CN109044248B - Three-dimensional photoacoustic endoscope in curved cavity based on snake bone direction changing and imaging method thereof - Google Patents
Three-dimensional photoacoustic endoscope in curved cavity based on snake bone direction changing and imaging method thereof Download PDFInfo
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Abstract
The invention discloses a three-dimensional photoacoustic endoscope in a curved cavity based on snake bone turning and an imaging method. The endoscope comprises an integrated scanning head, a snake bone bending part, an insertion hose, a three-dimensional scanning part, a control handle and a joint part. The photoacoustic scanning probe and the optical camera are integrated in the integrated scanning head, the photoacoustic scanning head realizes mechanical annular scanning and retraction through the three-dimensional scanning part, the snake bone bending part is connected with the integrated scanning head and the insertion hose, the four-way bending of the integrated scanning head is realized under the regulation of the control handle, and the joint part is connected with the pulse laser and the host. The method realizes three-dimensional photoacoustic imaging in a curved cavity under the guidance of a video image by utilizing snake bone turning. The invention relates to a snake bone turning-based three-dimensional photoacoustic imaging method in a curved cavity and an endoscope thereof, which combine high-resolution photoacoustic imaging and high-definition optical imaging and acquire a high-definition video image of the inner surface of the curved cavity and a three-dimensional structure, function and molecular image of a cavity tissue by using snake bone turning.
Description
Technical Field
The invention belongs to the technical field of medical endoscopes, and relates to a three-dimensional photoacoustic endoscope in a curved cavity based on snake bone turning and an imaging method thereof.
Background
Medical endoscopes are instruments for examining, diagnosing and treating human body tissues. The existing endoscope mainly comprises an optical video endoscope, an ultrasonic endoscope and an optical coherence tomography endoscope. The optical video endoscope can provide high-definition camera shooting on the surface of the cavity tissue, but cannot observe the fault structure of the cavity tissue, so that the disease diagnosis capability of the optical video endoscope is limited to a certain extent; the ultrasonic endoscope can obtain the depth structure information of the cavity tissue, but the imaging contrast is low, and early lesions cannot be reflected; the optical coherence tomography endoscope can image a cavity section through a focused light beam and has high resolution, but the imaging depth is only about 1mm, the requirements of clinical diagnosis cannot be completely met, and physiological parameters such as blood oxygen saturation, oxygen metabolism and the like cannot be obtained.
Photoacoustic imaging is a new type of biomedical imaging method developed in recent years, both non-invasive and non-ionizing, combining the advantages of optical imaging and ultrasound imaging. On one hand, the signal used for reconstructing the image in the photoacoustic imaging is an ultrasonic signal, and the scattering of the ultrasonic signal by biological tissues is 2-3 orders of magnitude lower than that of an optical signal, so that the photoacoustic imaging can provide a deeper imaging depth and a higher spatial resolution; on the other hand, photoacoustic imaging utilizes laser pulses with specific wavelengths to irradiate tissues according to the selective absorption of visible light, near infrared light and even electromagnetic waves in microwave bands by different tissues, and images the absorption distribution of pulse energy in biological tissues, wherein the imaging is carried out by the light energy which is absorbed, so that the photoacoustic imaging has extremely high tissue optical contrast compared with pure ultrasonic imaging.
The photoacoustic endoscopic imaging technology is a novel imaging method, is a combination of the photoacoustic imaging technology and the endoscopic technology, is used for detecting cavity tissues, provides an imaging technology with high spatial resolution and high tissue contrast, and combines the advantages of endoscopic acoustics and optical imaging. The photoacoustic endoscope integrates an optical fiber, an ultrasonic transducer, a reflector and a micro lens into a probe at the front end of the endoscope, realizes circumferential or spiral excitation and acquisition by rotating the photoacoustic endoscopic probe for scanning, and reconstructs an optical absorption distribution image of cavity tissues by an inversion algorithm.
