CN118177977A - Intelligent minimally invasive diagnosis and treatment integrated device and method for common scanning path wide field imaging - Google Patents
Intelligent minimally invasive diagnosis and treatment integrated device and method for common scanning path wide field imaging Download PDFInfo
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Abstract
本申请公开了一种共扫描路径宽场成像的智能微创诊疗一体化装置及方法，机械臂控制光学干涉断层成像模块获取生物组织术中实时光学断层影像，识别病变的病理学边界及体积容量信息，得到病变组织的结构信息，计算组织光学特性及诊断信息；多维度可控智能光学微创诊疗模块获取微创诊疗中的诊疗参数，并构建激光组织消融生物学效应模型；一体化共扫描路径诊疗的映射模块根据病变组织的位置信息的构建智能诊疗映射关系控制对应的光束进行多维度扫描；智能光学检测与探头控制模块控制机械臂控制光学干涉断层成像模块与光热诊疗的微创诊疗时序并进行诊疗实时引导。该装置结构简单、精度准确、操作简单、成像速度快、体积小、便携化、智能化程度高。
The present application discloses an integrated intelligent minimally invasive diagnosis and treatment device and method for common scanning path wide-field imaging. The mechanical arm controls the optical interference tomography module to obtain real-time optical tomography images of biological tissues during surgery, identifies the pathological boundaries and volume capacity information of lesions, obtains the structural information of lesion tissues, and calculates the optical characteristics and diagnostic information of tissues; the multi-dimensional controllable intelligent optical minimally invasive diagnosis and treatment module obtains the diagnosis and treatment parameters in minimally invasive diagnosis and treatment, and constructs a laser tissue ablation biological effect model; the mapping module of the integrated common scanning path diagnosis and treatment controls the corresponding light beam to perform multi-dimensional scanning according to the intelligent diagnosis and treatment mapping relationship constructed based on the position information of the lesion tissue; the intelligent optical detection and probe control module controls the mechanical arm to control the optical interference tomography module and the minimally invasive diagnosis and treatment timing of photothermal diagnosis and treatment, and conducts real-time diagnosis and treatment guidance. The device has a simple structure, accurate precision, simple operation, fast imaging speed, small size, portability, and high intelligence.
Description
Technical Field
The application relates to the technical field of medical optical diagnosis and treatment integration and the technical field of development of medical equipment systems, in particular to an intelligent minimally invasive diagnosis and treatment integration device and method for common scanning path wide-field imaging.
Background
With the continuous improvement of computer, optical and other technologies, modern lesion treatment has been required to change open surgery into minimally invasive and even noninvasive implementation, and the complete excision of lesions and the maximum possible preservation of normal tissues are required while the target site of surgery is precisely positioned, so that the problems of large surgical trauma, long recovery period and the like left in open surgery are avoided, the physical tissue and psychological injury to patients are reduced to the minimum, and the wound recovery period is reduced. Central nervous system and skin lesions, such as brain tumors, have become a large killer that is a serious threat to human health, and are also becoming a concern due to their high mortality and disability rate.
The most difficult problem to solve in surgery is the accurate determination of tumor boundaries and the precise degree of surgical resection, which is severely dependent on the experience of the clinician. Therefore, developing diagnosis and treatment equipment with intelligent diagnosis and treatment integration can provide image-guided accurate identification and accurate treatment for tumor treatment, and form accurate diagnosis and treatment integrated equipment. The intervention operation guided by the accurate stereoscopic image can accurately position an operation target point, can realize the characteristics of monitoring, intra-operation navigation and the like in the operation process, the stereoscopic image can provide depth information guidance for an operator, has more accurate operation guiding significance, and simultaneously realizes intelligent laser ablation treatment under the guidance of the optical structure functional image so as to ensure that a functional area can be completely stored in the diagnosis and treatment process and the treatment mode is reduced to the minimum. The diagnosis and treatment method and the equipment have the advantages of small wound, quick recovery, good curative effect, simple operation, low cost and the like.
Most surgical operations are realized by using more minimally invasive robots and biophysical methods gradually, and the minimally invasive surgical operations are developed in the accurate direction, so that the success rate of the surgical operations is greatly improved, and the sequelae of the surgical operations are reduced. In the minimally invasive treatment process, accurate diagnosis and guiding accurate treatment in operation brings great convenience to treatment of lesions, and an accurate treatment effect can be achieved through parameter coupling and path planning of optical images and laser ablation treatment through coupling high-accuracy treatment modes, so that an intelligent accurate diagnosis and treatment integrated device and system for constructing a common scanning path through real-time detection of an intraoperative non-public light path and analysis of the effect of guiding treatment can provide great technical support for innovation of lesion treatment methods and equipment.
Disclosure of Invention
The application provides an intelligent minimally invasive diagnosis and treatment integrated device and method for common-scanning path wide-field imaging, and the device has the advantages of simple structure, accurate precision, low cost, simplicity in operation, high imaging speed and small volume.
An embodiment of a first aspect of the present application provides an intelligent minimally invasive diagnosis and treatment integrated device for common scan path wide field imaging, including: the mechanical arm control optical interference tomography module is used for acquiring a real-time optical tomography image in biological tissue surgery, identifying pathological boundaries and volume capacity information of lesions from the real-time optical tomography image, obtaining structural information of lesion tissues, and calculating optical characteristics and diagnosis information of the tissues; the multidimensional controllable intelligent optical minimally invasive diagnosis and treatment module is used for acquiring diagnosis and treatment parameters in minimally invasive diagnosis and treatment and constructing a laser tissue ablation biological effect model with structural information of pathological tissues and laser parameters in advance; the mapping module of the integrated co-scanning path diagnosis and treatment is used for controlling corresponding light beams to carry out multi-dimensional scanning according to the construction of the intelligent minimally invasive diagnosis and treatment mapping relation of the position information of the lesion tissue; the intelligent optical detection and probe control module is used for controlling the mechanical arm to control the optical interference tomography module and the minimally invasive diagnosis and treatment time sequence of photothermal diagnosis and treatment and guiding diagnosis and treatment in real time.
Optionally, in an embodiment of the present application, the mechanical arm control optical interference tomography module is specifically configured to acquire a high resolution optical diagnostic image for a physical structure of the tissue under a wide field of view imaging structure, where the high resolution optical diagnostic image includes a depth structure image and processed tissue elastography.
