59 results about "Intraoperative navigation" patented technology

Disclosed are an optical navigation positioning system based on CT (computed tomography) registration results and a navigation method thereby. The system comprises a preoperative CT image guide input module, an image segmentation module, a body surface initial-registration module, a preoperative CT image and intraoperative two-dimensional ultrasound image module and an intraoperative navigation module. By combining virtual reality and intraoperative ultrasound, intraoperative positioning errors caused by factors such as breathing are compensated, and accordingly a target point for coronary artery bypass grafting is accurately positioned and navigated. Cardiac and coronary vessel tree in preoperative cardiac CT image data is manually segmented and reconstructed, an augmented virtual reality environment integrating endoscope and virtual endoscope is built by the aid of optical navigation apparatus and CT-ultrasound-based intraoperative registration error correction, and accordingly the target point of coronary artery bypass grafting is accurately positioned and navigated.

A spine image generating system based on an ultrasonic rubbing technology comprises a collecting unit and a processing unit. Ultrasonic rubbings are generated by the system based on ultrasonic imageswith two-dimensional spine surface structure characteristic outlines, and matched with a digital medical image outline, and thus a personalized spine surface topographic map which is consistent with an intraoperative position of a patient and updated in real time is obtained. A spine surgical navigation positioning system based on the spine image generating system comprises a navigation module andthe spine image generating system based on the ultrasonic rubbing technology. The spine surgical navigation positioning system can obtain the spine surface topographic map which is consistent with the intraoperative position of the patient and updated in real time, and can conduct real-time intraoperative navigation based on the spine surface topographic map. The spine image generating system based on the ultrasonic rubbing technology and the spine surgical navigation positioning system can greatly reduce the difficulty of a spinal operation, can achieve the operation auxiliary purposes of precise and nonradiative guided puncture, real-time navigation and being simple, convenient and reliable, and are particularly beneficial for application and popularization of a spinal minimally invasive surgery technology which is represented by a spine endoscopy to primary health care institutions.

The invention discloses an intraoperative navigation method and system for assisting in surgery. The method comprises the steps of preoperative scanning, establishment of a three-dimensional model, fixation of a first coordinate system reference mark and a second coordinate system reference mark, scanning through a structured light scanner, rough registration, refined registration and completion of the navigation process through a controller and a displayer. Due to the rough registration process, the process of refined registration between a three-dimensional image and a pre-registered region is very short, and registration preparation time before start of surgical navigation can be greatly shortened. Moreover, since two three-dimensional spaces are utilized for refined registration, the probability of errors is extremely low, and the accuracy and reliability of registration between a sick body and the three-dimensional model can be improved apparently; accordingly, the quality of the surgery is improved, and the success rate of the surgery is increased.

The invention relates to a cranio-maxillo-facial surgery robot auxiliary system adopting an artificial intelligence technology. The cranio-maxillo-facial surgery robot auxiliary system comprises a preoperative surgical program planning subsystem, an intraoperative navigation positioning subsystem and a robot control subsystem; the preoperative surgical program planning subsystem utilizes preoperative imaging data to design an osteotomy surgical program; the intraoperative navigation positioning subsystem conducts real-time obstacle avoidance on an anatomical structure and an instrument human body in a surgical area under assistance of a machine vision technology so as to automatically reach a designed navigation area; and the robot control subsystem optimizes a motion trajectory of a mechanical arm according to the obtained navigation area. According to the cranio-maxillo-facial surgery robot auxiliary system, the corresponding surgical osteotomy program can be generated before surgery, and an anatomical area and a working area which needing obstacle avoidance are identified in real time during the surgery.

The invention discloses an unmarked medical image registration system and a method in an intraoperative navigation system. The system comprises a three-dimensional scanner, a computer and a display device. The method comprises the following steps: through medical image data of a patient before an operation, a three-dimensional model is built, and a point cloud P is converted; a bone surface point cloud Q is acquired through the scanner in the operation; down sampling is carried out on two groups of point clouds respectively; a normal is calculated; feature calculation is carried out on the two groups of point clouds respectively; registration is carried out; a rotational translation matrix is obtained; the three-dimensional image before the operation is subjected to rotational translation; registration work is thus completed; and after initial registration, the later registration work only needs to use a nearest iterative point algorithm (ICP) for completion. No marked point needs to be used, and intraoperative unmarked accurate registration can be realized.