Patent No. CN 102078179 a proposes a three-dimensional electronic colonoscope system, which performs linear and rotational three-dimensional scanning and shooting on the colon through a multi-CCD array module, displays a panoramic three-dimensional image, and performs stereoscopic image reconstruction on the colon, but the invention can only obtain the three-dimensional surface information of the colon tract, and cannot obtain the tomographic information of the intestinal tract tissue; patent No. CN 103462644 a proposes a photoacoustic endoscope which can obtain a photoacoustic image with high contrast by detecting an ultrasonic signal generated by a target tissue after absorbing a pulse laser and performing analysis processing and imaging, but this invention does not incorporate a direction-changeable curved portion, cannot pass through a curved cavity independently, and does not perform optical imaging, and therefore cannot observe a high-definition image of the cavity surface intuitively, which is not good for diagnosis by a doctor.
In view of the above, there is a need to design an integrated photoacoustic-optical endoscope system for application to curved lumen tissue of the human body. The invention integrates high-definition optical camera shooting and high-resolution photoacoustic imaging into an integrated endoscope for the first time, and obtains high-definition video images of the inner surface of the curved cavity and three-dimensional structures, functions and molecular images of cavity tissues by utilizing the turning of the snake bone.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide the three-dimensional photoacoustic endoscope in the curved cavity based on the snake bone turning, and the photoacoustic scanning probe and the optical camera are integrated in the integrated sheath, so that the detection is more facilitated; based on the end part of the bent snake bone turning head, three-dimensional photoacoustic scanning is realized by utilizing a rotating motor and a linear motor, and a high-resolution three-dimensional photoacoustic image and a high-definition full-view video image of a bent cavity tissue can be obtained.
The invention also aims to provide an imaging method of the three-dimensional photoacoustic endoscope in the curved cavity based on the snake bone turning.
In order to achieve the first purpose, the invention adopts the following technical scheme:
three-dimensional optoacoustic endoscope in crooked cavity based on snake bone diversion includes: the device comprises an integrated scanning head, a snake bone bending part, an insertion hose, a three-dimensional scanning part, a control handle and a connector part;
the integrated scanning head comprises a photoacoustic scanning probe, a micro optical camera and an integrated sheath, wherein the photoacoustic scanning probe performs rotary retraction motion in the integrated sheath, and the micro optical camera is fixed in the integrated sheath;
the snake bone bending part is connected with the integrated scanning head and the insertion hose, the upper, lower, left and right four-way adjustment of the integrated scanning head is realized by operating the control handle, the snake bone bending part is composed of a bent snake bone, one end of the bent snake bone is connected with the rear end of the integrated scanning probe, and the other end of the bent snake bone is connected with the front end of the insertion hose;
the three-dimensional scanning part comprises a rotating motor, a linear motor, a conductive sliding ring, a first synchronizing wheel, a second synchronizing wheel, a synchronous belt, a connecting structure and a shell, wherein the linear motor controls the rotating motor to generate linear motion, a rotating motor body and the conductive sliding ring shell are fixed together through the connecting structure, the conductive sliding ring is hollow, a rotating motor shaft is fixedly connected with the first synchronizing wheel, the second synchronizing wheel penetrates through a hollow hole of the conductive sliding ring and is fixed with a rotor end, the first synchronizing wheel and the second synchronizing wheel are driven through the synchronous belt so as to transmit the torque of the rotating motor shaft to a rotor end of the conductive sliding ring, the second synchronizing wheel is connected with the photoacoustic scanning probe through a torque coil, and the torque is transmitted to the photoacoustic scanning probe through the torque coil so that the photoacoustic scanning probe generates rotary motion, and meanwhile, the linear motion is carried out, so that the three-dimensional photoacoustic annular scanning is realized.
As a preferable technical scheme, the outer diameter of the photoacoustic scanning probe is 5-6mm, the internal optical path structures are respectively a coated reflecting mirror, a micro lens/micro lens group and an optical fiber from the head end along the axial distribution, the coated reflecting mirror is coated with a high reflection film, the reflectivity is more than 99%, and the inclination angle of the reflecting surface is 35 degrees; the diameter of the micro lens/micro lens group is 1-3mm, and the micro lens/micro lens group has a collimating or focusing effect on laser beams emitted from the optical fiber; the optical fiber is fixed with the inner wall of the micro bearing, the outer wall of the micro bearing is fixed with the inner wall of the photoacoustic scanning probe, and the optical fiber can be kept not to rotate when the photoacoustic scanning probe rotates; the front end of the coating reflecting mirror is also provided with an ultrasonic transducer, and a laser beam emitted from the optical fiber is irradiated right above the ultrasonic transducer through the micro lens/micro lens group and the coating reflecting mirror in sequence.