Optionally, in an embodiment of the present application, the mechanical arm control optical interference tomography module includes a mechanical arm control two-dimensional galvanometer or MEMS device with a controllable scanning range.
Optionally, in an embodiment of the present application, the multi-dimensional controllable intelligent optical minimally invasive diagnosis and treatment module is specifically configured to control the scanning laser beam by using an obliquely incident MEMS, so that a scanning area coincides with a scanning range of the two-dimensional galvanometer for optical interference tomography.
Optionally, in an embodiment of the present application, a calculation formula of the intelligent minimally invasive diagnosis and treatment wide-field imaging coordinate mapping relation is:
Wherein, The/> is obtained by calibrating a coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end through the mechanical arm 5 pointsFor the coordinate transformation matrix from the tail end of the mechanical arm to the camera,To calibrate the conversion relation between the board and the camera, the/>, is obtained through Zhang's calibrationThe coordinate transformation matrix from the mechanical arm base to the calibration plate,For the coordinate transformation matrix from the end of the mechanical arm to the OCT probe,A coordinate transformation matrix from the OCT probe to the calibration plate;
the system coordinate system relation of the two times before and after changing the gesture of the mechanical arm can be written as follows:
Wherein, In order to change the coordinate transformation matrix from the base of the mechanical arm to the tail end of the mechanical arm before the posture of the mechanical arm,To change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix between the calibration plate and the camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end after the mechanical arm gesture, the method comprises the following steps ofIn order to change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera after the gesture of the mechanical arm, the method comprises the following steps ofIn order to change the coordinate transformation matrix between the calibration plate and the camera after the gesture of the mechanical arm, the method comprises the following steps ofTo change the coordinate transformation matrix from the end of the mechanical arm to the OCT probe before the posture of the mechanical arm,For changing the coordinate transformation matrix from the OCT probe to the calibration plate before the gesture of the mechanical arm,For changing the coordinate transformation matrix from the tail end of the mechanical arm to the OCT probe after the gesture of the mechanical arm, the method comprises the following steps ofThe coordinate conversion matrix from the OCT probe to the calibration plate is used for changing the posture of the mechanical arm;
transforming the equations yields the equations:
The equation reduces to:
A·X＝X·B
M·Y＝Y·N
solving two equations, unknowns The hand-eye relation between the camera, the OCT probe and the tail end of the mechanical arm is that the scanning area of the OCT probe is controlled by the information planning path collected by the camera, the rotation displacement relation between the camera and the OCT probe is required to be obtained, and the rotation displacement relation can be obtained by X and Y:
The embodiment of the second aspect of the application provides an intelligent minimally invasive diagnosis and treatment integrated method for common scanning path wide-field imaging, which comprises the following steps: acquiring a real-time optical tomographic image in a biological tissue operation, identifying pathological boundaries and volume capacity information of lesions from the real-time optical tomographic image, obtaining structural information of lesion tissues, and calculating tissue optical characteristics and diagnosis information; acquiring diagnosis and treatment parameters in minimally invasive diagnosis and treatment, and constructing a laser tissue ablation biological effect model with structural information of pathological tissues and laser parameters in advance; according to the position information of the pathological tissue, constructing an intelligent minimally invasive diagnosis and treatment mapping relation, and controlling corresponding light beams to carry out multidimensional scanning; and controlling the mechanical arm to control the minimally invasive diagnosis and treatment time sequence of the optical interference tomography and the photothermal diagnosis and treatment, and guiding diagnosis and treatment in real time.
Optionally, in one embodiment of the present application, the acquiring real-time optical tomographic images in biological tissue surgery includes: and acquiring a high-resolution optical diagnostic image for the physical structure of the tissue under the imaging structure with a wide field of view, wherein the high-resolution optical diagnostic image comprises a depth structure image and processed tissue elastography.
Alternatively, in one embodiment of the application, the real-time optical tomographic image of the biological tissue is acquired by controlling a two-dimensional galvanometer or MEMS device with a controllable scanning range of a mechanical arm.
Optionally, in one embodiment of the present application, further includes: scanning laser beams are controlled by obliquely incident MEMS so that a scanning area coincides with the scanning range of the two-dimensional galvanometer of optical interference tomography.
Alternatively, in one embodiment of the application,
The calculation formula of the intelligent minimally invasive diagnosis and treatment wide-field imaging coordinate mapping relation is as follows:
Wherein, The/> is obtained by calibrating a coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end through the mechanical arm 5 pointsFor the coordinate transformation matrix from the tail end of the mechanical arm to the camera,To calibrate the conversion relation between the board and the camera, the/>, is obtained through Zhang's calibrationThe coordinate transformation matrix from the mechanical arm base to the calibration plate,For the coordinate transformation matrix from the end of the mechanical arm to the OCT probe,A coordinate transformation matrix from the OCT probe to the calibration plate;
the system coordinate system relation of the two times before and after changing the gesture of the mechanical arm can be written as follows:
Wherein, In order to change the coordinate transformation matrix from the base of the mechanical arm to the tail end of the mechanical arm before the posture of the mechanical arm,To change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix between the calibration plate and the camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end after the mechanical arm gesture, the method comprises the following steps ofIn order to change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera after the gesture of the mechanical arm, the method comprises the following steps ofIn order to change the coordinate transformation matrix between the calibration plate and the camera after the gesture of the mechanical arm, the method comprises the following steps ofTo change the coordinate transformation matrix from the end of the mechanical arm to the OCT probe before the posture of the mechanical arm,For changing the coordinate transformation matrix from the OCT probe to the calibration plate before the gesture of the mechanical arm,For changing the coordinate transformation matrix from the tail end of the mechanical arm to the OCT probe after the gesture of the mechanical arm, the method comprises the following steps ofThe coordinate conversion matrix from the OCT probe to the calibration plate is used for changing the posture of the mechanical arm;
transforming the equations yields the equations:
The equation reduces to:
A·X＝X·B
M·Y＝Y·N
solving two equations, unknowns The hand-eye relation between the camera, the OCT probe and the tail end of the mechanical arm is that the scanning area of the OCT probe is controlled by the information planning path collected by the camera, the rotation displacement relation between the camera and the OCT probe is required to be obtained, and the rotation displacement relation can be obtained by X and Y:
The intelligent minimally invasive diagnosis and treatment integrated device and method for the co-scanning path can realize accurate identification and accurate diagnosis and treatment on important soft tissue lesions, can realize intelligent structural function imaging drawing and display and further fusion of real-time guiding laser ablation diagnosis and treatment, achieves an accurate diagnosis and treatment effect, and has the advantages of simple structure, accurate precision, low cost, simplicity in lesion diagnosis and treatment use, simplicity in operation, high imaging speed, high image spatial resolution, small volume and obvious image effect.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a schematic structural diagram of an integrated intelligent minimally invasive diagnosis and treatment device with a common scanning path according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an intelligent control probe according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a common scanning path intelligent minimally invasive diagnosis and treatment integrated operation platform and standard replacement according to an embodiment of the application;
FIG. 4 is a schematic diagram of a wide-field scanning imaging flow architecture of an intelligent control OCT probe according to an embodiment of the present application;
FIG. 5 is a schematic view of an integrated optical image-guided treatment for endoscopic optical image-guided laser treatment according to an embodiment of the present application;
fig. 6 is a flowchart of an integrated method of intelligent minimally invasive surgery for a co-scanning path according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
Fig. 1 is a schematic structural diagram of an intelligent minimally invasive diagnosis and treatment integrated device for common scanning path wide-field imaging according to an embodiment of the application.
