WO2020113566A1 - Multi-modal imaging system for pancreatic bile tract endoscopic catheter device thereof - Google Patents

Abstract

Disclosed are a multi-modal imaging system for a pancreatic bile tract and an endoscopic catheter device (100) thereof. The endoscopic catheter device (100) comprises a sleeve (110) and an endoscopic probe (120); an optical fibre (111) and a signal line (112) are accommodated in the sleeve (110) and are used for connecting an imaging device; the endoscopic probe (120) is arranged at the end part of the sleeve (110), and comprises an optical focusing module (121) and an ultrasonic transducer (122), the optical focusing module (121) being connected with the optical fibre (111), and the ultrasonic transducer (122) being connected with the signal line (112). The optical focusing module (121) can perform optical signal acquisition on a sample tissue of the pancreatic bile tract, and the ultrasonic transducer (122) can perform ultrasonic signal acquisition on the sample tissue, thereby realizing multi-modal medical imaging by one insertion, and greatly mitigating the pain of a patient.

Description

Multimodal imaging system of pancreaticobiliary duct and endoscopic catheter device Technical field

The present application relates to the technical field of medical devices, and more particularly, to a multimodal imaging system for pancreaticobiliary duct and an endoscopic catheter device.

Background technique

The pancreas is the largest gland in the human body after the liver. The pancreatic duct and bile duct open together to the large nipple of the duodenum. The pancreatic juice secreted by the pancreas and the bile produced by the liver flow to the duodenum through this opening to participate in food digestion. However, once malignant lesions occur in the pancreas and gallbladder, they often have the characteristics of hidden disease, rapid progress, high recurrence rate, and early metastasis. Due to the deep location of the pancreas and gallbladder, it is extremely difficult for early diagnosis and treatment of such lesions [S. Rizvi, GJ Gores, Pathogenesis, diagnosis, and management of cholangio carcinoma, Gastroenterology 145(6) (2013) 1215-29.] .

At present, there is a lack of efficient early diagnosis methods and effective molecular labeling techniques for pancreaticobiliary malignant tumors, and the mechanism of pancreaticobiliary lesions is still unclear. Most of the clinically diagnosed patients are already in the advanced stage, and the prognosis is extremely poor. The 5-year survival rate of patients after treatment is less than 5%. Pancreatic cancer is also known as "the king of cancer" [R.L. Siegel, K.D. Miller, A. Jemal, Cancer Statistics, 2017, CA: a cancer for clinicians 67 (1) (2017) 7-30. E.R.Witkowski,J.K.Smith,J.F.Tseng,Outcomes following resection of pancreatic cancer,Journal of surgical oncology 107(1)(2013)97-103]. Therefore, the development of methods and instruments for early diagnosis and treatment with high sensitivity, high specificity, and clinical applicability is a prospective demand for the diagnosis and treatment of pancreaticobiliary carcinoma.

The inventors of the present application found in research that malignant lesions of pancreaticobiliary ducts often originate from endothelial cells of pancreatic ducts or bile ducts. Its formation is usually a dynamic process: initially manifested as dysplasia of pancreatic bile duct epithelial cells, which further infiltrated and grown into the pancreatic bile duct basement membrane, and developed into invasive adenocarcinoma after breaking through the basement membrane. In this process, the typical histomorphological changes of the pancreaticobiliary duct epithelium are mainly reflected in the abnormalities in both structure and cytology. Structural abnormality means that the normal pancreatic bile duct epithelium is gradually replaced by neatly arranged single-layer cubic or low columnar epithelium, which is replaced by high columnar cells rich in mucous cytoplasm. Epithelial cell arrangement disorder and normal cell polarity loss occur; cytological abnormality refers to the nucleus Irregular, deep staining of chromatin, the size of the nucleus is different, the proportion of nucleus and cytoplasm is increased and the activity of mitotic division is increased. When the dysplastic cells continue to grow, breaking through the basement membrane and infiltrating into the organ parenchyma, they develop into ductal adenocarcinoma with deep infiltration.

In summary, accurate judgment of pancreatic bile duct morphological abnormality at this stage is an important reference for clinical diagnosis and treatment of pancreatic bile duct malignant tumors. To this end, it is necessary to effectively image the pancreaticobiliary duct so that the doctor can judge the disease based on the generated medical image and combined with medical knowledge. At present, when performing endoscopic imaging of the pancreas, a single-modality imaging method is used. If multi-modality imaging is required, the corresponding endoscopic catheter needs to be inserted multiple times and implemented with different equipment, thereby increasing the number of patients. s pain.

