CN109744986A - A kind of exposure feedback-type fluorescence navigation endoscopic system and image procossing self-regulating method - Google Patents
A kind of exposure feedback-type fluorescence navigation endoscopic system and image procossing self-regulating method Download PDFInfo
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Abstract
The invention discloses a kind of exposure feedback-type fluorescence navigation endoscopic system and image procossing self-regulating methods, by the exposure parameter for reading white light camera in real time, image procossing relevant parameter is obtained by operation and adjusts the original signal that fluorescence camera is transmitted, the signal for handling perfect is exported to terminal and is shown, so that the fluorescent image brightness of output is consistent under different image-forming ranges.
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
Image procossing self-regulating method.
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 image procossing self-adjustings
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, cannot
Meet requirement and 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 camera, white light camera control module, fluorescence camera control module, at image
Manage module, terminal display module；Described image processing module is connected with terminal display module, image processing module and white light camera
Control module connection, image processing module are connect with fluorescence camera control module, and fluorescence camera control module and fluorescence camera connect
It connects, white light camera control module is connect with white light camera；
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, by fluorescence signal detection device institute
Detection；White light camera control module calculates the exposure parameter of white light camera according to the image of white light camera, and generates control and refer to
Enable, transmit instructions to white light camera and control its exposure, white light camera control module simultaneously by the exposure parameter of white light camera and
White-light image is transferred to image processing module；Fluorescence camera control module controls fluorescence camera exposure according to fluorescence signal, and will
Fluorescent image is transferred to image processing module；Image processing module receives the exposure parameter of white light camera, according to white light camera
Exposure parameter and the correlativity of fluorescence image processing parameter convert, and according to fluorescence image processing parameter to fluorescence camera
The fluorescence image signal that transmission comes compensates processing；Finally, image processing module is by White-light image and after compensating processing
Fluorescence image signal export to terminal display module so that endoscope distance be observed tissue different operating distance under,
The fluorescent brightness value of output image is consistent.
The exposure feedback-type fluorescence navigation endoscopic system, wherein the exposure parameter of the white light camera includes fast
Door and gain.
A kind of image procossing self-regulated perfect square of exposure feedback-type fluorescence navigation endoscopic system as described in any one of the above embodiments
Method, wherein specifically includes the following steps:
Step S1: 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 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,
Image in 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 and White-light image are transferred to image processing module；
Step S6: fluorescence camera control module controls fluorescence camera according to fluorescence signal and exposes, and fluorescent image is transmitted
To image processing module；
Step S7: image processing module receives the exposure parameter of white light camera, according to the exposure parameter of white light camera and glimmering
The correlativity of light image processing parameter converts, and transmits to fluorescence camera according to fluorescence image processing parameter glimmering
Light image signal compensates processing；
Step S8: image processing module is by White-light image and compensates that treated fluorescence image signal is exported to terminal
Display module, so that endoscope, in the case where distance is observed the different operating distance of tissue, the fluorescent brightness value for exporting image is kept
Unanimously.
The image procossing self-regulating method of the exposure feedback-type fluorescence navigation endoscopic system, wherein described image
Processing module is by White-light image and compensates that treated fluorescence image signal merges, output to terminal display module.
The image procossing self-regulating method of the exposure feedback-type fluorescence navigation endoscopic system, wherein the step
Detailed process is as follows by S5- step S7: setting the distance between endoscope distal end and observed tissue are D, different by choosing
Distance D, respectively read the calculated corresponding exposure parameter of white light camera control module, to obtain the exposure of white light camera
The relationship of parameter and distance D；Image processing module is set in the former fluorescence image signal intensity I to fluorescence camera0It is handled
When, adjustment is compensated using parameter A, i.e. fluorescence signal intensity after compensation deals is I=AI0；It is interior at different distance D
The fluorescent solutions of given dose are imaged in sight glass, by adjusting the adjusting parameter A of image processing module, so that fluorescent image
Gray value be consistent under different distance, be adjusted the relationship of the adjusting parameter A and distance D of image processing module；Most
The relationship of the exposure parameter of white light camera and the adjusting parameter A of adjustment image processing module is obtained eventually；By reading white light camera
Exposure parameter, can be obtained the adjusting parameter A of adjustment image processing module, image processing module transmits fluorescence camera
Former fluorescence image signal compensates adjustment, will compensate fluorescence image signal adjusted and export to terminal display module,
So that the fluorescent brightness value for exporting image is consistent under endoscope to the different distance of observed tissue.
