CN109744985A - A kind of exposure feedback-type fluorescence navigation endoscopic system and detectable signal method of adjustment - Google Patents
A kind of exposure feedback-type fluorescence navigation endoscopic system and detectable signal method of adjustment Download PDFInfo
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- CN109744985A CN109744985A CN201910100102.3A CN201910100102A CN109744985A CN 109744985 A CN109744985 A CN 109744985A CN 201910100102 A CN201910100102 A CN 201910100102A CN 109744985 A CN109744985 A CN 109744985A
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Abstract
The invention discloses a kind of exposure feedback-type fluorescence navigation endoscopic system and detectable signal methods of adjustment, by the exposure parameter for reading white light camera, it can be obtained the angle parameter of neutral density gradual filter, fluorescence signal adjusts module and generates control instruction, the angle of control adjustment neutral density gradual filter, so that under endoscope to the different distance of observed tissue, the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent, and the fluorescence power variation generated due to distance problem is avoided to influence judgement.
Description
Technical field
The present invention relates to optical imaging field more particularly to a kind of exposure feedback-type fluorescence navigation endoscopic system and
Detectable signal method of adjustment.
Background technique
Fluorescent contrast agent is widely used in lymph label in art, tumor boundaries calibration, angiography and cholangiography etc.
Deng.Intuitively to show fluorescent places, fluorescence navigation picture system passes through after obtaining White-light image and fluorescent image respectively at present
Algorithm extracts fluorescence signal and is marked in White-light image, obtains the terminal image for having synthetic effect.Endoscope is in different works
The light area for making to be irradiated to destination organization under distance is different, excites the excitation optical density of contrast agent to change, fluorescence is caused to be believed
Number source strength is varied, and signal detection side is needed to be adjusted just to be able to maintain terminal output fluorescent image and keep constant and do not dodge
It is bright.
Currently, fluorescence navigation endoscope product mainly passes through one camera timesharing imaging and double camera spectroscopic imaging is realized.(1)
One camera timesharing imaging is by controlling white light and exciting light before and after frames successively stroboscopic, illumination observation region, to successively obtain white
Light figure and fluorogram have the white light figure of fluorescent marker by algorithm synthesis output.Since camera exposure parameter is according to collection
Light intensity is adjusted, and the white light light intensity that Tissue reflectance is returned in the system accounts for leading, white light when close to tissue compared to fluorescence
Reflective light intensity, camera exposure parameter is low, otherwise high far from tissue camera exposure parameter.The signal detection method of adjustment makes difference
When distance observation fluorescence, although the exciting light density ratio of short distance imaging radiation to target is strong at a distance, fluorescent image gray value
It is still consistent, bright neglect secretly will not be neglected.But there are distinct disadvantages for the program, such as: white light and fluorescence are staggered the time imaging, and there are the times
Difference leads to smear；Imaging frame rate is low, not enough smoothness etc..(2) double camera beam splitting system separates white light and fluorescence photosensitive, passes through
Algorithm synthesis solves one camera timesharing and is imaged existing defect, but due to fluorescence camera only receive endoscope be collected into it is glimmering
Optical signal adjusts exposure parameter according to current fluorescence intensity, when causing close to the weaker imaging object of structure observation fluorescence, camera
The gray value of exposure parameter automatic adjustment height, fluorescent image is promoted；And when far from structure observation, it is irradiated to the exciting light of imaging object
Weaker, camera exposure parameter can not increase substantially again, the gray value decline of fluorescent image；This makes fluorescent image neglect bright neglect
Secretly, doctor's judgement is influenced.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
The purpose of the present invention is to provide a kind of exposure feedback-type fluorescence navigation endoscopic system and detectable signal adjustment sides
Method, it is intended to which the fluorescence signal for solving existing double camera light splitting endoscopic system output changes with operating distance to be flashed, Bu Nengman
Sufficient requirement obtains problem.