The invention discloses an intraoperative navigation system used for implanting a pedicle screw. The intraoperative navigation system comprises a multifunctional drill bit, a near-infrared parameter collecting device, an electromagnetic positioning device and a computer, wherein the electromagnetic positioning device comprises a magnetic field generator and an electromagnetic position indicator which are connected through a cable, and the electromagnetic position indicator is also connected with the computer; the multifunctional drill bit comprises a threaded sleeve, a receiving fiber, a launching fiber, an electromagnetic positioning coil, an inner stainless steel pipe, an outer stainless steel pipe and a handle, and the receiving fiber, the launching fiber and the electromagnetic positioning coil are parallelly and are closely arranged in the inner stainless steel pipe; the electromagnetic positioning coil is connected with the electromagnetic position indicator, and the receiving fiber and the launching fiber are respectively connected with a light source output interface and a light source input interface of the near-infrared parameter collecting device; and the near-infrared parameter collecting device is connected with the computer. The intraoperative navigation system provided by the invention has the advantages that the operation is simple, the navigation system is effective in real time, the implanting position, direction and depth of the pedicle screw can be monitored in real time, and early warning can be achieved when the screw is implanted in a deflection manner or reaches a boundary.

The invention relates to application of a digitization technology to oral approach mandibular condylar lesion surgical excision. The application comprises the following steps: planting five self-tapping titanium screws into a mandible of a patient to be used as registration mark points of a navigation system in a surgery; photographing maxillofacial region CT (Computed Tomography) scanning and storing in a DICOM (Digital Imaging and Communications in Medicine) format; establishing a patient lesion three-dimension pattern; designing an osteotomy face and an osteotomy range according to a lesion boundary; introducing navigation software in an STL (Standard Template Library) format to reestablish a three-dimensional geometrical model; mounting a navigation reference frame, and registering by using a navigation positioning probe and the mark points; setting an incision and dissecting and separating a joint capsule under an endoscope view to expose a condylar process; searching an osteotomy face position by using the positioning probe and calibrating a coordinate of a bone saw; adjusting the bone saw to the position of the osteotomy face and the cutting angle; and under the guidance of the incision stretched endoscope probe and a navigation positioning image, carrying out condylar osteotomy by holding the bone saw via a surgery doctor. By the aid of the application, the surgery doctor can accurately cut off condylar tumors according to preoperative plans, so the ideals of minimally invasive surgery and accurate surgery are uniformed.

The invention discloses a multiple-degree-of-freedom animal cone-beam CT imaging system. The system includes a first six-shaft mechanical arm, a second six-shaft mechanical arm and a synchronous conveyor belt, wherein the tail end of the first six-shaft mechanical arm is fixedly provided with a detector, and the tail end of the second six-shaft mechanical arm is fixedly provided with a ball pipe; the first six-shaft mechanical arm and the second six-shaft mechanical arm are symmetrically installed on the two sides of the synchronous conveyor belt, and the first six-shaft mechanical arm and the second six-shaft mechanical arm can achieve six-degree-of-freedom space movement. The system is high in flexibility, and for animals different in size and shape, a good scanning space and posture can be obtained through the position adjustment of the two six-shaft mechanical arms. The system has the non-coplanar scanning capability, and has a high application value in the field of high-end medical image guidance, such as precise intraoperative navigation. Since the position of the detector can be deviated, a large imaging region can be obtained in a half-fan-shaped mode when an imaging object is larger.

A 3-D visualizing method for the dissection map in navigation system for cerebral surgical operation includes two parts of early stage work and executing method stage. In the early stage work, the non-linear interpolation is used to reconfigure the digitalized 3-D maps of tow cerebral dissection maps (SW and TT) and the 3-D non-linear matching method is used to unifly them into a single coordinate system. In the executing method stage, the input image is formatted, matched with the said maps, and visualized.

The invention provides an intraoperative navigation method for craniomaxillofacial surgery, which relates to the field of digital medical technology. At first, that craniomaxillofacial image of the patient is obtain by computer tomography before operation and three-dimensional reconstruction is carry out, the three-dimensional mesh model of the patient's face before operation is obtained, the feature points of the three-dimensional mesh model of the patient's face before operation are extracted, and the three-dimensional feature point cloud of the patient's face before operation is obtained. Intraoperative real-time facial photographs of patients taken from two directions are obtained, and two-dimensional feature point cloud of patients' faces is generated according to the photographs. According to the two-dimensional feature point cloud and the three-dimensional feature point cloud of the patient's face before operation, the registration results of the patient's real-time head posturerelative to the preoperative craniomaxillofacial images are determined, and the intraoperative navigation is realized. The method has the advantages of simple equipment, simple operation, low cost, accurate navigation effect and high practical value.