As shown in fig. 1, the integrated device for intelligent minimally invasive diagnosis and treatment based on the wide-field imaging of the common scanning path has a structure based on the common scanning path of the scanning source optical coherence tomography and the photothermal ablation diagnosis and treatment, so that the integrated device can realize automatic diagnosis and accurate diagnosis and treatment with the assistance of fewer surgeons, and the main modules comprise a mechanical arm control optical interference tomography module 100, a multi-dimensional controllable intelligent optical minimally invasive diagnosis and treatment module 200, an integrated mapping module 300 for the diagnosis and treatment of the common scanning path, and an intelligent optical detection and probe control module 400.
The mechanical arm control optical interference tomography module 100 is used for acquiring real-time optical tomography images in biological tissue surgery, identifying pathological boundaries and volume capacity information of lesions from the real-time optical tomography images, obtaining structural information of lesion tissues, and calculating optical characteristics and diagnosis information of the tissues. The multidimensional controllable intelligent optical minimally invasive diagnosis and treatment module 200 is used for acquiring diagnosis and treatment parameters in minimally invasive diagnosis and treatment and constructing a laser tissue ablation biological effect model with structural information of lesion tissues and laser parameters in advance. The mapping module 300 of integrated co-scanning path diagnosis and treatment is used for controlling corresponding light beams to carry out multidimensional scanning according to the construction of the intelligent minimally invasive diagnosis and treatment mapping relation of the position information of the lesion tissue. The intelligent optical detection and probe control module 400 is used for controlling the mechanical arm to control the minimally invasive diagnosis and treatment time sequence of the optical interference tomography imaging module and the photothermal diagnosis and treatment, and guiding diagnosis and treatment in real time.
Specifically, the mechanical arm control optical interference tomography module 100 can acquire real-time optical tomography images in biological tissue surgery and provide pathological boundary and volume capacity information of lesions, further acquire structural information of lesion tissues, and acquire optical characteristics and diagnostic information of the tissues through calculation. The mechanical arm control optical interference tomography imaging module acquires an OCT image in operation by using a portable or mechanical arm control imaging probe, and processes the OCT image to obtain structural and functional information of pathological tissues, in particular pathological boundary and depth information.
Specifically, the imaging module has intelligent diagnosis effect, particularly can provide information of real-time pathological changes and normal tissues in operation while imaging at high speed, provides medical imaging information of structures and functions, and achieves accurate boundary identification and gives out a functional injury avoidance area.
Further, in one embodiment of the present application, the plurality of optical images includes: one or more of optical coherence tomography, fluorescence imaging, photoacoustic imaging, and hyperspectral imaging. And extracting structural or functional information of the pathological tissue by using optical imaging to perform surface imaging, tomographic imaging or fusion imaging of the pathological tissue. Specifically, the plurality of optical images provide structural function images of biological tissues, and imaging information of physiological structures and physiological functions of the biological tissues.
The multidimensional controllable intelligent optical minimally invasive diagnosis and treatment module 200 is specifically used for acquiring output parameters for controlling laser ablation in operation and constructing a biological effect model of lesion tissue structure information and laser parameters.
The mapping module 300 of the integrated co-scanning path diagnosis and treatment is specifically configured to construct a mapping relationship between structural information and diagnosis and treatment parameters of a lesion tissue, control output of a laser probe and complete scanning of the MEMS according to a quantitative efficiency and time efficiency relationship between the structural function information and the diagnosis and treatment parameters of the lesion tissue, and adjust a scanning angle of the two-dimensional MEMS to control a scanning range.
The intelligent optical detection and probe control module 400 is specifically used for identifying pathological tissues and drawing boundaries in an intelligent identification method, guides the MEMS galvanometer to realize two-dimensional scanning on the basis of image registration, completely covers the OCT scanning field of view with the laser beam scanning field of view, and executes laser ablation diagnosis and treatment at the pathological change position by controlling parameters such as output power, wavelength and the like of laser.
Optionally, in one embodiment of the present application, the mechanical arm control optical interference tomography module 100 is specifically configured to acquire a high resolution optical diagnostic image for a physical structure of tissue under a wide field of view imaging structure, where the high resolution optical diagnostic image includes a depth structure image and processed tissue elastography.
Specifically, the mechanical arm controls the sweep source optical interference tomography imaging module to provide a scanning mode with a wide field, and can realize an imaging view field of at least 10mm multiplied by 10mm, so as to provide high-resolution diagnostic images for the structure of the tissue under an imaging structure with the wide view field, including a depth structure image and processed tissue elastography. The two-dimensional galvanometer or MEMS device can be controlled to scan and image through the mechanical arm with controllable scanning range, and the structural member is designed to fix the two-dimensional galvanometer or MEMS device.