Technical scheme is as follows:
A kind of exposure feedback-type fluorescence navigates endoscopic system, wherein including light source, light guide bundles, and endoscope, filter plate,
Lens, dichroic beamsplitter, white light camera, fluorescence signal adjust device, fluorescence camera, white light camera control module, fluorescence letter
Number adjustment module；The white light camera control module is connect with white light camera, and fluorescence signal adjusts module and fluorescence signal adjusts
Device connection, white light camera control module are connected with fluorescence signal adjustment module；
The light source issues exciting light and white light, exciting light and white light are transmitted by light guide bundles and be coupled in endoscope；
White light and exciting light are emitted from endoscope distal end and reach observed tissue, by the exciting light, the visible light that are observed Tissue reflectance
It is collected with fluorescence by endoscope；Exciting light is filtered out by filter plate, and fluorescence and visible light-transmissive filter plate are by lens focus；It can be seen that
Light penetrates dichroic beamsplitter, images in white light camera；Fluorescence is reflected by dichroic beamsplitter, is adjusted and is filled by fluorescence signal
It sets, is detected by fluorescence camera；White light camera control module calculates the exposure parameter of white light camera according to the image of white light camera,
And control instruction is generated, it transmits instructions to white light camera and controls its exposure, white light camera control module is simultaneously by white light camera
Exposure parameter be transferred to fluorescence signal adjustment module；Fluorescence signal adjusts the exposure parameter that module receives white light camera, according to
The signal correlativity of exposure parameter and fluorescence signal the adjustment device of white light camera converts, and obtains fluorescence signal adjustment dress
Set position setting parameter, generate control instruction, adjustment fluorescence signal adjustment device position so that endoscope distal end identity distance from
Observed group is woven under different operating distance, and the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
The exposure feedback-type fluorescence navigation endoscopic system, wherein the fluorescence signal adjustment device is using neutral
Density wedge filter adjusts the angle of neutral density gradual filter, so that endoscope distal end identity distance is woven in from observed group
Under different operating distance, the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
The exposure feedback-type fluorescence navigates endoscopic system, wherein further include angular adjustment driving device, it is described in
Property density wedge filter connect with angular adjustment driving device, neutral density gradual filter pass through angular adjustment driving device
Angular adjustment is carried out, the angular adjustment driving device is connect with fluorescence signal adjustment module；Fluorescence signal adjusts module and receives
The exposure parameter of white light camera, according to the signal correlativity of the exposure parameter of white light camera and neutral density gradual filter into
Row conversion, the position for obtaining neutral density gradual filter are arranged parameter, generate control instruction, pass through angular adjustment driving device
Adjust neutral density gradual filter position so that endoscope distal end identity distance from observed group be woven in a distance from different operating under,
The fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
The exposure feedback-type fluorescence navigation endoscopic system, wherein the angular adjustment driving device uses motor.
The exposure feedback-type fluorescence navigation endoscopic system, wherein the neutral density gradual filter is using circle
The neutral density gradual filter of shape, circular neutral density gradual filter is by absorbing and reflecting so that through optical density line
Property decaying, optical density linear change in 0-270 ° of sector, by rotate neutral density gradual filter change its angle, adjust
The whole pad value through optical density.