The image procossing self-regulating method of the exposure feedback-type fluorescence navigation endoscopic system, wherein the white light
The relationship of the adjusting parameter A of the exposure parameter and image processing module of camera uses step-wise fashion, i.e. lookup table mode, obtains white light
The exposure parameter of camera obtains the adjusting parameter A of corresponding image processing module by tabling look-up.
The image procossing self-regulating method of the exposure feedback-type fluorescence navigation endoscopic system, wherein fit white
The relation curve of the adjusting parameter A of the exposure parameter and image processing module of light camera, obtains the exposure parameter of white light camera, leads to
Cross the adjusting parameter A that corresponding image processing module is found on relation curve.
The image procossing self-regulating method of the exposure feedback-type fluorescence navigation endoscopic system, wherein pass through theory
The relation formula for calculating the exposure parameter of white light camera and the adjusting parameter A of image processing module, obtains the exposure of white light camera
Optical parameter calculates the adjusting parameter A of corresponding image processing module by relation formula.
Beneficial effects of the present invention: the present invention is navigated endoscopic system and image by providing a kind of exposure feedback-type fluorescence
It handles self-regulating method and obtains image procossing relevant parameter simultaneously by operation by reading the exposure parameter of white light camera in real time
The original signal that adjustment fluorescence camera is transmitted, the signal for handling perfect is exported to terminal and is shown, so that in different image-forming ranges
Under, the fluorescent image brightness of output is consistent.
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 stream the step of exposing the image procossing self-regulating method of feedback-type fluorescence navigation endoscopic system in the present invention
Cheng Tu.
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 camera 8, white light camera control module 9, fluorescence camera control
Molding block 10, image processing module 11, terminal display module 12；Described image processing module 11 and terminal display module 12 connect
It connects, image processing module 11 is connect with white light camera control module 9, and image processing module 11 and fluorescence camera control module 10 connect
It connects, fluorescence camera control module 10 is connect with fluorescence camera 8, and white light camera control module 9 is connect with white light camera 7；
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, is believed by fluorescence
Number detection device 8 is detected；White light camera control module 9 is joined according to the exposure that the image of white light camera 7 calculates white light camera 7
Number, and control instruction is generated, it transmits instructions to white light camera 7 and controls its exposure, white light camera control module 9 is simultaneously by white light
The exposure parameter and White-light image of camera 7 are transferred to image processing module 11；Fluorescence camera control module 10 is according to fluorescence signal
It controls fluorescence camera 8 to expose, and fluorescent image is transferred to image processing module 11；Image processing module 11 receives white light camera
7 exposure parameter converts according to the correlativity of the exposure parameter of white light camera 7 and fluorescence image processing parameter, and according to
Processing is compensated according to the fluorescence image signal that fluorescence image processing parameter carrys out the transmission of fluorescence camera 8；Finally, image procossing mould
Block 11 is by White-light image and compensates that treated fluorescence image signal is exported to terminal display module 12, so that endoscope 3
In the case where distance is observed the different operating distance of tissue, the fluorescent brightness value for exporting image is consistent.
As shown in Fig. 2, a kind of image procossing self-regulated of exposure feedback-type fluorescence navigation endoscopic system as described above
Adjusting method, specifically includes the following steps:
Step S1: light source 1 issues exciting light and white light, and exciting light and white light are transmitted by light guide bundles 2 and be coupled to interior peep
In mirror 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, images in fluorescence camera 8；
Step S5: white light camera control module 9 calculates the exposure parameter of white light camera 7 according to the image of white light camera 7, and
Control instruction is generated, white light camera 7 is transmitted instructions to and controls its exposure, white light camera control module 9 is simultaneously by white light camera 7
Exposure parameter and White-light image be transferred to image processing module 11；
Step S6: fluorescence camera control module 10 controls fluorescence camera 8 according to fluorescence signal and exposes, and fluorescent image is passed
It is defeated to arrive image processing module 11；
Step S7: image processing module 11 receives the exposure parameter of white light camera 7, according to the exposure parameter of white light camera 7
It converts with the correlativity of fluorescence image processing parameter, and fluorescence camera 8 is transmitted across according to fluorescence image processing parameter
The fluorescence image signal come compensates processing；
Step S8: image processing module 11 is by White-light image and compensates that treated fluorescence image signal was exported to end
Display module 12 is held, so that endoscope 3 exports the fluorescent brightness value of image in the case where distance is observed the different operating distance of tissue
It is consistent.
Preferably, described image processing module 11 can by White-light image and the fluorescence image signal that compensates that treated into
Row fusion, exports to terminal display module 12, to improve the intuitive of image.
