CN117257445A - Laser treatment device based on spatial modulation imaging and laser spot shape output method - Google Patents
Laser treatment device based on spatial modulation imaging and laser spot shape output method Download PDFInfo
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- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
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Abstract
The invention discloses a laser treatment device based on spatial modulation imaging, which comprises: the system comprises a laser generator, a transmission optical fiber, an optical fiber collimator, a spatial light modulator, an imaging lens group, a laser imaging surface, an image monitoring unit and a graphic workstation. The laser treatment device also comprises a light guide reflector group. The laser signal output by the laser generator is coupled into a transmission optical fiber, is expanded and collimated into a small-caliber parallel beam through an optical fiber collimator, modulates the small-caliber parallel beam by using a spatial light modulator, passes through an imaging lens group to obtain a large-caliber parallel beam, and finally passes through a light guide reflector group to obtain a light spot shape corresponding to the shape of an irregular treatment area. In the laser shape modulation, an image monitoring unit transmits an image of the shape of an irregular treatment area to a graphic workstation, and the graphic workstation analyzes and processes the image to obtain a characteristic outline map of the irregular treatment area, and a spatial light modulator modulates according to the characteristic outline map.
Description
Technical Field
The invention belongs to the technical field of laser treatment instruments, and relates to a laser treatment device and a laser spot shape output method based on spatial modulation imaging, which are suitable for laser treatment of irregular lesions of body surface tissues.
Background
Laser treatment has been used for the treatment of various skin diseases such as scars, acne, cutaneous warts, schwannoma, pediatric hemangiomatosis, epidermal nevi, etc., with the advantages of minimal trauma, low risk, short post-operative recovery period. Along with the understanding and innovation of the laser principle by clinicians, the laser beam laser has application reports in the fields of chronic wounds, recurrent oral ulcers and the like. The appropriate wavelength, pulse width time and energy level are focused on the target tissue, which absorbs photons, resulting in a photochemical reaction or heating. Physiological changes occur within the tissue over different temperature ranges. According to the different wavelengths, photons can be absorbed by hemoglobin, oxygenated hemoglobin, melanin, water or collagen in the skin to generate heat, and selectively influence capillaries, pigment cells and scar tissues, thereby achieving the purpose of treatment.
The existing laser skin treatment device has the defects that the treatment mode is single focus treatment after light beam focusing, and multiple movement scanning is needed for irregular and large-area skin lesion tissues such as tattoos, wound surfaces, scars, pigmentation and the like, so that the control difficulty is high and the time is long. In addition, in the focused single focus treatment, the diameter of a light spot is a fixed value, the thickness variation condition in irregular lesions cannot be matched, and the precision is insufficient.
Disclosure of Invention
The invention aims to provide a laser treatment device based on spatial modulation imaging, which is suitable for irregular treatment areas of body surface tissues, so as to solve the defects and the shortcomings of the existing laser treatment device, meet the treatment requirements of the irregular treatment areas of the body surface tissues, such as tattoos, wound surfaces, scars, pigmentation and other symptoms, and protect healthy body surface tissues in adjacent areas.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the laser treatment device based on the spatial modulation imaging comprises a laser generator, a transmission optical fiber, an optical fiber collimator, a spatial light modulator, an imaging lens group, a light guide reflector group, a laser imaging surface, an image monitoring unit (monitoring camera) and a graphic workstation.
In the present invention,
the laser generator comprises, but is not limited to, a fiber laser, a solid state laser, a mode-locked laser, a microsecond laser, a nanosecond laser, a picosecond laser, a femtosecond laser and the like, and is used for outputting a stable laser signal; the laser signals comprise continuous laser, microsecond-level pulse laser, nanosecond-level pulse laser, picosecond-level pulse laser, femtosecond-level pulse laser and the like, and are selected according to different use scenes and requirements.
The transmission fiber is used for transmitting the laser signal output by the laser generator, including but not limited to single mode fiber, multimode fiber, etc.
The optical fiber collimator is used for converting laser light in the transmission optical fiber into parallel light, including but not limited to a single lens collimator, a combined lens collimator and the like.