A kind of detectable signal method of adjustment of exposure feedback-type fluorescence navigation endoscopic system as described in any one of the above embodiments,
Wherein, specifically includes the following steps:
Step S1: the light source issues exciting light and white light, and exciting light and white light are transmitted by light guide bundles and be coupled to interior
In sight glass；
Step S2: white light and exciting light are emitted from endoscope distal end and reach observed tissue, by being observed Tissue reflectance
Exciting light, visible light and fluorescence collected by endoscope；
Step S3: exciting light is filtered out by filter plate, and fluorescence and visible light-transmissive filter plate are by lens focus；
Step S4: visible light-transmissive dichroic beamsplitter images in white light camera；Fluorescence is reflected by dichroic beamsplitter,
Device is adjusted by fluorescence signal, is detected by fluorescence camera；
Step S5: white light camera control module calculates the exposure parameter of white light camera according to the image of white light camera, and raw
At control instruction, transmits instructions to white light camera and control its exposure, white light camera control module is simultaneously by the exposure of white light camera
Optical parameter is transferred to fluorescence signal adjustment module；
Step S6: fluorescence signal adjusts the exposure parameter that module receives white light camera, according to the exposure parameter of white light camera
It converting with the signal correlativity of fluorescence signal adjustment device, parameter is arranged in the position for obtaining fluorescence signal adjustment device,
Generate control instruction, the position of adjustment fluorescence signal adjustment device, so that endoscope distal end identity distance is woven in difference from observed group
Under operating distance, the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
The detectable signal method of adjustment of the exposure feedback-type fluorescence navigation endoscopic system, wherein the fluorescence letter
Number adjustment device be neutral density gradual filter, adjust neutral density gradual filter angle, make fluorescence camera output figure
The fluorescent brightness value of picture is consistent.
The detectable signal method of adjustment of the exposure feedback-type fluorescence navigation endoscopic system, wherein believed by fluorescence
Number adjustment module control motor driven adjustment neutral density gradual filter angle.
The detectable signal method of adjustment of the exposure feedback-type fluorescence navigation endoscopic system, wherein the step S5-
Detailed process is as follows by step S6: setting the distance between endoscope distal end face and observed tissue are D, different by choosing
Distance D reads the calculated corresponding exposure parameter of white light camera control module, thus obtain the exposure parameter of white light camera with away from
Relationship from D；At different distance D, the fluorescent solutions of given dose are imaged in endoscope, gradually by adjusting neutral density
The angle W for becoming optical filter, makes fluorescence signal obtain different degrees of decaying at different distance D, so that fluorescence camera exports
Fluorescent image gray value be consistent, obtain the relationship of the angle W and distance D of neutral density gradual filter；It finally obtains
The exposure parameter of white light camera and the relationship of neutral density gradual filter angle W, it is white by reading that fluorescence signal adjusts module
The exposure parameter of light camera can be obtained the angle parameter W of neutral density gradual filter, and fluorescence signal adjusts module will be neutral
The angle parameter of density wedge filter generates instruction, the angle adjustment of control neutral density gradual filter, to control fluorescence
The fluorescence signal detected intensity of camera, so that fluorescence camera exports glimmering under endoscope to the different distance D of observed tissue
The fluorescent brightness value of light image is consistent.
The detectable signal method of adjustment of the exposure feedback-type fluorescence navigation endoscopic system, wherein the white light phase
The exposure parameter of machine includes shutter and gain.
Beneficial effects of the present invention: the present invention is navigated endoscopic system and detection by providing a kind of exposure feedback-type fluorescence
Signal adjusting method can be obtained the angle parameter of neutral density gradual filter by the exposure parameter of reading white light camera,
Fluorescence signal adjusts module and generates control instruction, the angle of control adjustment neutral density gradual filter, so that arriving in endoscope
Under the different distance of observed tissue, the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent, avoid due to away from
Judgement is influenced from the fluorescence power variation that problem generates.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that feedback-type fluorescence navigation endoscopic system is exposed in the present invention.
Fig. 2 is the step process that feedback-type fluorescence navigation endoscopic system and detectable signal method of adjustment are exposed in the present invention
Figure.
Fig. 3 is the structural schematic diagram of neutral density gradual filter in the present invention.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are only used for
Purpose is described, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.
" first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more feature.?