Specifically, detailed process is as follows by the step S5- step S7: between 3 front end of endoscope and observed tissue
Distance is different, and lighting area will be different, so that the optical power of unit area also can accordingly change, causes to image in white light camera
7 brightness of image is different, so, when different distance between 3 front end face of endoscope and observed tissue, white light phase
Machine control module 9 can obtain the different exposure parameters of white light camera 7；Therefore, by the way that in different distance D, (distance D is endoscope 3
The distance between front end and observed tissue) in the case of, the calculated corresponding exposure parameter of white light camera control module 9 is read,
To obtain the relationship of exposure parameter (shutter S and the gain G) and distance D of white light camera 7；Image processing module 11 is set right
When the former fluorescence signal intensity I0 of fluorescence camera 8 is handled, compensate adjustment using parameter A, i.e., it is glimmering after compensation deals
Light signal strength is I=AI0；At different distance D, the fluorescent solutions of given dose are imaged in endoscope 3, by adjusting
The adjusting parameter A of image processing module 11, so that the gray value of fluorescent image is consistent under different distance, in this way, can
It is adjusted the relationship of the adjusting parameter A and distance D of image processing module 11；Finally obtain white light camera 7 exposure parameter and
The relationship for adjusting the adjusting parameter A of image processing module 11 can be obtained adjustment by reading the exposure parameter of white light camera 7
The adjusting parameter A of image processing module 11, the former fluorescence image signal transmitted to fluorescence camera 8 compensate adjustment, will be into
Fluorescence image signal after row compensation adjustment is exported to terminal display module 12, so that arriving observed tissue not in endoscope 3
Under same distance, the fluorescent brightness value for exporting image is consistent.
Further, to the detailed process of above-mentioned steps S5- step S7, detailed description are as follows: by reading different distances
D (distance D is the distance between 3 front end of endoscope and observed tissue), white light camera control module 9 calculates corresponding exposure
Parameter, to obtain the relationship of exposure parameter (shutter S and the gain G) and distance D of white light camera 7, such as the following table 1.
The exposure parameter of 1 white light camera 7 of table and the relationship of distance D
Image processing module 11 is set in the former fluorescence image signal intensity I to fluorescence camera 80When being handled, use
Parameter A compensates adjusting, i.e., the fluorescence image signal intensity after compensation adjustment is I=AI0；At different distance D, endoscope
The fluorescent solutions of 3 pairs of given doses are imaged, by adjusting the adjusting parameter A of image processing module 11, so that fluorescent image
Gray value be consistent under different distance, in this way, the adjusting parameter A and distance of image processing module 11 can be adjusted
The relationship of D, such as the following table 2.
The relationship of the adjusting parameter A and distance D of 2 image processing module 11 of table
In conjunction with Tables 1 and 2, can be obtained white light camera 7 exposure parameter and image processing module 11 adjusting parameter A it
Between relationship, such as the following table 3.
Relationship between the exposure parameter of 3 white light camera 7 of table and the adjusting parameter of image processing module 11
In this way, being converted by the exposure parameter for reading white light camera 7, the adjusting parameter of image processing module 11 can be obtained
A；According to the exposure parameter of white light camera 7 and table 3, the former fluorescence image signal transmitted to fluorescence camera 8 compensates adjustment,
Fluorescence image signal after compensation adjustment is exported to terminal display module 12, so that arriving observed tissue not in endoscope 3
Under same distance, the image fluorescent brightness value of acquisition is consistent.
Specifically, the relationship of the adjusting parameter A of the exposure parameter and image processing module 11 of the white light camera 7 can adopt
With step-wise fashion as shown in table 3, i.e. lookup table mode, the exposure parameter of white light camera 7 is obtained, obtains corresponding figure by tabling look-up
As the adjusting parameter A of processing module 11；It is also possible to fit the exposure parameter and image procossing mould of white light camera 7 according to table 3
The relation curve of the adjusting parameter A of block 11 obtains the exposure parameter of white light camera 7, corresponding by finding on relation curve
The adjusting parameter A of image processing module 11；The exposure parameter and image procossing mould of white light camera 7 can also be gone out by theoretical calculation
The relation formula of the adjusting parameter A of block 11, the exposure parameter for obtaining white light camera 7 calculate corresponding figure by relation formula
As the adjusting parameter A of processing module 11.