Preferably, the diameter of the micro optical camera head part is 2-4mm, the depth of field is 3-100mm, the angle of view is 120 degrees, the LED illumination is arranged in the micro optical camera head part, and the illumination intensity can be adjusted through the host panel.
According to a preferable technical scheme, the diameter of the integrated sheath is 11-13mm, a first circular through hole, a second circular through hole and two fan-shaped through holes are formed in the integrated sheath, the first circular through hole is a photoacoustic annular scanning probe channel, the second circular through hole is a micro optical camera channel, the two fan-shaped through holes are respectively located on two sides of the first circular through hole and used for water injection and air exhaust, and a hollow cylindrical joint is arranged at the tail end of each fan-shaped through hole and used for connecting a water injection pipe; the tail end of the integrated sheath is provided with a first cylindrical block, a torsion coil outer sleeve hose fixing hole, a water injection pipe through hole and a video line through hole are formed in the first cylindrical block respectively, the inner diameter of the torsion coil outer sleeve hose fixing hole is smaller than the outer diameter of the photoacoustic annular scanning probe, and the photoacoustic annular scanning probe can be prevented from exiting the integrated sheath in the retraction process.
According to the preferable technical scheme, the inner diameter of the outer sleeve hose is slightly larger than the outer diameter of the torsion coil, one end of the outer sleeve hose is fixed in the first cylindrical block, the front end of the three-dimensional scanning part is provided with the second cylindrical block, a video line through hole and an outer sleeve hose fixing hole are formed in the second cylindrical block in a penetrating mode, the other end of the outer sleeve hose is fixed in the second cylindrical block, a hollow rotating shaft of the second synchronizing wheel rotates in the second cylindrical block, and a sealing ring is sleeved on the outer side of the second synchronizing wheel, so that water overflowing from the scanning head can be prevented from entering the three-dimensional scanning structure.
Preferably, the water injection pipe passes through the bent portion of the snake bone and the insertion hose, and the end of the water injection pipe is connected with the front end of the three-dimensional scanning portion and is located at the front end of the second cylindrical block.
According to a preferable technical scheme, the joint part comprises an optical fiber joint and an electrical joint, the optical fiber joint is located in the rotary buckle structure, and the optical fiber joint inside is protected through the buckle structure and is not easy to damage; the electrical connector is a pin type connector and is respectively connected with a photoacoustic signal line, a motor control line and a video line, wherein the photoacoustic signal line is connected with the coaxial connector, the rest of the photoacoustic signal line are connected with the metal contact pins, and the shell of the electrical connector is a metal shielding shell.
Preferably, the optical fiber is an optical fiber with a glass ferrule.
As a preferable technical scheme, the bent snake bone is a four-way bent snake bone, the direction adjustment of the bent snake bone is controlled by four steel wire ropes, one end of each steel wire rope is fixed at the front end of the bent snake bone and penetrates through the bent snake bone, the insertion hose and the three-dimensional scanning part, and the other end of each steel wire rope is fixed in the control handle.
In order to achieve the second object, the present invention adopts the following technical solutions:
the invention relates to an imaging method of a three-dimensional photoacoustic endoscope in a curved cavity based on snake bone turning, which comprises the following steps:
the snake bone is adjusted to be bent in the upper, lower, left and right directions by operating the control handle, the snake bone passes through the bent cavity under the guidance of a video image, and the three-dimensional scanning part drives the photoacoustic probe to rotate and retract for scanning to obtain a three-dimensional photoacoustic image of the bent cavity.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention integrates high-definition optical camera shooting and high-resolution photoacoustic imaging into an integrated endoscope, can acquire high-definition video images in human body curved cavity tissues such as colon, combines a snake bone-based head turning technology with three-dimensional photoacoustic endoscopic imaging, and obtains multi-parameter three-dimensional photoacoustic images in the curved cavity under the guidance of the video images, thereby increasing the imaging mode of the traditional optical endoscope and being easier to detect. Connect optoacoustic signal transmission line and motor control line, video signal line, LED power cord to same contact pin formula and connect, integrate more, and the optoacoustic signal line adopts coaxial connector, can prevent effectively that weak optoacoustic signal from being disturbed by noise, and metal shielding shell further plays electromagnetic shield's effect.