The spatial light modulator comprises, but is not limited to, a digital micromirror array device (DMD), a reflective liquid crystal on silicon spatial light modulator (LCOS-SLM), a transmissive liquid crystal on silicon spatial light modulator (LCOS-SLM) and the like, and is used for generating a fine and complex spatial structure corresponding to an irregular treatment area of the laser imaging surface position by adjusting the respective reflectivity and/or transmissivity of each working unit built in the spatial light modulator and changing the light intensity distribution of the spatial two-dimensional structure.
The imaging lens group is of a 4f structure (comprising an object plane, a first lens, a second lens and an image plane) and is used for providing an object image transmission function and an amplifying or reducing function of a beam diameter; the spatial light modulator is positioned on the object plane of the imaging lens group, and the irregular treatment area of the laser imaging surface is positioned on the image plane of the imaging lens group.
The laser imaging surface is a virtual plane where the laser imaging light spot is located.
The light guide reflecting mirror group is composed of at least two reflecting mirrors and is used for providing a light beam alignment function, the direction of a light beam is changed by adjusting the angle of the reflecting mirror in the light guide reflecting mirror group, and the treatment requirements of different parts of a body are met, and the light guide reflecting mirror group comprises, but is not limited to, a manual adjusting reflecting mirror, an electric adjusting reflecting mirror and the like.
The image monitoring unit includes, but is not limited to, a single CCD camera, a single CMOS camera, a combined CCD camera, a combined CMOS camera, etc., for capturing an image of the treatment site and transmitting the image to the graphics workstation;
the graphics workstation comprises hardware and software, wherein the hardware comprises one or more of a desktop computer, a portable computer, a server and a workstation, the software is installed in the hardware and comprises control software of a spatial light modulator and image processing software, the control software is used for independently adjusting and controlling the reflectivity and/or the transmissivity of each working unit of a spatial two-dimensional structure in the spatial light modulator, the image processing software is used for reading an output image of an image monitoring unit, designing and debugging an edge detection image algorithm and a difference analysis image algorithm, feeding back to the spatial light modulator, realizing a spatial modulation imaging function and generating light spots corresponding to the shape of the irregular treatment area.
In the laser therapeutic device of the invention, the laser signal output by the laser generator is firstly coupled into a transmission optical fiber, then is expanded and collimated into a small-caliber parallel beam by an optical fiber collimator, then is passed through a spatial light modulator and an imaging lens group to obtain a large-caliber parallel beam, and finally is incident on an irregular therapeutic area of a laser imaging surface by a pair of light guide reflector groups. The image monitoring unit is used for monitoring the irregular treatment area of the laser imaging surface in real time and transmitting the monitoring image to the graphic workstation.
When the graphic workstation does not work, the spatial light modulator is in an initial state, the complete structure of the large-caliber parallel light beam irradiates on an irregular treatment area of the laser imaging surface, and healthy body surface tissues in the irradiation area can be heated by laser at the moment, so that unnecessary tissue damage is caused.
When the graphic workstation enters the working state, the spatial light modulator is in the working state, the graphic workstation can acquire and process the image of the image monitoring unit in real time to obtain a characteristic outline map of an irregular treatment area on the laser imaging surface, the characteristic outline map is transmitted to the spatial light modulator, and the spatial light modulator modulates the output parallel laser according to the outline map. Thus, a laser characteristic image corresponding to the shape is obtained in the irregular treatment area on the laser imaging surface.
By adopting the working mode, the laser can be ensured to only act on specific positions of irregular treatment areas of body surface tissues, and healthy tissues in adjacent areas can not be damaged or injured.
Compared with the prior art, the invention has the beneficial effects that: according to the laser treatment device, the laser treatment function of the irregular treatment area of the body surface tissue can be provided through the cooperative coordination of the laser generator, the transmission optical fiber, the optical fiber collimator, the spatial light modulator, the imaging lens group, the light guide reflecting mirror group, the laser imaging surface, the image monitoring unit and the image workstation, meanwhile, the healthy body surface tissue of the adjacent area is protected, the defect of the precision of the traditional laser treatment device is overcome, and the precision of laser treatment is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a laser therapeutic apparatus based on spatial modulation imaging according to the present invention.