Summary of the invention

In view of this, the present application provides a multimodal imaging system for pancreaticobiliary ducts and an endoscopic catheter device for medical imaging of pancreaticobiliary ducts, enabling doctors to analyze pancreaticobiliary ducts based on multimodal medical images and corresponding medical knowledge Judging whether it is cancerous or not, in order to alleviate the pain of the patient.

In order to achieve the above purpose, the proposed scheme is as follows:

An endoscopic catheter device includes a cannula and an endoscopic probe, wherein:

An optical fiber and a signal line for connecting the imaging device are contained in the sleeve;

The endoscopic probe is disposed at the end of the sleeve, and includes an optical focusing module and an ultrasonic transducer, the optical focusing module is connected to the optical fiber, and the ultrasonic transducer is connected to the signal line.

Optionally, the optical focusing module includes a hemispherical light-transmitting ball, wherein:

A part of the light-transmitting ball is connected to the optical fiber;

A gold-plated reflective film is provided on the horizontal bottom surface of the light-transmitting ball.

Optionally, the emission direction of the optical focusing module and the emission direction of the ultrasonic transducer deviate from each other.

Optionally, it further includes a marking ring, the marking ring being arranged at the end.

Optionally, it also includes a photoelectric slip ring assembly. One end of the photoelectric slip ring assembly is used for signal connection with the imaging device, and the other end is used for signal connection with the optical focusing module through an optical fiber and through the signal line. The ultrasonic transducer is signally connected.

Optionally, the photoelectric slip ring assembly includes a rotary photoelectric coupling unit and a rotary drive motor for driving the rotary photoelectric coupling unit to rotate.

A multimodal imaging system for pancreaticobiliary duct, including an image processing device, an optical imaging device, an ultrasound imaging device, and an endoscope catheter device as described above, wherein:

The image processing device is used to output a control signal according to the user's operation, and generate a multimodal image of the pancreaticobiliary duct according to the received feedback signal, so that the user can analyze the pancreaticobiliary duct according to the multimodal image and medical knowledge. To determine the health status, the feedback signal includes a first feedback signal and a second feedback signal;

The optical imaging device is in signal connection with the endoscopic catheter device for outputting an optical signal according to the control signal, the optical signal reaches the sample tissue through the endoscopic catheter, and receives the endoscopic catheter device Collecting the optical feedback signal fed back by the sample tissue, and generating the first feedback signal according to the optical feedback signal;

The ultrasound imaging device is in signal connection with the endoscope catheter device for outputting an ultrasound control signal according to the control signal, so that the endoscope catheter device transmits ultrasound to the sample tissue according to the ultrasound control signal, and The returned feedback ultrasonic wave is converted into an ultrasonic feedback signal, and the ultrasonic imaging device is further configured to generate the second feedback signal according to the ultrasonic feedback signal.

Optionally, the wavelength division multiplexer of the optical imaging device further includes a first optical imaging device and a second optical imaging device with different imaging principles, wherein:

The first optical imaging device is in signal connection with the image processing device, and is in signal connection with the wavelength division multiplexer through a first optical fiber;

The second optical imaging device is in signal connection with the image processing device, and is in signal connection with the wavelength division multiplexer through a second optical fiber;

The wavelength division multiplexer is also in signal connection with the endoscopic catheter device through a third optical fiber.

Optionally, the first optical imaging device is an optical coherent imaging device or a photoacoustic imaging device.

Optionally, the second optical imaging device is a fluorescence imaging device or a confocal microscopic imaging device.

As can be seen from the above technical solutions, the present application discloses a multimodal imaging system for pancreaticobiliary ducts and an endoscopic catheter device thereof, including a cannula and an endoscopic probe, the cannula contains an optical fiber for connecting the imaging device And the signal line; the endoscopic probe is provided at the end of the sleeve, and includes an optical focusing module and an ultrasonic transducer, the optical focusing module is connected to the optical fiber, the ultrasonic transducer and the signal线连接。 Line connection. Because the optical focusing module can collect the optical signal of the sample tissue of the pancreaticobiliary duct, the ultrasonic transducer can collect the ultrasonic signal of the sample tissue, which can realize the medical imaging of multiple modalities at one time, so that it can greatly Alleviate the pain of the patient.