Drawings
Fig. 1 is a structural schematic diagram of an endoscope for implementing a three-dimensional photoacoustic imaging method in a curved cavity based on snake bone direction changing in the embodiment.
Fig. 2 is a schematic diagram of the present embodiment.
Fig. 3 is a schematic diagram of the internal structure of the photoacoustic scanning probe in this embodiment.
Fig. 4, 5 and 6 are schematic structural views of the integrated sheath and the first cylindrical block in three directions in the present embodiment.
Fig. 7 is a schematic view of bending and turning of the integrated scanning head in the embodiment.
Fig. 8 and 9 are schematic structural diagrams of the three-dimensional scanning portion and the second cylindrical block in two directions in the present embodiment.
Fig. 10 is a schematic structural view of the electrical connector in this embodiment.
Wherein, 1-an integrated scanning head, 2-a snake bone bending part, 3-an inserted hose, 4-a three-dimensional scanning part, 5-a control handle, 6-a connector part, 7-a bending cavity, 8-a rotary scanning, 9-a retraction scanning, 10-an ultrasonic transducer, 11-a coating reflecting mirror, 12-a micro lens, 13-a micro bearing, 14-an optical fiber, 15-a first circular through hole, 16-a second circular through hole, 17-a fan-shaped through hole, 18-a hollow cylindrical connector, 19-a first cylindrical block, 20-a first cylindrical block torsion coil outer hose fixing hole, 21-a first cylindrical block video wire through hole, 22-a water injection pipe through hole, 23-a rotary motor, 24-a linear motor and 25-a conductive slip ring, 26-a first synchronous wheel, 27-a second synchronous wheel, 28-a synchronous belt, 29-a sealing ring, 30-a connecting structure, 31-a second cylindrical block, 32-a second cylindrical block torsion coil outer sleeve hose fixing hole, 33-a second cylindrical block video wire through hole, 34-a steel wire rope through hole, 35-a metal contact pin, 36-a coaxial connector and 37-a metal shielding shell.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1, the present embodiment is an endoscope for implementing a three-dimensional photoacoustic imaging method in a curved cavity based on snake bone turning, including: the integrated scanning head 1, the snake bone bending part 2, the insertion hose 3, the three-dimensional scanning part 4, the control handle 5 and the joint part 6.
As shown in fig. 2, in the three-dimensional photoacoustic imaging method in the curved cavity based on snake bone turning in the embodiment, the control handle is operated to adjust the snake bone to be curved in four directions, i.e., up, down, left and right directions, so that the end portion of the endoscope head is correspondingly curved, and passes through the curved cavity 7 under the guidance of a video image acquired by the miniature optical camera, and meanwhile, the rotating motor and the linear motor in the three-dimensional scanning part drive the photoacoustic probe to perform rotating scanning 8 and retracting scanning 9, so as to obtain a three-dimensional photoacoustic image of the curved cavity. The detailed structure of each part is described in detail below with reference to the accompanying drawings.
In this embodiment, the integrated scanning head includes a photoacoustic scanning probe, a micro optical camera, and an integrated sheath, the photoacoustic scanning probe performs a rotary retraction motion in the integrated sheath, and the micro optical camera is fixed in the integrated sheath.
As shown in fig. 3, the external diameter of the photoacoustic scanning probe is 5-6mm, the internal optical path structures are axially distributed from the head end and respectively comprise a coated reflecting mirror 11, a micro lens 12 and an optical fiber, the coated reflecting mirror is coated with a high reflective film, the reflectivity is more than 99%, the inclination angle of the reflecting surface is 35 degrees, and the high reflective film is a silver film; the diameter of the micro Lens is 1mm, the micro Lens has a collimation effect on a laser beam emitted from the optical fiber, and the micro Lens is C Lens; the optical fiber is fixed with the inner wall of the micro bearing 13, the outer wall of the micro bearing is fixed with the inner wall of the photoacoustic scanning probe, the outer diameter of the micro bearing is 3mm, and the optical fiber can be kept not to rotate when the photoacoustic scanning probe rotates; the optical fiber 14 is an optical fiber with a glass core; the ultrasonic transducer 10 is located at the front end of the coated reflecting mirror, and the laser beam emitted from the optical fiber is irradiated right above the ultrasonic transducer through the micro lens and the coated reflecting mirror in sequence.