In description of the invention, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
The endoscopic system as shown in Figure 1, a kind of exposure feedback-type fluorescence navigates, including light source 1, light guide bundles 2, endoscope 3,
Filter plate 4, lens 5, dichroic beamsplitter 6, white light camera 7, fluorescence signal adjust device 8, fluorescence camera 9, white light camera control
Molding block 10, fluorescence signal adjust module 11；The white light camera control module 10 is connect with white light camera 7, fluorescence signal tune
Mould preparation block 11 is connect with fluorescence signal adjustment device 8, and white light camera control module 10 and fluorescence signal adjustment module 11 connect；
The light source 1 issues exciting light and white light, and exciting light and white light transmit by light guide bundles 2 and are coupled to endoscope 3
In；White light and exciting light are emitted from 3 front end of endoscope and reach observed tissue, by be observed Tissue reflectance exciting light, can
Light-exposed and fluorescence is collected by endoscope 3；Exciting light is filtered out by filter plate 4, and fluorescence and visible light-transmissive filter plate 4 are by camera lens 5
It focuses；Visible light-transmissive dichroic beamsplitter 6 images in white light camera 7；Fluorescence is reflected by dichroic beamsplitter 6, passes through fluorescence
Sig-nal-conditioning unit 8 is detected by fluorescence camera 9；White light camera control module 10 calculates white light according to the image of white light camera 7
The exposure parameter of camera 7, and control instruction is generated, it transmits instructions to white light camera 7 and controls its exposure, white light camera controls mould
The exposure parameter of white light camera 7 is transferred to fluorescence signal adjustment module 11 simultaneously by block 10；Fluorescence signal adjusts module 11 and receives
The exposure parameter of white light camera 7, according to the signal correlativity of the exposure parameter of white light camera 7 and fluorescence signal adjustment device 8
It converts, parameter is arranged in the position for obtaining fluorescence signal adjustment device 8, generates control instruction, adjustment fluorescence signal adjustment dress
8 position is set, is woven under different operating distance so that endoscope 3 front end face distance is observed group, the fluorescence that fluorescence camera 9 exports
The fluorescent brightness value of image is consistent.
Specifically, as shown in figure 3, fluorescence signal adjustment device 8 uses neutral density gradual filter, the neutrality
Density wedge filter it is easy to adjust, it is easy to operate；By adjusting the angle of neutral density gradual filter, so that endoscope
3 front end faces distance is observed group and is woven under different operating distance, and the fluorescent brightness value for the fluorescent image that fluorescence camera 9 exports is kept
Unanimously.
Further, the angle of neutral density gradual filter, the exposure feedback-type fluorescence navigation are adjusted for convenience
Endoscopic system further includes angular adjustment driving device, and the neutral density gradual filter and angular adjustment driving device connect
Connect, neutral density gradual filter by angular adjustment driving device carry out angular adjustment, the angular adjustment driving device with
Fluorescence signal adjusts module 11 and connects；Fluorescence signal adjusts the exposure parameter that module 11 receives white light camera 7, according to white light camera
7 exposure parameter and the signal correlativity of neutral density gradual filter 8 convert, and obtain neutral density gradual filter
Parameter is arranged in 8 position, generates control instruction, and the position of neutral density gradual filter 8 is adjusted by angular adjustment driving device
It sets, is woven under different operating distance so that endoscope 3 front end face distance is observed group, the fluorescent image that fluorescence camera 9 exports
Fluorescent brightness value is consistent.
In the present embodiment, the angular adjustment driving device uses motor.