Fig. 2 is a schematic diagram of a spatial modulation imaging-based laser treatment apparatus according to the present invention in use.
Fig. 3 is a graph of experimental results of an unmodulated imaging laser monitoring image of a laser treatment device based on spatial modulation imaging, wherein the upper graph and the lower graph in fig. 3 are respectively an irregular treatment area shape graph and an unmodulated laser emergent spot shape.
Fig. 4 is a graph of experimental results of modulated imaging laser monitoring images of a laser treatment device based on spatial modulation imaging, wherein the upper graph and the lower graph in fig. 4 are respectively an irregular treatment area shape graph and a modulated laser emergent light spot shape.
In the figure, a 1-laser generator, a 2-transmission optical fiber, a 3-optical fiber collimator, a 4-spatial light modulator, a 5-imaging lens group, a 6-light guide reflecting mirror group, a 7-laser imaging surface, an 8-image monitoring unit (monitoring camera) and a 9-graphic workstation.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the term "comprises," "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a laser treatment device based on spatial modulation imaging, which comprises: the system comprises a laser generator 1, a transmission optical fiber 2, an optical fiber collimator 3, a spatial light modulator 4, an imaging lens group 5, a laser imaging surface 7, an image monitoring unit 8 and a graphic workstation 9. The laser treatment device also comprises a light guide reflector group 6. The laser signal output by the laser generator 1 is coupled into the transmission optical fiber 2, is expanded and collimated into a small-caliber parallel beam through the optical fiber collimator 3, modulates the small-caliber parallel beam by using the spatial light modulator 4, passes through the imaging lens group 5 to obtain a large-caliber parallel beam, and finally passes through the light guide reflector group 6 to obtain a light spot shape corresponding to the shape of an irregular treatment area. In the laser shape modulation, the image monitoring unit 8 transmits an image of the shape of the irregular treatment region to the graphics workstation 9, and the graphics workstation 9 analyzes and processes the image to obtain a characteristic profile of the irregular treatment region, and the spatial light modulator 4 modulates the image according to the characteristic profile to obtain a laser spot corresponding to the profile of the irregular treatment region.
Fig. 1 is a schematic structural diagram of a laser therapeutic apparatus based on spatial modulation imaging according to the present invention. Fig. 2 is a schematic diagram of a spatial modulation imaging-based laser treatment apparatus according to the present invention in use. The laser treatment device includes: the system comprises a laser generator 1, a transmission optical fiber 2, an optical fiber collimator 3, a spatial light modulator 4, an imaging lens group 5, a light guide reflector group 6, a laser imaging surface 7, an image monitoring unit 8 and a graphic workstation 9.
In the invention, the small-caliber parallel light beam output by the optical fiber collimator 3 has a diameter design value phi of 5.5mm and is obliquely incident on the reflective spatial light modulator 4 at an angle of 30 degrees. The major axis length of the beam projection ellipse was 6.35mm. The working size of the spatial light modulator 4 is 15mm x 8mm and the duty cycle of a beam of length 6.35mm in the 8mm direction is 78%. Therefore, there is no beam shearing effect, and normal operation is enabled.
The beam shearing effect refers to the effect that when energetic particles (e.g., electrons, protons, heavy ions, etc.) pass through a substance, their interactions with the atoms of the substance cause the trajectories of the particles to change, thereby forming a cross-sectional area within the substance, known as the "sheared area".
The imaging lens group 5 has a 4f structure, and the focal length design values of the internal lenses are f respectively 1 ＝30mm，f 2 =180 mm, the magnification design value M is 6. The object plane is the reflective spatial light modulator 4 and the image plane is the laser imaging plane 7 (corresponding to the plane of the irregular treatment area). The imaging lens group 5 can precisely and accurately transfer and enlarge the fine structure of the spatial light modulator 4. The small-caliber parallel beam with the diameter phi of 5.5mm passes through the imaging lens group 5 and then is converted into a large-caliber parallel beam with the diameter phi of 33 mm. If the focal length f of the lens inside the imaging lens group 5 is changed 1 、f 2 And magnification M, a larger, or smaller, single treatment area may be obtained.