The sweep source optical coherence tomography can realize structural imaging of a large area by designing an imaging probe controlled by a mechanical arm and using two-dimensional galvanometer scanning. And the method is also used for providing information of pathological tissues and normal tissues in real time in operation and providing medical imaging information of tissue structures and functions so as to carry out boundary identification and provide a functional injury avoidance area.
Optionally, in an embodiment of the present application, the multi-dimensional controllable intelligent optical minimally invasive diagnosis and treatment module is specifically configured to control the scanning laser beam by using an obliquely incident MEMS, so that the scanning area coincides with the scanning range of the two-dimensional galvanometer of the optical interference tomography.
Specifically, the multidimensional controllable intelligent optical minimally invasive diagnosis and treatment module controls scanning laser beams through obliquely incident MEMS (micro electro mechanical systems), so that the coincidence of a scanning area and the scanning range of the two-dimensional galvanometer of optical interference tomography is realized, and the scanning field of the laser beams is about 10mm multiplied by 10mm.
Further, the external dimension of the micro-MEMS is 1.5mm×1.5mm, the internal mirror structure dimension is 1.0mm×1.0mm, the maximum scan angle is 60 °, and the scan angle can be set with voltage variation. The scanning angle can also be controlled by setting voltage variation according to the preoperative diagnosis result.
In one embodiment of the application, the intelligent minimally invasive laser ablation diagnosis and treatment can provide a laser ablation diagnosis and treatment mode with various parameters, and the various parameters form parameter groups according to adjustment parameters of the laser ablation diagnosis and treatment mode. Wherein, the laser ablation diagnosis and treatment mode includes: one or more of intelligent laser ablation, photodynamic therapy and photothermal therapy.
Diagnosis and treatment modes based on laser ablation can have diagnosis and treatment modes with various parameters, the parameters of the diagnosis and treatment modes form parameter sets according to adjustable parameters of the diagnosis and treatment modes, and accurate laser ablation diagnosis and treatment is realized through intelligent control parameter sets.
Specifically, the intelligent minimally invasive laser ablation diagnosis and treatment module relates to an intelligent diagnosis and treatment mode, controls relevant parameters in the diagnosis and treatment process, adjusts and adjusts diagnosis and treatment effects of biological tissues to obtain relevant parameters of laser ablation diagnosis and treatment of in-vitro and living tissues, and establishes an intelligent laser ablation diagnosis and treatment parameter knowledge base.
In one embodiment of the application, the optical image provides a structural function image of the biological tissue, and the imaging information such as the physiological structure and the physiological function of the biological tissue is used for intuitively guiding the development of diagnosis and treatment. The structural function image is a histological structural image of biological tissue, the structural function image including: the physiological structure is a trans-scale and multi-mode structure and function image so as to provide an image with pathological changes characteristics such as optical attenuation coefficient, tissue elasticity coefficient, blood flow speed, fiber bundle conduction direction and the like for biological tissues; the normal tissue and the pathological tissue are identified through the optical attenuation coefficient and the spectral structure characteristics, the blood flow supply condition of the tissue in operation is judged through the blood flow speed and the like, the elastography analysis tissue structure property of the biological tissue is obtained through the calculation of the tissue elasticity coefficient, and the physiological tissue functional area is avoided through the conduction of the fiber bundle.
In some examples, diagnosis and treatment are achieved in a constructed relationship requiring assistance from an intelligent robot, wherein the intelligent robot includes an endoscopic or miniaturized robot and an open intelligent minimally invasive auxiliary robot; and the endoscopic or open robot can synchronously or asynchronously transmit the optical influence and the transmission light of laser ablation diagnosis and treatment, and the constructed optical diagnosis and treatment mode realizes the interaction of precise optics and biological tissues through the robot.
Furthermore, laser ablation diagnosis and treatment guided by a plurality of optical images is realized through coupling path planning, the structure function images of pathological tissues are quantized through the coupling path planning method, accurate matching is achieved according to laser ablation diagnosis and treatment parameters, and in the matched intelligent diagnosis and treatment process, a robot is assisted to realize the planning and specific implementation of the coupling path, so that an accurate diagnosis and treatment effect is achieved.
The endoscopic optical diagnosis and treatment mode uses the diagnosis and treatment modes of a common optical path and a non-common optical path to implement the coupling of diagnosis light and diagnosis and treatment light in real time; the external intelligent robot realizes the diagnosis and treatment mode of a common light path and a common light path to implement the coupling of diagnosis light and diagnosis and treatment in real time, wherein the common light path can be used for carrying out the optical imaging and laser ablation diagnosis and treatment.
The diagnosis light and diagnosis light coupling of the endoscope and the external part realize diagnosis and treatment fusion, feedback is implemented through diagnosis and treatment conditions in operation, diagnosis and treatment parameters are regulated, and accurate diagnosis and treatment effects are achieved.
By analyzing the medical optical image, the tissue characteristics of optical influence are extracted, a tissue structure characteristic library is constructed based on the characteristics of information such as gray level, texture and the like, and the classification and segmentation of the optical image are realized by combining an artificial intelligence mode based on machine learning or deep learning.
Optionally, in one embodiment of the present application, the corresponding probe is controlled to work according to the mapping relation between the structural information of the lesion tissue and the diagnosis and treatment parameters, specifically, the intelligent feedback control means is used to realize the coupling of the diagnosis and treatment path constructed by the precise and intelligent robot, the diagnosis and treatment parameters and the diagnosis and treatment integration is constructed, wherein the laser ablation diagnosis and treatment guided by a plurality of optical images is realized through the coupling path planning, the coupling path planning method realizes quantification by the structural function image of the lesion tissue, and the precise matching is achieved according to the laser ablation diagnosis and treatment parameters; in the matched intelligent diagnosis and treatment process, the auxiliary robot realizes the planning and the specific implementation of the coupling path.
In the above embodiment, the endoscopic and external diagnosis light and diagnosis light coupling realize diagnosis and treatment fusion, and the diagnosis and treatment parameters are adjusted by implementing feedback of diagnosis and treatment conditions in operation.