The diameter of the head part of the micro optical camera is 2-4mm, the depth of field is 3-100mm, the angle of field is 120 degrees, the micro optical camera is a CMOS optical camera, LED illumination is arranged in the micro optical camera, and the illumination intensity can be adjusted through a host panel.
As shown in fig. 4, 5 and 6, the integrated sheath has a diameter of 11-13mm, and has a first circular through hole 15, a second circular through hole 16 and two fan-shaped through holes 17 inside, the first circular through hole 15 is a probe channel for photoacoustic sweeping, the second circular through hole 16 is a micro optical camera channel, the two fan-shaped through holes are respectively located at two sides of the first circular through hole 15 and are used for injecting water and exhausting air, and the tail end of the fan-shaped through hole is a hollow cylindrical joint 18 for connecting a water injection pipe. The tail end of the integrated sheath is provided with a first cylindrical block 19, a first cylindrical block torsion coil outer sleeve hose fixing hole 20, a first cylindrical block video wire through hole 21 and a water injection through hole 22 are respectively arranged in the first cylindrical block, and the inner diameter of the first cylindrical block torsion coil outer sleeve hose fixing hole is smaller than the outer diameter of the photoacoustic sweeping probe, so that the photoacoustic sweeping probe can be prevented from exiting the integrated sheath in the retracting process.
The outer wall of the photoacoustic scanning probe and the inner wall of the circular pore channel of the integrated sheath are both polished to reduce the frictional resistance during rotary retraction, so that the photoacoustic probe is easy to perform three-dimensional annular scanning. The integrated sheath is made of medical stainless steel materials, and the surface of the integrated sheath is plated with chrome to increase corrosion resistance and smoothness, so that the integrated sheath can enter the curved cavity more easily.
As shown in fig. 7, the snake bone bending part is connected with the integrated scanning head and the insertion hose, the integrated scanning head is adjusted in four directions of up, down, left and right by operating the control handle, the snake bone bending part is composed of a bending snake bone, the woven mesh and the rubber tube are respectively arranged from inside to outside, one end of the bending snake bone is connected with the cylindrical block 1, the other end of the bending snake bone is connected with the front end of the insertion hose, the bending snake bone is a four-direction bending snake bone, the direction adjustment of the bending snake bone is controlled by four steel wire ropes, one end of each steel wire rope is fixed at the front end of the bending snake bone and penetrates through the bending snake bone, the insertion hose and the three-dimensional scanning part, and the.
As shown in fig. 8, the three-dimensional scanning part comprises a rotating motor 23, a linear motor 24, a conductive slip ring 25, a synchronizing wheel, a synchronous belt 28, a connecting structure 30 and a housing, the linear motor controls the rotating motor to generate linear motion, a body of the rotating motor is fixed with the housing (stator end) of the conductive slip ring through the connecting structure, the conductive slip ring is hollow, a shaft of the rotating motor is fixedly connected with a first synchronizing wheel 26, a second synchronizing wheel 27 passes through a hollow hole of the conductive slip ring and is fixed with the rotor end, the first synchronizing wheel and the second synchronizing wheel are driven by the synchronous belt so as to transmit the torque of the shaft of the rotating motor to the rotor end of the conductive slip ring, the second synchronizing wheel is connected with the photoacoustic scanning probe through a torque coil, the outer diameter of the torque coil is 3mm, the torque is transmitted to the photoacoustic scanning probe through the torque coil so, and meanwhile, the linear motion is carried out, so that the three-dimensional photoacoustic annular scanning is realized.
As shown in fig. 9, the torsion coil passes through the outer casing hose, the inner diameter of the outer casing hose is slightly larger than the outer diameter of the torsion coil, one end of the outer casing hose is fixed in the first cylindrical block, the front end of the three-dimensional scanning part is provided with a second cylindrical block 31, a second cylindrical block video line through hole 33, a steel wire rope through hole 34 and a second cylindrical block torsion coil outer casing hose fixing hole 32 are arranged in the second cylindrical block, the other end of the outer casing hose is fixed in the second cylindrical block, the hollow rotating shaft of the second synchronizing wheel rotates in the second cylindrical block, and a sealing ring 29 is sleeved on the outer side of the hollow rotating shaft of the second synchronizing wheel, so that water overflowing from the scanning head can be prevented from entering the three-.