The spatial light modulator 4 has a resolution of 7.6um and, after enlargement, corresponds to a resolution of 45.6um on the irregular treatment region of the laser imaging surface 7. Larger or smaller resolutions may also be obtained by varying the magnification M, as desired.
The working flow of the laser treatment device in the invention is as follows:
1) The laser generator 1 is activated and outputs a low power laser signal, for example 1mW, coupled into the fiber collimator 3 via the transmission fiber 2.
2) The small-caliber parallel light beam output by the optical fiber collimator 3 is incident on the spatial light modulator 4.
3) The initial operating state of the spatial light modulator 4 is total reflection. The working size is 15mm x 8mm, and the complete parallel light beam with the diameter phi of 5.5mm can be guided into the imaging lens group 5.
4) The large-caliber parallel light beams emitted by the imaging lens group 5 pass through the light guide reflector group 6 and are incident on the irregular treatment area of the laser imaging surface 7.
5) The image monitoring unit 8 collects images of the irregular treatment region on the laser imaging surface 7 and inputs the images into the graphics workstation 9.
6) The image workstation 9 analyzes the image of the irregular treatment region on the laser imaging surface 7, processes the image to obtain a characteristic profile, and feeds the characteristic profile back to the spatial light modulator 4.
7) The spatial light modulator 4 generates a characteristic profile corresponding to the irregular treatment region on the laser imaging surface 7 and modulates the cross section of the parallel light beam from a complete circular or elliptical shape to a characteristic profile corresponding to the irregular treatment region.
8) The cross section distribution of the light beam emitted by the light guide reflector group 6 is overlapped with the irregular treatment area on the laser imaging surface 7.
9) The output power of the laser generator 1 is increased so that the laser power impinging on the laser imaging plane 7 reaches a treatment threshold, for example 50mW.
10 After the treatment is completed, the laser generator 1, the spatial light modulator 4 and the graphics workstation 9 are turned off.
The spatial modulation imaging process applied in the invention is as follows:
1) The image monitoring unit 8 captures images of the irregular treatment region on the laser imaging surface 7 and inputs the images into the graphics workstation 9.
2) In the graphic workstation 9, analysis processing is performed by an edge detection image algorithm to obtain a feature profile of the irregular treatment region.
3) The characteristic profile of the irregular treatment region is loaded on the spatial light modulator 4 by a control algorithm and a control circuit of the spatial light modulator 4. The operation region of the spatial light modulator 4 has a two-dimensional structure, and the number of units is 1920×1080. The area to be treated corresponds to the working state of the unit being 1, and the area not to be treated corresponds to the working state of the unit being 0. The combination of 1 and 0 in the two-dimensional structure results in a digital image that is precisely adjustable.
4) The laser beam output from the imaging lens group 5 is modulated into a large-caliber parallel beam including a characteristic profile, and irradiates an irregular treatment region on the laser imaging surface 7.
5) The image acquisition unit 8 acquires again a superimposed image containing the irregular treatment region and the modulated laser light on the laser imaging surface 7, and inputs it into the graphics workstation 9.
6) In the graphic workstation 9, the superimposed image is analyzed and processed by a difference analysis image algorithm to obtain a difference value image of the laser image and the irregular treatment region.
7) The difference value image is loaded on the spatial light modulator 4 through a control algorithm and a control circuit of the spatial light modulator 4 to perform image correction.
8) Error correction of the output laser of the imaging lens group 5 is completed, so that the emergent laser spot is completely matched with the irregular treatment area of the laser imaging surface 7.
Specifically, the edge detection image algorithm in the graphics workstation 9 is designed such that, first, the image acquisition of the image monitoring unit 8 is transmitted to the graphics workstation 9 and saved as a jpg format file. Then, the jpg format file is read by adopting program software, and the image is smoothed by using a Gaussian filtering method, so that noise is removed. The actual noise removal effect according to the present invention increases or decreases, and the adjacent region size in the optimized gaussian filtering method, for example, 2×2, 3×3, 4×4, etc., needs to be adjusted. Subsequently, the gradient intensity and gradient direction are calculated, the Sobel operator in the horizontal direction detects the edge in the y direction, and the Sobel operator in the vertical direction detects the edge in the x direction.