Optionally, in an embodiment of the present application, a calculation formula of the intelligent minimally invasive diagnosis and treatment wide-field imaging coordinate mapping relation is:
Wherein, The/> is obtained by calibrating a coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end through the mechanical arm 5 pointsFor the coordinate transformation matrix from the tail end of the mechanical arm to the camera,To calibrate the conversion relation between the board and the camera, the/>, is obtained through Zhang's calibrationThe coordinate transformation matrix from the mechanical arm base to the calibration plate,For the coordinate transformation matrix from the end of the mechanical arm to the OCT probe,A coordinate transformation matrix from the OCT probe to the calibration plate;
the system coordinate system relation of the two times before and after changing the gesture of the mechanical arm can be written as follows:
Wherein, In order to change the coordinate transformation matrix from the base of the mechanical arm to the tail end of the mechanical arm before the posture of the mechanical arm,To change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix between the calibration plate and the camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end after the mechanical arm gesture, the method comprises the following steps ofIn order to change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera after the gesture of the mechanical arm, the method comprises the following steps ofIn order to change the coordinate transformation matrix between the calibration plate and the camera after the gesture of the mechanical arm, the method comprises the following steps ofTo change the coordinate transformation matrix from the end of the mechanical arm to the OCT probe before the posture of the mechanical arm,For changing the coordinate transformation matrix from the OCT probe to the calibration plate before the gesture of the mechanical arm,For changing the coordinate transformation matrix from the tail end of the mechanical arm to the OCT probe after the gesture of the mechanical arm, the method comprises the following steps ofThe coordinate conversion matrix from the OCT probe to the calibration plate is used for changing the posture of the mechanical arm;
transforming the equations yields the equations:
The equation reduces to:
A·X＝X·B
M·Y＝Y·N
solving two equations, unknowns The hand-eye relation between the camera and the OCT probe and the tail end of the mechanical arm is the same. To control the scan area of the OCT probe by planning the path through the information collected by the camera, the rotational displacement relationship between the camera and the OCT probe needs to be obtained, which can be obtained by X and Y:
Specifically, in one embodiment of the application, the precise control and registration of the laser ablation field of view is achieved by controlling the scanning of the laser path by a two-dimensional MEMS, wherein the scanning angle of the two-dimensional MEMS can be calculated by a mathematical mapping expression, i.e. by arctan function, and the scanning field of view can be controlled to be about 10mm x 10mm.
Use intelligent laser ablation to diagnose mode and provide accurate pathological change diagnosis and treat effect, specifically include: the parameter database corresponding to the parameters of the lesions is required to be constructed and comprises intelligent in-vitro and in-vivo (living) disease variables or lesion types corresponding to the output parameters, and the lesion quantity is specific to parameters such as lesion size, body volume, lesion malignancy degree and the like.
Further, in one embodiment of the present application, the method further includes: the multiple optical images are processed and analyzed by artificial intelligence or deep learning based methods.
The method specifically comprises the following steps: the acquired cases contained optical images of the biological tissue ex vivo, in vivo, and sufficient numbers of cases were collected.
Specifically, the obtained cases comprise in-vitro and in-vivo biological tissue optical images, the optical images with enough cases are collected to achieve high-precision recognition rate, and the judgment of the lesion boundary achieves the same or more diagnosis level as that of an expert doctor.
Further, after the optical image is acquired, intelligent minimally invasive diagnosis and treatment is realized, the lesion information and boundary information are quantized, and the intelligent diagnosis and treatment mode is used for adjusting the relevant parameters to correspond to the lesion type and the lesion size by setting proper parameter information.
In one embodiment of the application, the lesion quantification comprises lesion boundary information, lesion size, lesion type and other information, and the constructed relationship between the lesion quantification and diagnosis and treatment parameters is embodied in the corresponding relationship of the parameters, especially the laser ablation diagnosis and treatment parameters corresponding to the lesion variable and the medium heart disease variable of the boundary part are different.
In one embodiment of the present application, the reconstruction of the optical image is mainly implemented by using an image positioning algorithm after classification and identification, wherein the small-scale optical image and the large-scale optical image are accurately positioned and registered and then output, and the structure of the lesion boundary and the normal tissue is displayed in real time and three-dimensionally, so as to guide the laser ablation diagnosis and treatment to be performed, and the method specifically includes: large scale optical effects include biological tissue tomograms such as fluorescence imaging or photoacoustic imaging, small scale optical coherence tomograms, and the like.
In one embodiment of the present application, the laser ablation diagnosis and treatment mode has multidimensional parameter information, and diagnosis and treatment of biological lesion tissue is realized by controlling related parameters, wherein the laser ablation diagnosis and treatment mode specifically includes: laser ablation diagnosis and treatment, photodynamic diagnosis and treatment, photothermal diagnosis and treatment and other modes.
In one embodiment of the application, the laser ablation diagnosis and treatment parameters have adjustable and controllable modes, and real-time efficient and accurate diagnosis and treatment of corresponding lesion tissues are realized through control and adjustment, and the laser ablation diagnosis and treatment parameters specifically comprise: laser output power, laser output mode, laser irradiation duration, etc.
In one embodiment of the application, the laser ablation diagnosis and treatment parameters are selected in advance to control specific parameter values through a living body diagnosis and treatment mode, so that a lesion type database corresponding to the laser ablation diagnosis and treatment parameters is constructed, wherein the lesion type mainly comprises a tumor type, an important soft tissue lesion type corresponding to ophthalmology and dermatology, and the like.
In one embodiment of the application, under the construction of the mapping relation between the optical image and the laser ablation diagnosis and treatment parameters, diagnosis and treatment integration of a common optical path is realized through an auxiliary intelligent endoscope mode, and further, real-time optical imaging and laser ablation diagnosis and treatment output parameters are controlled through a computer, so as to achieve optical imaging before, during and after operation, wherein the optical imaging during operation can guide diagnosis and treatment implementation in real time.
In one embodiment of the present application, the positioning needs to be achieved by using an internal positioning and an external positioning, where the lesion position corresponding to the auxiliary robot is constructed, and a suitable distance between the probe of the optical imaging and diagnosis robot and the biological tissue is formed, and the internal positioning may be achieved by using magnetic positioning, and the external positioning may be achieved by using optical positioning.
