-emitting positions to obtain the compensated light-emitting positions, the compensated light-emitting positions serve as the set light-emitting positions of the next movement, the compensated light-emitting positions are transmitted to the set light-emitting position obtaining module, and after the compensation times meet the preset times, the compensated light-emitting positions serve as the set light-emitting positions meeting the requirements and are output.

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