The Sobel operator is a commonly used linear filter that uses a template to slide over an image, and calculates the gradient value of each pixel by taking the convolution of the template with the image, thereby detecting edges in the image. The Sobel operator is provided with a template in the horizontal direction and the vertical direction respectively, the gradient value is calculated, then the square sum of the gradient values is calculated, the gradient intensity of each pixel can be obtained, and meanwhile, the gradient direction of the pixel can also be obtained.
Then, eliminating edge detection errors by adopting a non-maximum suppression technology, reserving gradient maximum values of pixel detection points of each image to be processed, and deleting other gradient values.
In edge detection, the detected edge may be a curve composed of consecutive pixels, which needs to be refined and extracted. The non-maximum suppression technique may extract a sharper edge by preserving local maxima on the edge to suppress non-maxima on the edge.
Specifically, the non-maximum suppression technique is handled as follows:
1. and calculating the gradient value and the gradient direction of each pixel point.
2. Each pixel point is traversed and if the gradient value of the point is not a local maximum in the current pixel direction, its gradient value is set to 0, i.e. the point is suppressed.
3. And performing connectivity processing on the suppressed result, and removing isolated edge pixel points to obtain a final edge image.
In the implementation process, a threshold value is generally required to be selected, and only pixel points with gradient values larger than the threshold value are reserved, so that the accuracy of edge detection can be further improved. Meanwhile, since the non-maximum suppression is based on the local maximum, when there is a neighboring weak edge in the image, a case may occur in which a longer edge is broken. To solve this problem, post-processing such as edge connection or edge tracking is often required.
Finally, judging the boundary contour of the image by adopting a double-threshold method, carrying out graying treatment on the image, and converting the color image into a gray image; carrying out gradient calculation on the gray level image to obtain gradient strength and gradient direction; gradient intensities are divided into three categories: strong edges, weak edges, and non-edges. And reserving detection points larger than the high threshold value when the detection is realized, and deleting detection points smaller than the low threshold value. Detection points between the high and low thresholds remain if they are adjacent to edge points and are deleted if they are not adjacent. Thus, a characteristic profile of the irregular treatment region is obtained, and in general, the high threshold is set to 0.8 times the maximum gray value of the image, and the high threshold is set to 2 times the low threshold.
The design scheme of the difference analysis image algorithm in the graphic workstation 9 is that firstly, the center of a circle corresponding to an image obtained by the image monitoring unit 8 (namely, an image of an irregular treatment area) when the spatial modulator 4 does not work is analyzed and calculated, the center of a circle corresponding to an image obtained by the image monitoring unit 8 when the spatial modulator 4 works (a union of the image of the irregular treatment area and a laser spot image) is analyzed and calculated, and the position deviation of the centers of two circumscribed circles is obtained. Then, the light guide mirror group 6 is adjusted to perform center alignment, thereby eliminating positional deviation. Then, the image monitoring unit 8 acquires the image when the laser generator 1 is not operating and the image when it is operating, and calculates the image difference value to obtain a difference value image. Finally, the difference value image is input into the control software of the spatial light modulator 4, and the working unit of the spatial light modulator 4 is driven by a control circuit to obtain the laser characteristic profile completely consistent with the irregular treatment area.
Comparative examples
Fig. 3 is a laser characteristic outline map obtained by the image monitoring unit 8 when the spatial light modulator 4 is in an initial state and is not modulated, that is, an experimental result of an unmodulated imaged laser monitoring image; in the figure, the bright portion of the light spot corresponds to the spatial light modulator operating unit state of 1, and the dark portion of the light spot corresponds to the spatial light modulator operating unit state of 0.