The invention discloses a system and a method for navigating a minimally invasive surgery. The system which is transformed aiming at the requirements of the minimally invasive surgery and intraoperative navigation has the main characteristics that magnets are designed into open type U-shaped structures, a gap between the magnets is greater than 500nm, a radio frequency transmitting and receiving coil is designed into a double-plane circular polarization type, a gradient coil is designed into a double-plane main coil, and a double-plane axial shielding coil is additionally arranged at the outer side of the gradient coil. The invention also relates to a navigation control process and an intraoperative navigation imaging method for clinic application. According to a structure and the method, disclosed by the invention, the opening degree, the safety and the convenience of the system required by the minimally invasive surgery are ensured; particularly, the magnetic resonance imaging quality and the instantaneity are improved, and accurate location of surgical instruments and accurate control of a surgical path are ensured.

The invention provides an imaging probe, which comprises a targeted identification unit, an enzyme hydrolysis substrate unit, a self-assembling unit and a signal molecule, wherein the enzyme hydrolysis substrate unit is a peptide sequence which contains a functional enzyme substrate, the peptide sequence is PLGYLG or GPA, the targeted identification unit, the enzyme hydrolysis substrate unit and the self-assembling unit are connected in sequence through amido bonds, and the signal molecule is connected with the self-assembling unit. The imaging probe provided by the invention has a tumor targeting function and an assembling function, meanwhile, the imaging probe can generate efficient enzyme digestion reaction with high-expression enzymes in a tumor micro-environment on a tumor focus position through the enzyme hydrolysis substrate unit, so that self-assembling is carried out to form a specific nanometer fiber, long-acting retention is realized, the signal-to-noise ratio of tumors on organs, including a kidney, a liver, a bladder and the like, can be obviously improved, and a new method is provided for the intraoperative navigation excision of organ tumors.

The invention discloses a PET (positron emission computed tomography)-fluorescence dual-mode intraoperative navigation imaging system and an imaging method implemented by the same. The imaging method includes forming three-dimensional surface contour images of imaging samples by the aid of a spatial registration device; acquiring three-dimensional PET images of internal structures of the imaging samples by the aid of a PET imaging device; carrying out image registration and fusion on the three-dimensional surface contour images and the three-dimensional PET images to obtain three-dimensional fused images of imaging targets; acquiring two-dimensional fluorescence images of the imaging samples in real time by the aid of a fluorescence imaging device; projecting the three-dimensional fused images towards the two-dimensional fluorescence images along the normal axis of an imaging surface of the fluorescence imaging device and displaying depth information of the imaging targets on the two-dimensional fluorescence images. The three-dimensional fused images of the imaging targets comprise surface contours and internal structures. The PET-fluorescence dual-mode intraoperative navigation imaging system and the imaging method have the advantages that the PET-fluorescence dual-mode intraoperative navigation imaging system and the imaging method can be applied to tumor operation, the three-dimensional PET images and the two-dimensional fluorescence images are fused in computers, two imaging modes are complementary to each other, accordingly, tumor at optional depths can be accurately positioned, accurate tumor location information can be provided for patients, and tumor R0-resection can be implemented.

The invention discloses a three-dimensional visualization application method for anatomic maps in a neurosurgery navigation system, which belongs to the technical field of medicinal image processing and application. The method comprises a preliminary work part and a post execution method, wherein the preliminary work comprises the following steps of: performing delicate digital three-dimensional reconstruction work on two groups of nerve anatomic maps (SW, TT) by adopting an advanced nonlinear interpolation method, and unifying the two groups of maps under the same coordinate system by using a three-dimensional nonlinear rectification method; and the execution method comprises the following steps of: performing formatting of input images, realizing real-time rectification of the maps and the patient images by adopting the match of a variable ratio grid method and a sectional local area linear rectification algorithm, and realizing precise rectification and visualization of the anatomic maps by interactive fine tuning. The method is more intuitive, more accurate and easier to operate, realizes complete unification after full three-dimensional reconstruction of two sets of maps TT and SW, provides great convenience for preoperative diagnosis and intraoperative navigation of doctors, and increases an important function for the surgical navigation system.