In one embodiment of the application, the integrated device and the system for the intelligent minimally invasive diagnosis and treatment of the common scanning path comprise large-scale image-guided laser ablation diagnosis and treatment, wherein the laser ablation diagnosis and treatment of the optical image guidance mainly comprises real-time output of laser ablation diagnosis and treatment parameters which are precisely controlled under the guidance of a proper optical imaging mode, and the intelligent diagnosis and treatment of the coupling path planning implementation is constructed, wherein the constructed optical parameter mapping relationship mainly comprises lesion quantification information, boundary information, optical dosage, optical parameter relationship and the like.
As shown in fig. 2, the mechanical arm control diagnosis and treatment module of the system according to the embodiment of the present application mainly includes: the system comprises an intelligent control multi-axis mechanical arm, a binocular camera target detection module, an optical coherence tomography module and a laser ablation module.
Specifically, the binocular camera target detection module achieves intelligent judgment and identification and locates lesion boundary information after acquiring real-time images and depth information.
Further, the intelligent control mechanical arm module adjusts the OCT imaging module to move to the appointed coordinates for imaging by setting proper coordinate parameter information.
On the other hand, diagnosis and treatment are realized by the robot which needs to be assisted in the constructed relation, wherein the intelligent robot comprises an endoscopic or miniaturized robot and an open intelligent minimally invasive auxiliary robot; the endoscopic or open robot can synchronously or asynchronously transmit the optical influence and the transmission light of laser ablation diagnosis and treatment, and the constructed optical diagnosis and treatment mode realizes the precise optical and biological tissue interaction through the robot.
Fig. 3 shows a common scanning path intelligent minimally invasive diagnosis and treatment integrated operation platform and a standard change schematic diagram of the diagnosis and treatment integrated system according to the embodiment of the application. The device mainly comprises an optical control platform, a mechanical arm control module, a binocular camera, an optical coherence tomography module and a laser ablation module.
Specifically, the calibration plate is used for calibrating system coordinates, so that the coordinates of the tail end of the mechanical arm, the mechanical arm base, the binocular camera, the optical coherence tomography probe, the laser ablation module and the pathological tissues are unified.
Further, the binocular camera module is used for rapidly detecting lesion tissue information, automatically or semi-automatically determining the scanning starting position of the optical coherence tomography wide-field imaging, and then automatically calculating the row number and the column number of the scanning array according to a set program for automatic scanning imaging.
Fig. 4 shows a schematic diagram of a wide-field scanning imaging flow architecture of an intelligent control OCT probe of the diagnosis and treatment integrated system according to an embodiment of the present application. Specifically, the binocular camera images an object to be scanned, performs scanning region segmentation according to depth information, further performs image processing on the depth information, improves edge sharpness of the ROI region, enables a system and an operator to obtain the ROI region information more clearly, further obtains angular coordinate point information to be scanned and prefetched, and returns the angular coordinate point information to be scanned and prefetched before the angular coordinate point information is returned to the mechanical arm control module, and expands and returns the ROI edge prefetched so as to obtain complete image information during scanning. And performing array scanning path planning to complete OCT image acquisition according to the set hyper-parameters and the detected size of the area scanning area.
Further, the binocular camera images to automatically or semi-automatically scan the area to delimit, then automatically expand the periphery of the scanning area to avoid information loss, then plan the scanning path according to the size of the scanning range, and plan the row and column numbers of the scanning array based on the imaging effect of the system in the horizontal and vertical imaging ranges of 5-10 mm. After path planning, the OCT imaging probe is controlled by the mechanical arm, scanning is carried out according to the set array in a translation-scanning mode, and after all scanning is finished, image stitching reconstruction is carried out on each array block, so that a complete OCT image of a scanning area is obtained.
As shown in fig. 5, the auxiliary robot may include an endoscopic or open auxiliary robot, which specifically includes: the endoscope head type optical transmission optical fiber and rigid body endoscope type model can realize accurate diagnosis and treatment for a narrow cavity channel such as a blood vessel, an auditory canal and the like under the assistance of a diagnosis and treatment integrated system based on optical imaging and laser ablation diagnosis and treatment.
Under the construction of the mapping relation between the optical image and the laser ablation diagnosis and treatment parameters, diagnosis and treatment integration of a common optical path is realized through an auxiliary intelligent endoscope mode, real-time optical imaging and laser ablation diagnosis and treatment output parameters are controlled through a computer, and optical imaging before, during and after operation is achieved, wherein the implementation of diagnosis and treatment can be guided in real time through the optical imaging during operation.
According to the embodiment of the application, the intelligent minimally invasive diagnosis and treatment of the optical image guided laser ablation diagnosis and treatment has an efficient diagnosis and treatment effect, and the minimally invasive diagnosis and treatment of the optical image guided laser ablation diagnosis and treatment is integrated to form an embodiment of diagnosis and treatment fusion, so that a solution is further provided for minimally invasive optical accuracy.
The application scene of the application mainly comprises intelligent excision diagnosis and treatment of tumors, lesions and the like, and particularly, the accurate diagnosis and real-time accurate diagnosis and treatment of tumor boundaries and residual tumors achieve the effect of diagnosis and treatment integration, such as pathological tissues in neurosurgery and dermatology, brain cortex tumors, brainstem tumors, melanoma, lupus erythematosus and the like.
According to the intelligent minimally invasive diagnosis and treatment integrated device for the common scanning path wide-field imaging, which is provided by the embodiment of the application, accurate identification and accurate diagnosis and treatment can be realized on important soft tissues, intelligent structural function imaging drawing and display and further fusion of real-time guiding laser ablation diagnosis and treatment can be realized, the accurate diagnosis and treatment effect is achieved, and the intelligent minimally invasive diagnosis and treatment integrated device for the common scanning path wide-field imaging has the advantages of simple structure, low cost, simplicity in use for lesion diagnosis and treatment, simplicity in operation, high imaging speed, high image spatial resolution, small volume, light weight, obvious image effect, reliable diagnosis and treatment effect and convenience in diagnosis and treatment mode.
Secondly, an intelligent minimally invasive diagnosis and treatment integrated method for common scanning path wide-field imaging is described with reference to the accompanying drawings.
Fig. 6 is a flowchart of an integrated intelligent minimally invasive diagnostic method for co-scanning path wide field imaging according to an embodiment of the present application.