BRIEF DESCRIPTION

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on these drawings.

1 is a schematic structural diagram of an endoscopic catheter device provided by an embodiment of the present application;

2 is a schematic structural diagram of another endoscopic catheter device provided by an embodiment of the present application;

3 is a schematic structural diagram of yet another endoscope catheter device provided by an embodiment of the present application;

4 is a block diagram of a multimodal imaging system for pancreaticobiliary ducts according to an embodiment of the application;

5 is a block diagram of another multimodal imaging system for pancreaticobiliary ducts according to an embodiment of the application;

Figure 6 is an image obtained by optical coherence combined with fluorescence imaging;

7 is an image obtained by combining ultrasound imaging and fluorescence imaging;

Figure 8 is a three-modal fusion image;

Figure 9 is an image of histopathological section.

detailed description

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

Example one

FIG. 1 is a schematic structural diagram of an endoscopic catheter device provided by an embodiment of the present application.

As shown in FIG. 1, the endoscopic catheter device provided in this embodiment is applied to a multi-modal imaging system. The multi-modal imaging system is used for medical imaging of a sample tissue of a pancreaticobiliary duct. Correspondingly, the endoscopic catheter device is used for Introduced into the patient's pancreaticobiliary duct. The endoscopic catheter device includes a cannula 110 and an endoscopic probe 120 provided at the end of the cannula.

An optical fiber 111 and a signal line 112 for connecting the imaging device are provided in the sleeve. Specifically, the optical fiber is used for connecting the optical imaging device in the imaging device, and the signal line is used for connecting the ultrasonic imaging device in the imaging device.

The endoscopic probe includes an optical focusing module 121 and an ultrasonic transducer 122. The optical focusing module is connected to an optical fiber and is used to transmit the optical signal transmitted from the optical fiber to the sample tissue and also to collect the optical feedback signal reflected by the sample tissue And output to the optical imaging device. The ultrasonic transducer is connected to the signal line, and is used to transmit ultrasonic waves to the sample tissue according to the ultrasonic control signal transmitted by the signal line, and convert the feedback ultrasonic waves fed back by the sample tissue into an ultrasonic feedback signal, so that the ultrasonic feedback signal returns to the ultrasonic imaging Device.

Ultrasonic transducers use materials with high sound absorption properties as their backing materials, which can reduce the thickness of the ultrasonic transducers and effectively use the space in the casing. On the one hand, the size of the casing is less than 1 mm, on the other hand, the rigid length of the front end of the casing is shortened.

The optical focusing module includes a hemispherical light-transmitting sphere 1211, a part of the sphere of the light-transmitting sphere is connected to the optical fiber, a gold-plated reflective film is provided on the horizontal bottom surface 1212 of the light-transmitting sphere, the horizontal bottom surface is at 45° to the axial direction of the optical fiber Angle, so that the gold-plated reflective film illuminates the optical signal transmitted by the optical fiber on the sample tissue at a 90° angle.

And the emission direction of the ultrasonic transducer is perpendicular to the axial direction of the sleeve, and is away from the emission direction of the optical signal.

As can be seen from the above technical solution, this embodiment provides an endoscopic catheter device, including a sleeve and an endoscopic probe, the sleeve contains an optical fiber and a signal line for connecting an imaging device; the endoscopic probe is provided At the end of the sleeve, an optical focusing module and an ultrasonic transducer are included, the optical focusing module is connected to the optical fiber, and the ultrasonic transducer is connected to the signal line. Because the optical focusing module can collect the optical signal of the sample tissue of the pancreaticobiliary duct, the ultrasonic transducer can collect the ultrasonic signal of the sample tissue, which can realize the medical imaging of multiple modalities at one time, so that it can greatly Alleviate the pain of the patient.

In addition, as shown in FIG. 2, the endoscopic catheter device in this embodiment further includes a marking ring 113 for marking the position of the endoscopic probe in space, thereby correcting the spatial positional relationship of imaging.

In addition, as shown in FIG. 3, a photoelectric slip ring assembly 50 is provided in the sleeve of the endoscopic catheter device. The photoelectric slip ring assembly includes a rotating photoelectric coupling unit 51 and a rotating motor 52. The rotating photoelectric coupling unit contains a smooth ring composed of an optical collimator and an electric slip ring, which can simultaneously transmit optical signals and electrical signals when both ends rotate relatively. The rotating photoelectric coupling unit is powered by the rotating motor. Realize the rotation and retraction of the imaging catheter to obtain the mechanical motion required for three-dimensional imaging of the pancreaticobiliary duct.