The invention discloses an intraoperative position navigation system, device and method based on mixed reality. The intraoperative position navigation system comprises an image processing module, a 3Dfusion control module, a signal acquisition module, a screen recording module, a computer and a peripheral module, video signals are acquired through the signal acquisition module and transmitted tothe 3D fusion control module. The 3D fusion control module performs real-time dynamic deep fusion on the three-dimensional model and the image data acquired in real time, the computer module performsdisplay, input and storage, and the screen recording module records an augmented reality image; and according to the intraoperative position navigation system based on mixed reality, intraoperative endoscope signals are deeply fused, data are dynamically reconstructed in real time, so that intraoperative navigation and positioning are achieved, risks and complications are reduced, and meanwhile teaching is conducted through real-time video recording.

The invention relates to a navigation system in the puncture ablation under CT and AI dual guidance. The navigation system comprises an organ model establishing module used for carrying out real-timesegmentation on a medical image of a puncture part before an operation and establishing a 3D model for a segmented organ, a puncture path planning module used for establishing an optimal linear path for avoiding segmented tissues and organs around a focus, a positioning module used for positioning a puncture needle in real time so as to determine a needle tip position and angle of the puncture needle, a registration module used for registering the preoperative medical image and an intra-operative medical image to obtain a mixed image, a fusion module used for importing the established 3D modeland the planned optimal linear path into the mixed image to obtain a navigation map of organ segmentation, and a real-time guiding module used for calculating a position deviation between the optimallinear path and an actual needle inserting path so as to guide puncture. The navigation system solves the problem that a doctor depends on the experience in estimating an ablation range and time.

The embodiment of the invention relates to the field of image processing, and discloses a bone segmentation method in a hip joint image, electronic equipment and a storage medium. The method comprises the steps: obtaining a to-be-segmented hip joint image; inputting the to-be-segmented hip joint image into a pre-trained segmentation model, and outputting a segmentation result, wherein a method for obtaining the segmentation model through pre-training comprises the following steps: creating an initial segmentation model, and obtaining a plurality of artificially labeled hip joint sample images to obtain a mask image; inputting the hip joint sample images into a self-attention transformation initial model and a convolutional neural network initial model to respectively obtain a first segmentation result and a second segmentation result; and calculating training loss, and returning the training loss to the initial segmentation model to obtain a final segmentation model. According to the embodiment of the invention, the segmentation result is accurate, the robustness is realized, and bone structures in the hip joint images can be efficiently and automatically segmented, so that clinical doctors are assisted in surgical planning, intraoperative navigation and postoperative evaluation.

The invention relates to modified indocyanine green. One of two sulfonic groups of the molecular structure of indocyanine green is substituted by a modified PEG (polyethylene glycol) group. By modifying the ICG (indocyanine green), the plasma half-life of the ICG can be prolonged, so that the retention time of the ICG in blood is notably prolonged, and thereby application in multiple aspects, suchas angiography, intraoperative navigation and detection and treatment of tumors, is optimized. The modified ICG and the original ICG show similar good fluorescent property and spectral absorption capability, moreover, the stability is better, and therefore the modified indocyanine green has a good application prospect. The invention further relates to a preparation method for the modified ICG.

The invention relates to the field of prostate minimally invasive medical equipment, and discloses a master-slave type prostate particle implantation robot system and method. The system comprises a master manipulator robot, an upper computer, a lower computer, an ultrasonic probe module, a particle implantation module and a slave manipulator robot, wherein the master manipulator robot is used for controlling the slave manipulator robot to move; the upper computer is used for detecting a pose variable signal of the master manipulator robot and calculating a pose variable of the slave manipulator robot in a corresponding coordinate system; the lower computer is used for receiving the slave manipulator robot pose variable signal calculated by the upper computer and controlling the slave manipulator robot to complete a specified pose; the slave manipulator robot is used for clamping the particle implantation module and placing the particle implantation module in a specified pose state; the ultrasonic probe module provides an intraoperative navigation function; and the particle implantation module is used for completing specific particle implantation operation in the surgery. A doctor can be made to work on a wide workbench instead of in a narrow operation space, the surgery operation flexibility of the doctor can be improved, the labor intensity is relieved, and then the surgery efficiency and safety are improved.