As shown in Fig. 2, a kind of detectable signal adjustment of exposure feedback-type fluorescence navigation endoscopic system as described above
Method, specifically includes the following steps:
Step S1: the light source 1 issues exciting light and white light, and exciting light and white light are transmitted and are coupled to by light guide bundles 2
In endoscope 3；
Step S2: white light and exciting light are emitted from 3 front end of endoscope and reach observed tissue, by being observed Tissue reflectance
Exciting light, visible light and fluorescence collected by endoscope 3；
Step S3: exciting light is filtered out by filter plate 4, and fluorescence and visible light-transmissive filter plate 4 are focused by camera lens 5；
Step S4: visible light-transmissive dichroic beamsplitter 6 images in white light camera 7；Fluorescence is anti-by dichroic beamsplitter 6
It penetrates, by neutral density gradual filter 8, is detected by fluorescence camera 9；
Step S5: white light camera control module 10 calculates the exposure parameter of white light camera 7 according to the image of white light camera 7,
And control instruction is generated, it transmits instructions to white light camera 7 and controls its exposure, white light camera control module 10 is simultaneously by white light phase
The exposure parameter of machine 7 is transferred to fluorescence signal adjustment module 11；
Step S6: fluorescence signal adjusts the exposure parameter that module 11 receives white light camera 7, according to the exposure of white light camera 7
The signal correlativity of parameter and neutral density gradual filter 8 converts, and obtains the position of neutral density gradual filter 8
Parameter is set, control instruction is generated, the position of neutral density gradual filter 8 is adjusted, so that 3 front end face distance of endoscope is seen
It examines group to be woven under different operating distance, the fluorescent brightness value for the fluorescent image that fluorescence camera 9 exports is consistent.
Wherein, the neutral density gradual filter 8 is as shown in figure 3, circular neutral density gradual filter 8 passes through suction
It receives and reflection is so that through optical density linear attenuation, optical density linear change in 0-270 ° of sector is neutral close by rotation
It spends gradual filter 8 and changes its angle, can adjust the pad value through optical density.
Specifically, detailed process is as follows by the step S5- step S6: because of 3 front end face of endoscope and observed tissue
The distance between difference, lighting area will be different, so that the optical power of unit area also can accordingly change, cause to image in white
The brightness of image of light camera 7 is different, so, when different distance between 3 front end face of endoscope and observed tissue,
White light camera control module 10 can obtain the different exposure parameters of white light camera 7；Therefore, by the way that in different distance D, (distance D is
The distance between 3 front end face of endoscope and observed tissue) in the case of, read the calculated correspondence of white light camera control module 10
Exposure parameter, to obtain the relationship of exposure parameter (shutter S and the gain G) and distance D of white light camera 7；In different distance D
Under, the fluorescent solutions of given dose are imaged in endoscope 3, by adjusting the angle W of neutral density gradual filter, not
Fluorescence signal is made to obtain different degrees of decaying under same distance, so that the fluorescent image gray value that fluorescence camera 9 exports is kept
Unanimously, in this way, the relationship of the angle W and distance D of neutral density gradual filter just can be obtained；Finally obtain white light camera 7
The relationship of exposure parameter and neutral density gradual filter angle W can be obtained by reading the exposure parameter of white light camera 7
The angle parameter W of neutral density gradual filter, fluorescence signal, which adjusts module 11, joins the angle of neutral density gradual filter 8
Number generates instruction, and the angle adjustment of control neutral density gradual filter 8 is strong with the fluorescence signal detection for controlling fluorescence camera 9
Degree, so that under the different distance that endoscope 3 arrives observed tissue, the fluorescent brightness value for the fluorescent image that fluorescence camera 9 exports
It is consistent.
Further, according to the detectable signal adjustment side of exposure feedback-type fluorescence navigation endoscopic system described above
Method is now illustrated as follows:
Therefore, by reading different distance D (distance D is the distance between 3 front end of endoscope and observed tissue) situation
Under, white light camera control module 10 calculates corresponding exposure parameter, thus obtain white light camera 7 exposure parameter (shutter S and
Gain G) with the relationship of distance D, such as the following table 1.
The exposure parameter of 1 white light camera 7 of table and the relationship of distance D
At different distance D, the fluorescent solutions of given dose are imaged in endoscope 3, gradually by adjusting neutral density
Become the angle W of optical filter 8, so that the fluorescent image gray value of output is consistent under different distance, in this way, just available
The relationship of the angle W and distance D of neutral density gradual filter 8, such as the following table 2.
The relationship of the angle and distance D of 2 neutral density gradual filter 8 of table
In conjunction with Tables 1 and 2, the exposure parameter of white light camera 7 and the angle W of neutral density gradual filter 8 can be obtained
Between relationship, such as the following table 3.