The cannula and endoscopic projection are driven by the rotating photoelectric coupling unit and rotate at a uniform speed, thereby realizing imaging of the sample tissue on the pancreaticobiliary duct. One end of the rotating photoelectric coupling unit is respectively connected to the optical imaging device and the ultrasound imaging device, and the other end is connected to the optical focusing module and the ultrasound transducer of the endoscopic probe of the cannula.

Example 2

4 is a block diagram of a multimodal imaging system for pancreaticobiliary ducts according to an embodiment of the present application.

As shown in FIG. 4, the multi-modal imaging system provided in this embodiment is used to image a corresponding sample tissue on a human pancreaticobiliary duct, so as to obtain a medical image of the sample tissue. The multimodal imaging system includes an image processing device 10, an optical imaging device 20, an ultrasound imaging device 30, and an endoscopic catheter device 100.

The image processing device is signal-connected to the optical imaging device and the ultrasound imaging device, respectively, and the endoscopic catheter device is signal-connected to the optical imaging device and the ultrasound imaging device, respectively. Specifically, the endoscopic catheter device is used to enter the body and directly reach the sample tissue, and specifically includes a cannula 110 and an endoscopic probe 120 disposed at the end of the cannula. The endoscopic probe includes an optical focusing module and Ultrasonic transducer.

The image processing device is used to receive the user's operation and generate corresponding control signals, and output the control signals to the optical imaging device and the ultrasonic imaging device connected thereto, to control the optical imaging device to output optical signals, and control the ultrasonic imaging device to output The corresponding ultrasonic control signal.

The optical signal output by the optical imaging device passes through the optical fiber into the above endoscopic catheter device, and is output to the endoscopic probe of the endoscopic catheter device, and the optical signal is transmitted to the sample tissue of the pancreaticobiliary duct through the optical focusing module of the endoscopic probe The optical focusing module is also used for the optical feedback signal reflected by the sample tissue under the illumination of the optical signal. After receiving the optical feedback signal, the optical focusing module feeds it back to the optical imaging device. The optical imaging device generates a first feedback signal according to the optical feedback signal and outputs the first feedback signal to the image processing device.

The ultrasound control signal output by the ultrasound imaging device is actuated to the endoscopic catheter device using a wire, specifically, an ultrasound transducer sent to an endoscopic probe in the endoscopic catheter device. The ultrasonic transducer can convert the received electrical signal into ultrasonic waves, and receive the reflected ultrasonic waves to convert it into electrical signals. Specifically to this solution, the ultrasonic transducer is used to transmit supersonic waves to the sample tissue according to the ultrasonic control signal, and convert the feedback ultrasound reflected by the received sample tissue into an ultrasonic feedback signal, and pass the ultrasonic feedback signal through the corresponding wire Send to the ultrasound imaging device.

After receiving the ultrasonic feedback signal fed back by the ultrasonic transducer, the ultrasonic imaging device processes it, converts it into a second feedback signal, and sends the second feedback signal to the image processing device.

After receiving the first feedback signal generated by the optical imaging device based on the optical feedback signal and the second feedback signal generated by the ultrasonic imaging device based on the ultrasonic feedback signal, the image processing device processes the first feedback signal and the second feedback signal, Thus, a medical image of the sample tissue on the pancreaticobiliary duct is obtained, and the user can judge the state of the pancreaticobiliary duct according to the medical image and corresponding medical knowledge.

It can be seen from the above technical solutions that this embodiment provides a multimodal imaging system for pancreaticobiliary ducts, including an image processing device, an optical imaging device, an ultrasound imaging device, and an endoscopic catheter device. The image processing device is respectively signal-connected to the optical imaging device and the ultrasonic imaging device, and the endoscopic catheter device is also signal-connected to the optical imaging device and the ultrasonic imaging device, respectively. The endoscopic catheter device feeds back the optical feedback signal according to the optical signal of the optical imaging device, and according to The ultrasound control signal of the ultrasound imaging device feeds back the ultrasound feedback signal, and finally the image processing device obtains a medical image of the sample tissue on the pancreaticobiliary duct according to the optical feedback signal and the ultrasound feedback signal, so that the user can determine the status of the pancreaticobiliary duct according to the image and the corresponding medical knowledge Judgment can specifically determine whether cancer has occurred.