The front end of the three-dimensional scanning part is connected with the insertion hose, and the rear end of the three-dimensional scanning part is connected with the control handle; the water injection pipe passes through the snake bone bending part and the insertion hose, and the tail end of the water injection pipe is connected with the front end of the three-dimensional scanning part and is positioned at the front end of the second cylindrical block.
In this embodiment, the connector portion includes an optical fiber connector and an electrical connector, the optical fiber connector is located in the rotary buckle structure, and the optical fiber connector inside is protected by the buckle structure, so that the optical fiber connector is not easily damaged; as shown in fig. 10, the electrical connector is a pin connector, and is connected to a photoacoustic signal line, a motor control line, and a video line (including a built-in LED power line) respectively, wherein the photoacoustic signal line is connected to the coaxial connector 36, the rest are connected to the metal pins 35, the electrical connector is a metal shielding shell 37, the optical fiber connector is connected to the pulse laser, and the electrical connector is connected to the host.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (7)
1. Three-dimensional optoacoustic endoscope in crooked cavity based on snake bone diversion, its characterized in that includes: the device comprises an integrated scanning head, a snake bone bending part, an insertion hose, a three-dimensional scanning part, a control handle and a connector part;
the integrated scanning head comprises a photoacoustic scanning probe, a micro optical camera and an integrated sheath, wherein the photoacoustic scanning probe performs rotary retraction motion in the integrated sheath, and the micro optical camera is fixed in the integrated sheath;
the snake bone bending part is connected with the integrated scanning head and the insertion hose, the upper, lower, left and right four-way adjustment of the integrated scanning head is realized by operating the control handle, the snake bone bending part is composed of a bent snake bone, one end of the bent snake bone is connected with the rear end of the integrated scanning head, and the other end of the bent snake bone is connected with the front end of the insertion hose;
the three-dimensional scanning part comprises a rotating motor, a linear motor, a conductive sliding ring, a first synchronizing wheel, a second synchronizing wheel, a synchronous belt, a connecting structure and a shell, wherein the linear motor controls the rotating motor to generate linear motion, a rotating motor body and the conductive sliding ring shell are fixed together through the connecting structure, the conductive sliding ring is hollow, a rotating motor shaft is fixedly connected with the first synchronizing wheel, the second synchronizing wheel penetrates through a hollow hole of the conductive sliding ring and is fixed with a rotor end of the conductive sliding ring, the first synchronizing wheel and the second synchronizing wheel are driven through the synchronous belt so as to transmit the torque of the rotating motor shaft to the rotor end of the conductive sliding ring, the second synchronizing wheel is connected with the photoacoustic scanning probe through a torque coil, and the torque is transmitted to the photoacoustic scanning probe through the torque coil so as to enable the photoacoustic scanning probe to generate rotary motion, simultaneously, linear motion is carried out, and three-dimensional photoacoustic annular scanning is realized;
the outer diameter of the photoacoustic scanning probe is 5-6mm, the internal light path structures are axially distributed from the head end and respectively provided with a coated reflecting mirror, a micro lens and an optical fiber, the coated reflecting mirror is coated with a high reflective film, the reflectivity is more than 99%, and the inclination angle of the reflecting surface is 35 degrees; the diameter of the micro lens is 1-3mm, and the micro lens has a collimation or focusing effect on a laser beam emitted from the optical fiber; the optical fiber is fixed with the inner wall of the micro bearing, the outer wall of the micro bearing is fixed with the inner wall of the photoacoustic scanning probe, and the optical fiber can be kept not to rotate when the photoacoustic scanning probe rotates; the front end of the coating reflecting mirror is also provided with an ultrasonic transducer, and a laser beam emitted from the optical fiber is irradiated right above the ultrasonic transducer through a micro lens and the coating reflecting mirror in sequence;
the integrated sheath is 11-13mm in diameter, a first circular through hole, a second circular through hole and two fan-shaped through holes are formed in the integrated sheath, the first circular through hole is a photoacoustic scanning probe channel, the second circular through hole is a micro optical camera channel, the two fan-shaped through holes are respectively located on two sides of the first circular through hole, and the tail end of each fan-shaped through hole is a hollow cylindrical joint and is used for connecting a water injection pipe; the tail end of the integrated sheath is provided with a first cylindrical block, a first fixing hole of an outer sleeve hose, a water injection pipe through hole and a first video line through hole are formed in the first cylindrical block respectively, the torsion coil penetrates through the outer sleeve hose, the inner diameter of the first fixing hole of the outer sleeve hose is smaller than the outer diameter of the photoacoustic scanning probe, and the photoacoustic scanning probe can be prevented from exiting the integrated sheath in the retraction process.