The invention relates to a hypoxic microenvironment responsive fluorescent probe and a preparation method and application thereof. The structure of the fluorescent probe is shown as a formula I, and the probe structure contains reducible azo groups. Cell experiments prove that the fluorescent probe provided by the invention can react with azo reductase overexpressed by cells under a hypoxic condition to generate remarkable fluorescence enhancement, so that fluorescence response on the hypoxic microenvironment is realized. Meanwhile, the fluorescent probe provided by the invention also has theadvantages of low background fluorescence signal, good biocompatibility, simple structure, definite composition, easiness in preparation and purification and the like, so that the fluorescent probe has a good application prospect in the aspects of early diagnosis of tumors, preoperative evaluation, intraoperative navigation and the like.

A method for incorporating tomographically obtained image data from a patient into a system for surgical planning and / or intraoperative navigation involves tomographic image data or image data obtained by X-ray recordings from at least one defined body area of the patient by at least one first recording appliance, wherein a first reference body having at least one surface is arranged on the patient and is recorded by the first recording appliance at the same time. The recorded image data representing the first reference body are compared with known geometric data from the first reference body in order to obtain distortion information. The recorded image data are equalized by a computation unit based on the distortion information to obtain equalized image data which have further image data from the same body area superimposed to obtain superimposed image data that is presented on a display.

The invention relates to a computer-aided puncture path planning method and device for a craniocerebral puncture operation and a storage medium. The method mainly comprises the following steps: adding the geometric morphology of a focus target area into a category to be considered in path planning, performing optimization adjustment by combining information input of clinical experts, and finally obtaining an accurate puncture path in an alternative puncture path area. Meanwhile, the invention further provides a three-dimensional puncture early warning scheme of preoperative planning and intraoperative navigation. The craniocerebral puncture operation covering effect can be improved, for example, the effectiveness of biopsy sampling is improved, or the efficiency of puncture medicine delivery and drainage processes is improved.

The invention discloses a navigation template for distal femur osteotomy and a design method thereof. The navigation aims at biplanar closed osteotomy in distal femur osteotomy. The distal femur osteotomy navigation template for distal femur osteotomy comprises an osteotomy orientation navigation template module, an osteotomy navigation template near-end optical positioning and tracking module, an osteotomy navigation template far-end optical positioning and tracking module and an osteotomy depth limiting module, so that the navigation and positioning precision in the operation can be improved, and the perspective radiation injury can be reduced. Meanwhile, in combination with the design method of the navigation template for distal femur osteotomy, a digital model and information of the osteotomy process are established before the operation, so that the dependence of doctors on operation experience is reduced, the risk of insufficient positioning during the operation is reduced, and the service level of carrying out distal femur osteotomy by inexperienced doctors and primary medical institutions can be promoted.

The invention discloses an intraoperative navigation method, system and device for intravascular treatment and a computer readable storage medium. The method comprises the steps that a CT image of a preoperative diseased region is obtained; identifying a CT image of a preoperative lesion part to generate a 3D model; obtaining a first vector feature of the 3D model after first preprocessing according to the 3D model; acquiring a plane image of an intraoperative diseased region; performing second preprocessing according to the plane image of the intraoperative lesion part to obtain a second vector feature of the plane image of the intraoperative lesion part; and performing feature matching comparison on the first vector feature and the second vector feature, and determining and adjusting the three-dimensional view angle orientation of the plane image of the intraoperative lesion part in the 3D model. The problems that the three-dimensional space position of the existing intervention equipment at the focus part completely depends on the understanding and imagination of an operation part by an operator according to personal experience for positioning, and great difficulty is brought to the accuracy of the operation are solved.

The invention relates to the technical field of navigation, and provides a yaw mode identification method and device, computer equipment and a storage medium. According to the method, the mode of the yaw behavior can be accurately recognized, a basis can be provided for updating of a navigation route, and the navigation and route planning quality in an automatic driving technology based on artificial intelligence is improved. The method comprises the following steps: comparing trajectory data with navigation data, determining a yaw point corresponding to an occurred yaw behavior on the navigation route, then acquiring yaw statistical information obtained by performing statistics on the yaw point, respectively acquiring route attribute information of a yaw route and the navigation route, based on the combination of yaw statistical information, the route attribute information of the yaw route and the navigation route, identifying a mode to which the occurring yaw behavior belongs, and judging whether the occurring yaw behavior is active yaw caused by subjective selection of a user or passive yaw caused by route attributes.