Relationship between the exposure parameter of 3 white light camera 7 of table and the angle W of neutral density gradual filter 8
In this way, can be obtained the angle ginseng of neutral density gradual filter 8 by the exposure parameter for reading white light camera 7
Number W, fluorescence signal adjust module 11 and generate control instruction, the angle of control adjustment neutral density gradual filter 8, so that inside
Sight glass 3 arrives under the different distance of observed tissue, and the fluorescent brightness value for the fluorescent image that fluorescence camera 9 exports is consistent, and keeps away
The fluorescence power variation for exempting to generate due to distance problem influences judgement.
In the description of this specification, reference term " embodiment ", " certain embodiments ", " schematically implementation
What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the invention.In this specification
In, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
- The endoscopic system 1. a kind of exposure feedback-type fluorescence navigates, which is characterized in that including light source, light guide bundles, endoscope, filtering Piece, lens, dichroic beamsplitter, white light camera, fluorescence signal adjust device, fluorescence camera, white light camera control module, fluorescence Signal adjusting module；The white light camera control module is connect with white light camera, and fluorescence signal adjusts module and fluorescence signal tune Engagement positions connection, white light camera control module are connected with fluorescence signal adjustment module；The light source issues exciting light and white light, exciting light and white light are transmitted by light guide bundles and be coupled in endoscope；White light Observed tissue is emitted and reached from endoscope distal end with exciting light, by being observed the exciting light of Tissue reflectance, visible light and glimmering Light is collected by endoscope；Exciting light is filtered out by filter plate, and fluorescence and visible light-transmissive filter plate are by lens focus；Visible light is saturating Dichroic beamsplitter is crossed, white light camera is imaged in；Fluorescence is reflected by dichroic beamsplitter, adjusts device by fluorescence signal, by Fluorescence camera is detected；White light camera control module calculates the exposure parameter of white light camera according to the image of white light camera, and raw At control instruction, transmits instructions to white light camera and control its exposure, white light camera control module is simultaneously by the exposure of white light camera Optical parameter is transferred to fluorescence signal adjustment module；Fluorescence signal adjusts the exposure parameter that module receives white light camera, according to white light The signal correlativity of exposure parameter and fluorescence signal the adjustment device of camera converts, and obtains fluorescence signal adjustment device Parameter is arranged in position, generates control instruction, the position of adjustment fluorescence signal adjustment device, so that endoscope distal end identity distance is from being seen It examines group to be woven under different operating distance, the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
- The endoscopic system 2. exposure feedback-type fluorescence according to claim 1 navigates, which is characterized in that the fluorescence signal It adjusts device and uses neutral density gradual filter, the angle of neutral density gradual filter is adjusted, so that endoscope distal end face Distance is observed group and is woven under different operating distance, and the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
- The endoscopic system 3. exposure feedback-type fluorescence according to claim 2 navigates, which is characterized in that further include angle tune Driving device is saved, the neutral density gradual filter is connect with angular adjustment driving device, and neutral density gradual filter is logical Over-angle adjusts driving device and carries out angular adjustment, and the angular adjustment driving device is connect with fluorescence signal adjustment module；It is glimmering Optical signal adjusts the exposure parameter that module receives white light camera, is filtered according to the exposure parameter of white light camera and neutral density gradual change The signal correlativity of piece converts, and parameter is arranged in the position for obtaining neutral density gradual filter, generates control instruction, leads to Over-angle adjusts the position of driving device adjustment neutral density gradual filter, so that endoscope distal end identity distance is from observed tissue Under different operating distance, the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
- The endoscopic system 4. exposure feedback-type fluorescence according to claim 3 navigates, which is characterized in that the angular adjustment Driving device uses motor.