In the comparative example, the shape modulation is not performed on the outgoing laser according to the shape of the part to be treated;
firstly, starting a laser generator 1, setting an output laser signal to be 1mW, and coupling the output laser signal into an optical fiber collimator 3 through a transmission optical fiber 2; in this comparative example, the spatial light modulator 4 and the graphic workstation 9 are in an initial state, the small-caliber parallel beam output by the optical fiber collimator 3 is incident into the spatial light modulator 4, the working size of the spatial light modulator 4 is 15mm×8mm, the complete parallel beam with the diameter Φ 5.5mm is guided into the imaging lens group 5, the large-caliber parallel beam emitted by the imaging lens group 5 is incident on the laser imaging surface 7 through the light guide reflector group 6, the light spot shape of the light emitted onto the laser imaging surface 7 obtained by the image monitoring unit 8 is circular or elliptical, the laser power is adjusted to be 50mW, and the treatment operation is performed by spatially modulating and imaging on the laser imaging surface 7, and the emitted light spot not only comprises an irregular treatment area but also comprises healthy tissues around the irregular treatment area.
Examples
Fig. 4 is a schematic diagram of the laser feature profile obtained by the image monitoring unit 8, that is, the experimental result of the modulated imaging laser monitoring image, when the spatial light modulator 4 is in the working state; in the figure, the bright portion of the light spot corresponds to the spatial light modulator operating unit state of 1, and the dark portion of the light spot corresponds to the spatial light modulator operating unit state of 0.
In this embodiment, the shape of the outgoing laser beam needs to be modulated according to the shape of the portion to be treated;
first, the image monitoring unit 8 is started to acquire an image of the irregular treatment region on the laser imaging surface 7.
Next, in the graphic workstation 9, analysis processing is performed based on an edge detection image algorithm, and a feature profile of the irregular treatment region is obtained. Specifically, the edge detection image algorithm in the graphics workstation 9 is designed such that, first, the image acquisition of the image monitoring unit 8 is transmitted to the graphics workstation 9 and saved as a jpg format file. Then, the jpg format file is read by adopting program software, and the image is smoothed by using a Gaussian filtering method, so that noise is removed. In this embodiment, the adjacent region size in the selected gaussian filtering method is 3×3. Subsequently, the gradient intensity and gradient direction are calculated, the Sobel operator in the horizontal direction detects the edge in the y direction, and the Sobel operator in the vertical direction detects the edge in the x direction. Then, adopting a non-maximum suppression technology to eliminate edge detection errors, reserving the gradient maximum value of each detection point, and deleting other gradient values. Finally, judging the boundary contour of the image by adopting a double-threshold method, wherein the high threshold value is 0.8 times of the maximum gray value of the image, and the low threshold value is 0.4 times of the maximum gray value of the image. And reserving detection points larger than the high threshold value, and deleting detection points smaller than the low threshold value. Detection points between the high and low thresholds remain if they are adjacent to edge points and are deleted if they are not adjacent. Thereby obtaining a characteristic profile of the irregular treatment region.
Next, the laser generator 1 is started, the output laser signal is set to 1mW, and coupled into the fiber collimator 3 through the transmission fiber 2. The small-caliber parallel light beam output by the optical fiber collimator 3 enters the spatial light modulator 4. The spatial light modulator 4 has an operating size of 15mm by 8mm. The small-caliber parallel light beam passes through the imaging lens group 5 and the light guide reflector group 6, and then irradiates the large-caliber parallel light beam on the laser imaging surface 7.
The spatial light modulator 4 is then activated and, in the image workstation 9, a laser signature profile is obtained which is exactly identical to the irregular treatment region, based on a difference analysis image algorithm. The method comprises the following steps: firstly, the circle center of the circumscribed circle corresponding to the image obtained by the image monitoring unit 8 when the spatial modulator 4 does not work is analyzed and calculated, and the position deviation is obtained by the circle center of the circumscribed circle corresponding to the image obtained by the image monitoring unit 8 when the spatial modulator 4 works. Then, the light guide mirror group 6 is adjusted to perform center alignment, thereby eliminating positional deviation. Then, the image monitoring unit 8 acquires the image when the laser generator 1 is not operating and the image when it is operating, and calculates the image difference value to obtain a difference value image. Finally, the difference value image is input into the control software of the spatial light modulator 4, and the working unit of the spatial light modulator 4 is driven by a control circuit to obtain the laser characteristic profile completely consistent with the irregular treatment area. This process may need to be repeated multiple times depending on the actual situation.