As shown in fig. 6, the intelligent minimally invasive diagnosis and treatment integrated method of the common scanning path wide field imaging comprises the following steps:
Step S101, acquiring real-time optical tomography images in biological tissue operation, identifying pathological boundaries and volume capacity information of lesions from the real-time optical tomography images, obtaining structural information of lesion tissues, and calculating tissue optical characteristics and diagnostic information.
Step S102, diagnosis and treatment parameters in minimally invasive diagnosis and treatment are obtained, and a laser tissue ablation biological effect model with structural information of pathological tissues and laser parameters is constructed in advance.
And step S103, controlling the corresponding light beams to carry out multidimensional scanning according to the construction of the intelligent minimally invasive diagnosis and treatment mapping relation of the position information of the lesion tissue.
Step S104, controlling the mechanical arm to control the minimally invasive diagnosis and treatment time sequence of the optical interference tomography and the photo-thermal diagnosis and treatment, and guiding the diagnosis and treatment in real time.
Optionally, in one embodiment of the present application, acquiring real-time optical tomographic images of biological tissue during surgery includes: and acquiring a high-resolution optical diagnostic image for the physical structure of the tissue under the imaging structure with a wide field of view, wherein the high-resolution optical diagnostic image comprises a depth structure image and processed tissue elastography.
Alternatively, in one embodiment of the application, the real-time optical tomographic image of the biological tissue is acquired by controlling a two-dimensional galvanometer or MEMS device with a controllable scanning range of a mechanical arm.
Optionally, in one embodiment of the present application, further includes: scanning laser beams are controlled by obliquely incident MEMS, so that a scanning area coincides with the scanning range of the two-dimensional galvanometer of optical interference tomography.
Optionally, in an embodiment of the present application, a calculation formula of the intelligent minimally invasive diagnosis and treatment wide-field imaging coordinate mapping relation is:
Wherein, The/> is obtained by calibrating a coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end through the mechanical arm 5 pointsFor the coordinate transformation matrix from the tail end of the mechanical arm to the camera,To calibrate the conversion relation between the board and the camera, the/>, is obtained through Zhang's calibrationThe coordinate transformation matrix from the mechanical arm base to the calibration plate,For the coordinate transformation matrix from the end of the mechanical arm to the OCT probe,A coordinate transformation matrix from the OCT probe to the calibration plate;
the system coordinate system relation of the two times before and after changing the gesture of the mechanical arm can be written as follows:
Wherein, In order to change the coordinate transformation matrix from the base of the mechanical arm to the tail end of the mechanical arm before the posture of the mechanical arm,To change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix between the calibration plate and the camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end after the mechanical arm gesture, the method comprises the following steps ofIn order to change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera after the gesture of the mechanical arm, the method comprises the following steps ofIn order to change the coordinate transformation matrix between the calibration plate and the camera after the gesture of the mechanical arm, the method comprises the following steps ofTo change the coordinate transformation matrix from the end of the mechanical arm to the OCT probe before the posture of the mechanical arm,For changing the coordinate transformation matrix from the OCT probe to the calibration plate before the gesture of the mechanical arm,For changing the coordinate transformation matrix from the tail end of the mechanical arm to the OCT probe after the gesture of the mechanical arm, the method comprises the following steps ofThe coordinate conversion matrix from the OCT probe to the calibration plate is used for changing the posture of the mechanical arm;
transforming the equations yields the equations:
The equation reduces to:
A·X＝X·B
M·Y＝Y·N
solving two equations, unknowns The hand-eye relation between the camera and the OCT probe and the tail end of the mechanical arm is the same. To control the scan area of the OCT probe by planning the path through the information collected by the camera, the rotational displacement relationship between the camera and the OCT probe needs to be obtained, which can be obtained by X and Y:
It should be noted that, the explanation of the embodiment of the foregoing pair of integrated device for intelligent minimally invasive diagnosis and treatment of the co-scanning path is also applicable to the integrated method for intelligent minimally invasive diagnosis and treatment of the co-scanning path of the embodiment, which is not described herein again.
According to the intelligent minimally invasive diagnosis and treatment integrated method of the co-scanning path, which is provided by the embodiment of the application, the precise identification and precise diagnosis and treatment of important soft tissue lesions can be realized, the further fusion of intelligent structural function imaging drawing and displaying and real-time guiding laser ablation diagnosis and treatment can be realized, the precise diagnosis and treatment effect is achieved, and the intelligent minimally invasive diagnosis and treatment integrated method has the advantages of simple structure, accurate precision, low cost, simplicity in lesion diagnosis and treatment use, simplicity in operation, high imaging speed, high image spatial resolution, small volume and obvious image effect.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Claims (10)
1. An intelligent minimally invasive diagnosis and treatment integrated device for common scanning path wide-field imaging, which is characterized by comprising:
The mechanical arm control optical interference tomography module is used for acquiring a real-time optical tomography image in biological tissue surgery, identifying pathological boundaries and volume capacity information of lesions from the real-time optical tomography image, obtaining structural information of lesion tissues, and calculating optical characteristics and diagnosis information of the tissues;
The multidimensional controllable intelligent optical minimally invasive diagnosis and treatment module is used for acquiring diagnosis and treatment parameters in minimally invasive diagnosis and treatment and constructing a laser tissue ablation biological effect model with structural information of pathological tissues and laser parameters in advance;
The mapping module of the integrated co-scanning path diagnosis and treatment is used for controlling corresponding light beams to carry out multi-dimensional scanning according to the construction of the intelligent minimally invasive diagnosis and treatment mapping relation of the position information of the lesion tissue; and
The intelligent optical detection and probe control module is used for controlling the mechanical arm to control the optical interference tomography module and the minimally invasive diagnosis and treatment time sequence of photothermal diagnosis and treatment and guiding diagnosis and treatment in real time.
2. The apparatus of claim 1, wherein the robotic arm controlled optical interferometry tomography module is specifically configured to acquire high resolution optical diagnostic images for physical structures of tissue under a wide field of view imaging structure, the high resolution optical diagnostic images including depth structure images and processed tissue elastography.
3. The apparatus of claim 1 or 2, wherein the robotic arm controlled optical interference tomography module comprises a controllable scanning range robotic arm controlled two-dimensional galvanometer or MEMS device.