- The endoscopic system 5. exposure feedback-type fluorescence according to claim 2 navigates, which is characterized in that the neutral density Gradual filter uses circular neutral density gradual filter, and circular neutral density gradual filter is by absorbing and reflecting So that through optical density linear attenuation, optical density linear change in 0-270 ° of sector passes through rotation neutral density gradual change filter Mating plate changes its angle, and adjustment penetrates the pad value of optical density.
- 6. a kind of detectable signal adjustment of exposure feedback-type fluorescence navigation endoscopic system as described in any one in claim 1-5 Method, which is characterized in that specifically includes the following steps:Step S1: the light source issues exciting light and white light, exciting light and white light are transmitted by light guide bundles and be coupled to endoscope In；Step S2: white light and exciting light are emitted from endoscope distal end and reach observed tissue, by being observed swashing for Tissue reflectance It shines, visible light and fluorescence are collected by endoscope；Step S3: exciting light is filtered out by filter plate, and fluorescence and visible light-transmissive filter plate are by lens focus；Step S4: visible light-transmissive dichroic beamsplitter images in white light camera；Fluorescence is reflected by dichroic beamsplitter, is passed through Fluorescence signal adjusts device, is detected by fluorescence camera；Step S5: white light camera control module calculates the exposure parameter of white light camera according to the image of white light camera, and generates control System instruction transmits instructions to white light camera and controls its exposure, and white light camera control module simultaneously joins the exposure of white light camera Number is transferred to fluorescence signal adjustment module；Step S6: fluorescence signal adjusts the exposure parameter that module receives white light camera, according to the exposure parameter of white light camera and glimmering The signal correlativity of optical signal adjustment device converts, and parameter is arranged in the position for obtaining fluorescence signal adjustment device, generates Control instruction, the position of adjustment fluorescence signal adjustment device, so that endoscope distal end identity distance is woven in different operating from observed group Under distance, the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
- 7. the detectable signal method of adjustment of exposure feedback-type fluorescence navigation endoscopic system according to claim 6, special Sign is that the fluorescence signal adjustment device is neutral density gradual filter, adjusts the angle of neutral density gradual filter, It is consistent the fluorescent brightness value of fluorescence camera output image.
- 8. the detectable signal method of adjustment of exposure feedback-type fluorescence navigation endoscopic system according to claim 7, special Sign is, adjusts module by fluorescence signal and controls the angle that motor driven adjusts neutral density gradual filter.
- 9. the detectable signal method of adjustment of exposure feedback-type fluorescence navigation endoscopic system according to claim 7, special Sign is that detailed process is as follows by the step S5- step S6: setting the distance between endoscope distal end face and observed tissue The calculated corresponding exposure parameter of white light camera control module is read, to obtain white light by choosing different distance D for D The exposure parameter of camera and the relationship of distance D；At different distance D, the fluorescent solutions of given dose are imaged in endoscope, By adjusting the angle W of neutral density gradual filter, fluorescence signal is made to obtain different degrees of decline at different distance D Subtract so that fluorescence camera output fluorescent image gray value be consistent, obtain neutral density gradual filter angle W and away from Relationship from D；Finally obtain the exposure parameter of white light camera and the relationship of neutral density gradual filter angle W, fluorescence signal Module is adjusted by the exposure parameter of reading white light camera, can be obtained the angle parameter W of neutral density gradual filter, fluorescence The angle parameter of neutral density gradual filter is generated instruction by signal adjusting module, controls the angle of neutral density gradual filter Degree adjustment, to control the fluorescence signal detected intensity of fluorescence camera, so that in endoscope to the different distance D of observed tissue Under, the fluorescent brightness value of the fluorescent image of fluorescence camera output is consistent.
- 10. the detectable signal method of adjustment of exposure feedback-type fluorescence navigation endoscopic system according to claim 9, special Sign is that the exposure parameter of the white light camera includes shutter and gain.
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Cited By (2)
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| CN110120045A (en) * | 2019-06-14 | 2019-08-13 | 晓智科技（成都）有限公司 | A kind of X-ray Imagewise exposure parameter determination method based on regression model |
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