Finally, adjusting the laser power to 50mW, and applying the precisely regulated laser based on the spatial modulation imaging to the irregular treatment area for irradiation treatment operation.
Of course, it is not necessary for any of the products embodying the invention to achieve all of the advantages set forth above at the same time.
The protection of the present patent is not limited to the above embodiments. Variations and advantages that would occur to one skilled in the art are included in this patent without departing from the spirit and scope of the inventive concept, and the scope of the appended claims is intended to be covered thereby.
Claims (10)
1. A laser therapy apparatus based on spatially modulated imaging, the laser therapy apparatus comprising: the device comprises a laser generator (1), a transmission optical fiber (2), an optical fiber collimator (3), a spatial light modulator (4), an imaging lens group (5), a laser imaging surface (7), an image monitoring unit (8) and a graphic workstation (9);
the laser generator (1) comprises an optical fiber laser, a solid laser, a mode locking laser, a microsecond laser, a nanosecond laser, a picosecond laser and a femtosecond laser, and is used for outputting stable laser signals, wherein the laser signals comprise continuous laser, microsecond pulse laser, nanosecond pulse laser, picosecond pulse laser and femtosecond pulse laser;
the transmission optical fiber (2) is used for transmitting the laser signal output by the laser generator (1), and the transmission optical fiber (2) comprises a single-mode optical fiber and a multimode optical fiber;
the optical fiber collimator (3) is used for converting laser in the transmission optical fiber (2) into parallel light, and the optical fiber collimator (3) comprises a single lens collimator and a combined lens collimator;
the spatial light modulator (4) comprises a digital micromirror array device (DMD), a reflective liquid crystal on silicon spatial light modulator (LCOS-SLM) and a transmissive liquid crystal on silicon spatial light modulator (LCOS-SLM), and is used for changing the light intensity distribution of a spatial two-dimensional structure by adjusting the respective reflectivity and/or transmissivity of each working unit built in the spatial light modulator (4) so as to generate a fine and complex spatial structure corresponding to an irregular treatment area of the position of the laser imaging surface (7);
the imaging lens group (5) is of a 4f structure and is used for providing an object image transmission function and an amplifying or shrinking function of a beam diameter;
the laser imaging surface (7) is a virtual plane where a laser imaging light spot is located;
the image monitoring unit (8) comprises a single CCD camera, a single CMOS camera, a combined CCD camera and a combined CMOS camera, and is used for shooting an image of a treatment part and transmitting the image to the graphic workstation;
the graphics workstation (9) comprises hardware including one or more of a desktop computer, a portable computer, a server, a workstation, and software installed in the hardware including control software for the spatial light modulator, image processing software.
2. The laser therapy apparatus according to claim 1, characterized in that the laser therapy apparatus further comprises a light guiding mirror group (6), the light guiding mirror group (6) is composed of at least two mirrors for providing a beam alignment function, and the beam direction is changed by adjusting the angle of the mirrors in the light guiding mirror group (6), so that the laser therapy apparatus can be used for different parts; the light guide reflector group (6) comprises a manual adjusting reflector and an electric adjusting reflector.
3. The laser treatment device according to claim 1, characterized in that the 4f structure in the imaging lens group (5) comprises an object plane, a first lens, a second lens, an image plane, the spatial light modulator (4) being located at the object plane of the imaging lens group (5), the laser imaging plane (7) being located at the image plane of the imaging lens group (5).
4. The laser therapy apparatus according to claim 1, wherein the control software is used for independent adjustment and control of reflectivity and/or transmissivity of each working unit of the spatial two-dimensional structure in the spatial light modulator (4), and the image processing software is used for reading output images of the image monitoring unit (8), and feeding back to the spatial light modulator (4) by using an edge detection image algorithm and a difference analysis image algorithm to realize a spatial modulation imaging function and generate light spots corresponding to the irregular treatment region shape.