2. The snake bone direction changing based three-dimensional photoacoustic endoscope in the curved cavity is characterized in that the diameter of the micro optical camera head is 2-4mm, the depth of field is 3-100mm, the angle of view is 120 degrees, the LED illumination is arranged in the micro optical camera head, and the illumination intensity can be adjusted through the host panel.
3. The three-dimensional photoacoustic endoscope in the bending cavity based on the snake bone direction changing of claim 1, wherein the inner diameter of the outer sleeve hose is slightly larger than the outer diameter of the torsion coil, one end of the outer sleeve hose is fixed in the first cylindrical block, the front end of the three-dimensional scanning part is provided with the second cylindrical block, the second cylindrical block is internally provided with the second video line through hole and the second fixing hole of the outer sleeve hose, the other end of the outer sleeve hose is fixed in the second cylindrical block, the hollow rotating shaft of the second synchronizing wheel rotates in the second cylindrical block, and the outer side of the hollow rotating shaft of the second synchronizing wheel is sleeved with a sealing ring, so that water overflowing from the integrated scanning head can be prevented from entering the three-dimensional scanning part.
4. The snake bone direction changing based three-dimensional photoacoustic endoscope in the curved cavity is characterized in that the water injection pipe passes through the snake bone curved part and the insertion hose, and the tail end of the water injection pipe is connected with the front end of the three-dimensional scanning part and is positioned at the front end of the second cylindrical block.
5. The three-dimensional photoacoustic endoscope in the curved cavity based on the snake bone direction change of the claim 1, wherein the connector part comprises an optical fiber connector and an electrical connector, the optical fiber connector is arranged in a rotary buckle structure, and the optical fiber connector inside is protected by the buckle structure and is not easy to damage; the electric connector is a pin type connector and is respectively connected with a photoacoustic signal line, a motor control line and a video line, wherein the photoacoustic signal line is connected with the coaxial connector, the motor control line and the video line are connected with a metal pin, and the shell of the electric connector is a metal shielding shell.
6. The snake bone redirection based three-dimensional photoacoustic endoscope within the curved cavity of claim 1, wherein the optical fiber is a fiber with a glass ferrule.
7. The three-dimensional photoacoustic endoscope in the curved cavity based on the snake bone direction change of claim 1, wherein the curved snake bone is a four-way curved snake bone, the direction adjustment of which is controlled by four steel wire ropes, one end of each steel wire rope is fixed at the front end of the curved snake bone and penetrates through the curved snake bone, the insertion hose and the three-dimensional scanning part, and the other end of each steel wire rope is fixed in the control handle.
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| CN109998455A (en) * | 2019-05-06 | 2019-07-12 | 河南科技大学第一附属医院 | A kind of endoscope |
| CN110811707B (en) * | 2019-11-15 | 2021-05-11 | 温州市中医院 | Improved generation water needle sword |
| CN113996961B (en) * | 2021-11-18 | 2023-01-13 | 潍坊新松机器人自动化有限公司 | Welding robot in limited operation space |
| CN113925443A (en) * | 2021-12-15 | 2022-01-14 | 深圳市海瑞洋科技有限公司 | 3D holographic artificial intelligence minimally invasive endoscope system |
| CN117796852A (en) * | 2024-02-28 | 2024-04-02 | 中国科学院深圳先进技术研究院 | Rotation retracting system for three-dimensional imaging and data analysis method thereof |
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