In addition, in a specific embodiment of the present application, the optical imaging device includes a first optical imaging device 21 and a second optical imaging device 22 with different imaging principles. As shown in FIG. 5, the two are respectively signal-connected to the image processing device. It also includes a wavelength division multiplexer 23 connected to the first optical imaging device and the second optical imaging device respectively. One end of the wavelength division multiplexer is connected to the first optical imaging device through the first optical fiber 231, respectively, through the second The optical fiber 232 is signal-connected to the second optical imaging device, and the other end of the wavelength division multiplexer is connected to the optical focusing module of the endoscopic probe on the endoscopic catheter device through the third optical fiber.

In this specific embodiment, the first optical imaging device may be an optical coherent imaging device or a photoacoustic imaging device; the second optical imaging device may be a fluorescence imaging device or a confocal microscopic imaging device.

In practical applications, we use the technical solution provided in this embodiment to obtain three-modality images of atherosclerotic rabbits, as shown in Figure 6, Figure 7, Figure 8, and Figure 9, respectively. Among them, FIG. 6 is an image obtained by combining optical coherence and fluorescence imaging, FIG. 7 is an image obtained by combining ultrasound imaging and fluorescence imaging, FIG. 8 is a three-modality fusion image, and FIG. 9 is an image of a histopathological section.

In the ultrasonic imaging device, the present invention deeply develops new piezoelectric materials, such as MEMS single crystal/epoxy resin 1-3PIN-PMN-PT relaxation ferroelectric single crystal, etc., and analyzes its high-temperature dielectric peak, correction Parameters such as coercive electric field and residual polarization improve its mechanical properties and temperature stability through doping modification. This project will use a miniature high-frequency ultrasonic transducer with a center frequency ≥50MHz and a size of ~0.6mm to improve the longitudinal resolution of the ultrasound image. In terms of high-frequency hardware systems, a wide-bandwidth (>200MHz) sinusoidal pulse excitation will be used in conjunction with a low-noise adjustable gain amplifier to further improve the image quality of high-frequency ultrasound.

For using the trigger signal of the scanning source laser as the main trigger to synchronize ultrasound and fluorescence imaging. In addition, an optical coherent imaging device and a fluorescence imaging device are combined using a wavelength division multiplexer. For fluorescence imaging systems, we use a double-clad fiber (DCF) coupler to collect the emitted light to ensure the compactness and stability of the three-mode system.

Semiconductor lasers are used as excitation light sources for fluorescence imaging, and DCF couplers are incorporated into the excitation light and emission light transmission collection. In the transmission process, the composite beam passes from the input port to the output port through the single-point mode core. The small diameter of the single-mode core ensures high optical energy density to the surface tissue, thereby achieving high-efficiency excitation. The emitted fluorescence is output to a large-diameter multimode fiber through the DCF to improve the ability to collect the emitted light and obtain fluorescence information in the PMT after corresponding filtering. Ultrasound imaging generates and detects ultrasound signals through a sound generator/receiver.

In this multi-mode endoscopic imaging system, the optical coherent imaging device uses a high-speed VECSEL light source to achieve long-distance imaging;

Targeting the surface antigen CD206 of M2 macrophages specifically labeled in pancreaticobiliary carcinoma, a functional near-infrared dye indocyanine green labeled M2 macrophages was constructed as a new fluorescent probe to specifically recognize CD206, using semiconductor tunable laser The 680-750nm wavelength band is used as the excitation light source, and the fluorescence of ≥800nm is collected by PMT to realize the fluorescent molecular imaging of CD206+-M2 macrophages. For the integration of the dual-mode optical path part, the wavelength division multiplexer is selected according to the different wavelength conditions of the optical coherent imaging/fluorescence imaging device to integrate the optical coherent imaging sample arm light source and the fluorescent excitation light source into the same single-mode broadband fiber optical path; used for fluorescence imaging The semiconductor laser of the excitation light source, and the DCF coupler are incorporated into the excitation and emission light transmission collection; this all-fiber optical path design ensures that the dual-mode optical path system is compact and stable.

In addition, the following design has been made in the system: During the transmission process, the composite beam passes through the single-point mode core from the input port to the output port. The small diameter of the single-mode core produces high energy density on the surface tissue, thereby achieving high efficiency excitation . The large diameter of the emitted light output to the multimode fiber through the DCF can improve the ability to collect the emitted light, and perform corresponding filtering to obtain fluorescence information in the PMT.

The embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments may refer to each other.

Although the preferred embodiments of the embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

Finally, it should also be noted that in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities Or there is any such actual relationship or order between operations. Moreover, the terms "include", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device that includes a series of elements includes not only those elements, but also those that are not explicitly listed The other elements listed may also include elements inherent to such processes, methods, articles or terminal equipment. Without more restrictions, the element defined by the sentence "include one..." does not exclude that there are other identical elements in the process, method, article, or terminal device that includes the element.

The technical solutions provided by this application have been described in detail above, and specific examples are used in this article to explain the principles and implementation of this application. The descriptions of the above embodiments are only used to help understand the method and core ideas of this application; At the same time, for those of ordinary skill in the art, based on the ideas of the present application, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as limiting the present application.

Claims (10)

1. An endoscopic catheter device is characterized by comprising a cannula and an endoscopic probe, wherein:

   An optical fiber and a signal line for connecting the imaging device are contained in the sleeve;

   The endoscopic probe is disposed at the end of the sleeve, and includes an optical focusing module and an ultrasonic transducer, the optical focusing module is connected to the optical fiber, and the ultrasonic transducer is connected to the signal line.
2. The endoscopic catheter device of claim 1, wherein the optical focusing module comprises a hemispherical light-transmitting ball, wherein:

   A part of the light-transmitting ball is connected to the optical fiber;

   A gold-plated reflective film is provided on the horizontal bottom surface of the light-transmitting ball.
3. The endoscopic catheter device of claim 1, wherein the emission direction of the optical focusing module and the emission direction of the ultrasonic transducer deviate from each other.
4. The endoscopic catheter device according to claims 1 to 3, further comprising a marker ring provided, the marker ring being provided at the end.
5. The endoscopic catheter device according to claims 1 to 3, further comprising a photoelectric slip ring assembly, one end of the photoelectric slip ring assembly is used for signal connection with the imaging device, and the other end is used for connecting with the optical fiber The optical focusing module is signal-connected and signal-connected to the ultrasonic transducer through the signal line.
6. The multi-modal programming system according to claim 5, wherein the photoelectric slip ring assembly includes a rotary photoelectric coupling unit and a rotary drive motor for driving the rotary photoelectric coupling unit to rotate.
7. A multimodal imaging system for pancreaticobiliary ducts, characterized in that it includes an image processing device, an optical imaging device, an ultrasound imaging device, and the endoscopic catheter device according to any one of claims 1 to 6, wherein:

   The image processing device is used to output a control signal according to the user's operation, and generate a multimodal image of the pancreaticobiliary duct according to the received feedback signal, so that the user can analyze the pancreaticobiliary duct according to the multimodal image and medical knowledge. To determine the health status, the feedback signal includes a first feedback signal and a second feedback signal;

   The optical imaging device is in signal connection with the endoscopic catheter device for outputting an optical signal according to the control signal, the optical signal reaches the sample tissue through the endoscopic catheter, and receives the endoscopic catheter device Collecting the optical feedback signal fed back by the sample tissue, and generating the first feedback signal according to the optical feedback signal;

   The ultrasound imaging device is in signal connection with the endoscope catheter device for outputting an ultrasound control signal according to the control signal, so that the endoscope catheter device transmits ultrasound to the sample tissue according to the ultrasound control signal, and The returned feedback ultrasonic wave is converted into an ultrasonic feedback signal, and the ultrasonic imaging device is further configured to generate the second feedback signal according to the ultrasonic feedback signal.
8. The multimodal imaging system according to claim 7, wherein the wavelength division multiplexer of the optical imaging device further includes a first optical imaging device and a second optical imaging device with different imaging principles, wherein:

   The first optical imaging device is in signal connection with the image processing device, and is in signal connection with the wavelength division multiplexer through a first optical fiber;

   The second optical imaging device is in signal connection with the image processing device, and is in signal connection with the wavelength division multiplexer through a second optical fiber;

   The wavelength division multiplexer is also in signal connection with the endoscopic catheter device through a third optical fiber.
9. The multimodal imaging system according to claim 8, wherein the first optical imaging device is an optical coherent imaging device or a photoacoustic imaging device.
10. The multimodal imaging system according to claim 8, wherein the second optical imaging device is a fluorescence imaging device or a confocal microscopic imaging device.

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