System for laser ablation surgery
View Patent ↗An active tracking system includes an imager configured to image the temperature of a biological tissue and a heating laser configured to heat regions of the biological tissue. The imager locates high-temperature regions of the biological tissue and the heating laser is controlled to point toward target regions of the biological tissue based on the located high-temperature regions. The active tracking system can be used to control a heating laser to continuously heat a target region of a biological tissue even when the target region moves relative to the heating laser. The active tracking system could allow one or more target regions of a biological tissue to be ‘tagged’ with heat by the heating laser and to be tracked even when the one or more target regions move relative to the heating laser. Devices and methods for operating such active tracking systems are also provided.
1. A system comprising:
a camera system, wherein the camera system is operable to image infrared and visible light;
a heating laser, wherein the heating laser comprises at least one optical element;
a spotting laser configured to emit visible light; and
a controller comprising a memory and at least one processor, wherein the processor is configured to execute instructions stored in the memory so as to perform operations, wherein the operations comprise:
during a first time period, operating the camera system to generate a first image of a biological tissue;
determining, based on the first image of the biological tissue, that the spotting laser illuminated a specified location of the biological tissue during the first time period;
during the first time period, based on the first image of the biological tissue, controlling the heating laser to emit a beam of electromagnetic radiation toward the specified location of the biological tissue to heat the specified location of the biological tissue;
receiving, via the camera system during a second time period following the first time period, information indicative of respective temperatures of a plurality of regions of the biological tissue;
determining, based on the received information, a heated region from among the plurality of regions of the biological tissue;
determining a target region of biological tissue based on a location of the heated region;
tracking a movement of the heated region of biological tissue relative to the heating laser; and
during a third time period following the second time period, causing the beam of electromagnetic radiation to intersect with the target region of biological tissue by adjusting the at least one optical element based on the movement of the heated region of biological tissue relative to the heating laser.
2. The system of claim 1 , wherein the target region comprises the heated region.
3. The system of claim 1 , further comprising a second laser comprising at least one optical element, wherein the operations further comprise:
controlling the second laser to emit a beam of electromagnetic radiation;
receiving, via the camera system, second information indicative of a position of the beam of electromagnetic radiation emitted by the second laser; and
causing the beam of electromagnetic radiation emitted by the second laser to intersect a second target region of the biological tissue by adjusting the at least one optical element of the second laser based on the second information.
4. The system of claim 1 , wherein the camera system can detect infrared light having a wavelength between 9 micrometers and 14 micrometers.
5. The system of claim 1 , wherein the camera system has an optical axis, wherein the heating laser has an emitted beam axis, wherein the optical axis is co-axial with the emitted beam axis.
6. The system of claim 1 , wherein the camera system comprises a filter that blocks light of wavelengths corresponding to a wavelength of the beam of electromagnetic radiation emitted by the heating laser.
7. The system of claim 1 , wherein the target region of biological tissue is a specified distance away from the heated region of biological tissue in a specified direction.
8. The system of claim 7 , wherein the target region of biological tissue is a location along a specified trajectory.
9. The system of claim 1 , wherein the operations further comprise modulating a power of the beam of electromagnetic radiation based on a detected temperature of the heated region of biological tissue and a specified temperature.
10. The system of claim 1 , wherein the spotting laser is operable to emit visible light, and wherein the camera system is configured to generate the first image by imaging visible light.
11. The system of claim 1 , wherein the spotting laser is operable to emit infrared light, and wherein the camera system is configured to generate the first image by generating information indicative of respective temperatures of a plurality of regions of the biological tissue.