Motion-tracking and blur compensation for laser treatment device

A treatment system, comprising:

• an elongate housing defining a central longitudinal axis, the elongate housing including a window disposed on the housing and intersecting the central longitudinal axis, the window being configured to contact tissue during a treatment process;
• an EMR source operably coupled to in the elongate housing and configured to emit a treatment beam toward the window, the treatment beam being emitted along a treatment path that is substantially parallel to the central longitudinal axis;
• at least one light source disposed in the elongate housing and radially offset from the central longitudinal axis, the at least one light source being configured to emit a detection beam toward the window;
• an optical arrangement disposed within the elongate housing, the optical arrangement being configured to direct and shape the emitted treatment beam;
• a first galvanometer in communication with the optical arrangement, the first galvanometer being configured to adjust a configuration of the optical arrangement;
• and
• a controller in communication with EMR source and the first galvanometer, the controller being configured to manipulate the configuration of the optical arrangement via the first galvanometer to alter an emission angle of the treatment beam relative to the longitudinal axis, the controller being configured to alter a wavelength of the detection beam based on a detected tissue marker of contacted tissue.

A method, comprising:

• detecting first backscattered light reflected off a first portion of tissue in contact with a laser treatment device, the backscattered light characterizing respective initial positions of one or more points of interest in the first portion relative to the laser treatment device;
• moving the laser treatment device from the first portion of the tissue to a second portion of the tissue;
• detecting second backscattered light reflected off a second portion of the tissue as the laser treatment device moves from the first portion of the tissue to the second portion of the tissue, the second backscattered light characterizing respective secondary positions of the one or more points of interest in the second portion relative to the laser treatment device;
• determining a velocity of the laser treatment device relative to the tissue based upon the respective initial positions and the respective secondary positions of the one or more points of interest;
• delivering at least one electromagnetic radiation (EMR) pulse to the tissue with the laser treatment device for a pulse duration while the laser treatment device is moving along the tissue;
• and
• adjusting, based on the determined velocity, an emission angle of the at least one EMR pulse during the pulse duration, the emission angle being defined relative to a nominal optical axis of the laser treatment device.