5. A method for achieving spot-shape accurate output using the laser treatment apparatus according to any one of claims 1 to 4, comprising the steps of:
the laser signal output by the laser generator (1) is coupled into a transmission optical fiber (2), then is expanded and collimated into a small-caliber parallel beam through an optical fiber collimator (3), then is modulated through a spatial light modulator (4), then is subjected to an imaging lens group (5) to obtain a large-caliber parallel beam, and finally is subjected to a light guide reflector group (6) to obtain a light spot shape which meets the requirements and corresponds to the shape of an irregular treatment area.
6. The method as recited in claim 5, wherein said method further comprises: modulating the shape of the light spot by matching the image monitoring unit (8) with the graphic workstation (9) with the spatial light modulator (4), when the graphic workstation (9) enters a working state, the graphic workstation (9) collects and processes the image of the image monitoring unit (8) in real time to obtain a characteristic profile of an irregular treatment area, the characteristic profile is transmitted to the spatial light modulator (4), and the spatial light modulator (4) modulates the output parallel laser according to the profile to obtain a laser characteristic image corresponding to the irregular treatment area; when the image is processed by the graphics workstation (9), an edge detection image algorithm and a difference analysis image algorithm are used.
7. A method according to claim 5, characterized in that the small-caliber parallel light beam expanded and collimated by the fiber collimator (3) has a diameter design value of Φ5.5mm and is obliquely incident on the spatial light modulator (4) at an angle of 30 °; the length of the major axis of the small-caliber parallel light beam projection ellipse is 6.35mm;
the focal lengths of the two lenses of the imaging lens group (5) are f respectively 1 ＝30mm，f 2 180mm, magnification M of 6, imaging transmissionAfter the lens group (5), the diameter of the obtained large-caliber parallel light beam is phi 33mm;
the resolution of the spatial light modulator (4) is 7.6um.
8. The method of claim 6, wherein the edge detection image algorithm is: transmitting the image acquisition of the image monitoring unit (8) to a graphic workstation (9) and storing the image acquisition as an image file; reading an image file, smoothing the image by using a Gaussian filtering method, and removing noise; then, calculating gradient strength and gradient direction and adopting a non-maximum suppression technology to eliminate edge detection errors; and finally, judging the boundary contour of the image by adopting a double-threshold method to obtain a characteristic contour map of the irregular treatment area.
9. The method of claim 8, wherein the adjacent region size in the gaussian filtering method is set to 2 x 2 or 3 x 3 or 4 x 4; detecting the edge in the y direction by utilizing a Sobel operator in the horizontal direction, and detecting the edge in the x direction by utilizing a Sobel operator in the vertical direction; the non-maximum suppression technology is to reserve the maximum gradient value of each pixel detection point and delete other gradient values; the double-threshold method is to reserve detection points larger than a high threshold, delete detection points smaller than a low threshold, and delete detection points between the high threshold and the low threshold if the detection points are adjacent to edge points and are reserved and not adjacent to edge points; the high threshold is set to 0.8 times the maximum gray value of the image, and the high threshold is set to 2 times the low threshold.
10. The method of claim 6, wherein the variance analysis image algorithm is: analyzing and calculating the circle centers of the circumscribed circles corresponding to the images of the irregular quality areas obtained by the image monitoring unit (8) when the spatial modulator (4) does not work, and obtaining the position deviation of the circle centers of the two circumscribed circles corresponding to the union of the images of the irregular treatment areas and the laser spot images obtained by the image monitoring unit (8) when the spatial modulator (4) works; adjusting the light guide reflecting mirror group (6), and utilizing the circle center to perform center alignment so as to eliminate position deviation; the image monitoring unit (8) acquires an image when the laser generator (1) does not work and an image when the laser generator works, and obtains an image difference value to obtain a difference value image; the difference value image is input into control software of the spatial light modulator (4), and a working unit of the spatial light modulator (4) is driven by a control circuit to obtain a laser characteristic profile which is completely consistent with an irregular treatment area of the laser imaging surface (7).
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