The invention discloses a three-dimensional reconstruction method and system based on medical image data, and the method comprises the steps: reading two-dimensional image data of computed tomography,carrying out the sampling of the two-dimensional image data, and obtaining the sampled two-dimensional image data; dividing a region of interest according to the sampled two-dimensional image data; performing three-dimensional reconstruction on the region of interest to obtain a reconstructed three-dimensional model; quantifying the reconstructed three-dimensional model to obtain surface area information and volume information of the region of interest; and generating three-dimensional model information corresponding to the region of interest including the surface area information and the volume information. According to the embodiment of the invention, three-dimensional reconstruction is carried out on the traditional medical image data to obtain the three-dimensional image of the medical image data, more visual image data can be provided, a more comprehensive image diagnosis mode is provided, and a powerful support is provided for application modes such as preoperative planning, intraoperative navigation, remote assistance and simulated surgery.

The invention discloses an intraoperative three-dimensional point cloud generation method and device and an intraoperative local structure navigation method, and belongs to the field of surgical navigation, and the intraoperative three-dimensional point cloud generation method comprises the following steps: obtaining a white light image and a fluorescence image; identifying two-dimensional pixel points of the physiological tissue from the white light image; identifying a fluorescent point from the fluorescent image; the fluorescent point is an image of the position where the fluorescent gel is dispensed on the physiological tissue in advance on the fluorescent image; calculating the object distance of the fluorescent gel according to the brightness of the fluorescent points; the three-dimensional point cloud of the two-dimensional pixel points is obtained through matching according to the corresponding positions of the fluorescent points in the two-dimensional pixel points and the object distance of the fluorescent gel, the three-dimensional point cloud aiming at the physiological tissue can be generated only through a common fluorescent endoscope without the help of a 3D lens, and the local structure navigation method in the operation is small in calculation amount, high in anti-interference capacity and high in accuracy. And the problems of poor flexible tissue matching and difficulty in real-time navigation in the operation are solved.

The invention discloses a dual-targeting multi-modal molecular imaging probe and a preparation method and application thereof. The probe of the invention is a tri-modal dual-targeting probe with nuclear magnetic, photoacoustic and near-infrared fluorescence signals. By adopting a unique EGFR and SEC61G dual-targeting strategy, the probe can significantly improve the accuracy of preoperative tumordiagnosis and potential intraoperative navigation application, and has broad application prospects and transformation value.

The invention in its various embodiments relates to a method of providing surgical guidance and targeting in robotic surgery systems. The method utilizes data from a navigation system in tandem with 2-dimensional (2D) intra-operative imaging data. 2D intra-operative image data is superimposed with a pre-operative 3-dimensional (3D) image and surgery plans made in the pre-operative image coordinate system. The superimposition augments real-time intraoperative navigation for achieving image guided surgery in robotic surgery systems. Also, a robotic surgery system that incorporates the method of providing surgical guidance and targeting is disclosed. The advantages include minimizing radiation exposure to a patient by avoiding intra-operative volumetric imaging, mobility of tools, imager and robot in and out of the operating space without the need for re-calibration, and relaxing the need for repeating precise imaging positions.

The invention discloses a near-infrared fluorescent probe for specifically targeting tumors as well as a synthesis method and application thereof, the near-infrared fluorescent probe is a compound shown in the following formula I or pharmaceutically acceptable salt thereof, wherein X is a connecting molecule selected from null, PEGn and glycine (Gm), n is equal to 0-10, m is equal to 0-10, one end of the connecting molecule is amino, and the other end of the connecting molecule is carboxyl; y is a dye molecule having a fluorescence excitation and emission spectrum in a near infrared (NIR) range, and the compound as shown in the formula I or the pharmaceutically acceptable salt thereof can maintain or enhance the fluorescence of the dye molecule Y. The near-infrared fluorescent probe disclosed by the invention can be quickly cleared in normal tissues and detained in tumor parts for a long time, so that the effect of in-vivo diagnosis can be achieved, and the near-infrared fluorescent probe has a certain clinical application prospect and is applied to clinical intraoperative navigation.