4. The device according to claim 3, wherein the multi-dimensional controllable intelligent optical minimally invasive surgery module is specifically configured to control the scanning laser beam by using a obliquely incident MEMS so that a scanning area coincides with a scanning range of the two-dimensional galvanometer for optical interference tomography.
5. The device according to claim 1, wherein the calculation formula of the intelligent minimally invasive diagnosis and treatment wide-field imaging coordinate mapping relation is:
Wherein, The coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end is obtained through calibration of 5 points of the mechanical arm For the coordinate transformation matrix from the tail end of the mechanical arm to the camera,To calibrate the conversion relation between the board and the camera, the/>, is obtained through Zhang's calibration For the coordinate transformation matrix from the mechanical arm base to the calibration plate,For the coordinate transformation matrix from the end of the mechanical arm to the OCT probe,A coordinate transformation matrix from the OCT probe to the calibration plate;
the system coordinate system relation of the two times before and after changing the gesture of the mechanical arm can be written as follows:
Wherein, In order to change the coordinate transformation matrix from the base of the mechanical arm to the tail end of the mechanical arm before the posture of the mechanical arm,To change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix between the calibration plate and the camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end after the mechanical arm gesture, the method comprises the following steps ofIn order to change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera after the gesture of the mechanical arm, the method comprises the following steps ofIn order to change the coordinate transformation matrix between the calibration plate and the camera after the gesture of the mechanical arm, the method comprises the following steps ofTo change the coordinate transformation matrix from the end of the mechanical arm to the OCT probe before the posture of the mechanical arm,For changing the coordinate transformation matrix from the OCT probe to the calibration plate before the gesture of the mechanical arm,For changing the coordinate transformation matrix from the tail end of the mechanical arm to the OCT probe after the gesture of the mechanical arm, the method comprises the following steps ofThe coordinate conversion matrix from the OCT probe to the calibration plate is used for changing the posture of the mechanical arm;
transforming the equations yields the equations:
The equation reduces to:
A·X＝X·B
M·Y＝Y·N
solving two equations, unknowns The hand-eye relation between the camera, the OCT probe and the tail end of the mechanical arm is that the scanning area of the OCT probe is controlled by the information planning path collected by the camera, the rotation displacement relation between the camera and the OCT probe is required to be obtained, and the rotation displacement relation can be obtained by X and Y:
6. an intelligent minimally invasive diagnosis and treatment integrated method for common scanning path wide-field imaging is characterized by comprising the following steps:
Acquiring a real-time optical tomographic image in a biological tissue operation, identifying pathological boundaries and volume capacity information of lesions from the real-time optical tomographic image, obtaining structural information of lesion tissues, and calculating tissue optical characteristics and diagnosis information;
acquiring diagnosis and treatment parameters in minimally invasive diagnosis and treatment, and constructing a laser tissue ablation biological effect model with structural information of pathological tissues and laser parameters in advance;
According to the position information of the pathological tissue, constructing an intelligent minimally invasive diagnosis and treatment mapping relation, and controlling corresponding light beams to carry out multidimensional scanning; and
The control mechanical arm controls the minimally invasive diagnosis and treatment time sequence of the optical interference tomography and the photothermal diagnosis and treatment, and diagnosis and treatment real-time guidance is carried out.
7. The method of claim 6, wherein the acquiring real-time optical tomography images of biological tissue intraoperatively comprises:
And acquiring a high-resolution optical diagnostic image for the physical structure of the tissue under the imaging structure with a wide field of view, wherein the high-resolution optical diagnostic image comprises a depth structure image and processed tissue elastography.
8. The method of claim 6 or 7, wherein the real-time optical tomographic image of the biological tissue is obtained by controlling a two-dimensional galvanometer or MEMS device with a mechanical arm of a controllable scanning range.
9. The method as recited in claim 8, further comprising:
scanning laser beams are controlled by obliquely incident MEMS so that a scanning area coincides with the scanning range of the two-dimensional galvanometer of optical interference tomography.
10. The method according to claim 6, wherein the calculation formula of the intelligent minimally invasive diagnosis and treatment wide-field imaging coordinate mapping relation is:
Wherein, The coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end is obtained through calibration of 5 points of the mechanical arm For the coordinate transformation matrix from the tail end of the mechanical arm to the camera,To calibrate the conversion relation between the board and the camera, the/>, is obtained through Zhang's calibration For the coordinate transformation matrix from the mechanical arm base to the calibration plate,For the coordinate transformation matrix from the end of the mechanical arm to the OCT probe,A coordinate transformation matrix from the OCT probe to the calibration plate;
the system coordinate system relation of the two times before and after changing the gesture of the mechanical arm can be written as follows:
Wherein, In order to change the coordinate transformation matrix from the base of the mechanical arm to the tail end of the mechanical arm before the posture of the mechanical arm,To change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix between the calibration plate and the camera before the gesture of the mechanical arm,In order to change the coordinate transformation matrix from the mechanical arm base to the mechanical arm tail end after the mechanical arm gesture, the method comprises the following steps ofIn order to change the coordinate transformation matrix from the tail end of the mechanical arm to the binocular camera after the gesture of the mechanical arm, the method comprises the following steps ofIn order to change the coordinate transformation matrix between the calibration plate and the camera after the gesture of the mechanical arm, the method comprises the following steps ofTo change the coordinate transformation matrix from the end of the mechanical arm to the OCT probe before the posture of the mechanical arm,For changing the coordinate transformation matrix from the OCT probe to the calibration plate before the gesture of the mechanical arm,For changing the coordinate transformation matrix from the tail end of the mechanical arm to the OCT probe after the gesture of the mechanical arm, the method comprises the following steps ofThe coordinate conversion matrix from the OCT probe to the calibration plate is used for changing the posture of the mechanical arm;
transforming the equations yields the equations:
The equation is simplified into
A·X＝X·B
M·Y＝Y·N
Solving two equations, unknownsThe hand-eye relation between the camera, the OCT probe and the tail end of the mechanical arm is that the scanning area of the OCT probe is controlled by the information planning path collected by the camera, the rotation displacement relation between the camera and the OCT probe is required to be obtained, and the rotation displacement relation can be obtained by X and Y:
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