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 (8)
- 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 camera, white light camera control module, fluorescence camera control module, image Processing module, terminal display module；Described image processing module is connected with terminal display module, image processing module and white light phase The connection of machine control module, image processing module are connect with fluorescence camera control module, fluorescence camera control module and fluorescence camera Connection, white light camera control module are connect with white light camera；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, is visited by fluorescence signal detection device It surveys；White light camera control module calculates the exposure parameter of white light camera according to the image of white light camera, and generates control instruction, It transmits instructions to white light camera and controls its exposure, white light camera control module is simultaneously by the exposure parameter and white light of white light camera Image transmitting is to image processing module；Fluorescence camera control module controls fluorescence camera exposure according to fluorescence signal, and by fluorescence Image transmitting is to image processing module；Image processing module receives the exposure parameter of white light camera, according to the exposure of white light camera The correlativity of parameter and fluorescence image processing parameter converts, and transmits according to fluorescence image processing parameter to fluorescence camera The fluorescence image signal come compensates processing；Finally, image processing module is by White-light image and to compensate that treated glimmering Light image signal is exported to terminal display module, so that endoscope is exported in the case where distance is observed the different operating distance of tissue The fluorescent brightness value of image is consistent.
- The endoscopic system 2. exposure feedback-type fluorescence according to claim 1 navigates, which is characterized in that the white light camera Exposure parameter include shutter and gain.
- 3. a kind of image procossing self-regulated of the described in any item exposure feedback-type fluorescence navigation endoscopic systems of such as claim 1-2 Adjusting method, which is characterized in that specifically includes the following steps:Step S1: light source issues exciting light and white light, exciting light and white light are transmitted by light guide bundles and be coupled in endoscope；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, imaging In 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 Several and White-light image is transferred to image processing module；Step S6: fluorescence camera control module controls fluorescence camera according to fluorescence signal and exposes, and fluorescent image is transferred to figure As processing module；Step S7: image processing module receives the exposure parameter of white light camera, according to the exposure parameter and fluorogram of white light camera The fluorogram for converting as the correlativity of processing parameter, and fluorescence camera being transmitted according to fluorescence image processing parameter As signal compensates processing；Step S8: White-light image and the fluorescence image signal that compensates that treated are exported to terminal and are shown by image processing module Module, so that endoscope is in the case where distance is observed the different operating distance of tissue, the fluorescent brightness value for exporting image is consistent.
- 4. the image procossing self-regulating method of exposure feedback-type fluorescence navigation endoscopic system according to claim 3, It is characterized in that, described image processing module is by White-light image and compensates that treated fluorescence image signal merges, defeated Out to terminal display module.
- 5. the image procossing self-regulating method of exposure feedback-type fluorescence navigation endoscopic system according to claim 3, It is characterized in that, detailed process is as follows by the step S5- step S7: setting the distance between endoscope distal end and observed tissue The calculated corresponding exposure parameter of white light camera control module is read respectively by choosing different distance D for D, thus To the exposure parameter of white light camera and the relationship of distance D；Image processing module is set in the former fluorescent image letter to fluorescence camera Number intensity I0When being handled, adjustment is compensated using parameter A, i.e. fluorescence signal intensity after compensation deals is I=AI0；? Under different distance D, the fluorescent solutions of given dose are imaged in endoscope, by adjusting the adjusting parameter of image processing module A so that the gray value of fluorescent image is consistent under different distance, be adjusted image processing module adjusting parameter A and The relationship of distance D；Finally obtain the relationship of the exposure parameter of white light camera and the adjusting parameter A of adjustment image processing module；It is logical The exposure parameter for reading white light camera is crossed, can be obtained the adjusting parameter A of adjustment image processing module, image processing module is to glimmering The former fluorescence image signal that light camera is transmitted compensates adjustment, will compensate fluorescence image signal adjusted export to Terminal display module, so that the fluorescent brightness value for exporting image keeps one under endoscope to the different distance of observed tissue It causes.
- 6. according to the image procossing self-adjusting of the described in any item exposure feedback-type fluorescence navigation endoscopic systems of claim 3-5 Method, which is characterized in that the relationship of the adjusting parameter A of the exposure parameter and image processing module of the white light camera uses gear Mode, i.e. lookup table mode obtain the exposure parameter of white light camera, and the adjustment ginseng of corresponding image processing module is obtained by tabling look-up Number A.
- 7. according to the image procossing self-adjusting of the described in any item exposure feedback-type fluorescence navigation endoscopic systems of claim 3-5 Method, which is characterized in that the relation curve of the exposure parameter of white light camera and the adjusting parameter A of image processing module is fitted, The exposure parameter for obtaining white light camera, by the adjusting parameter A for finding corresponding image processing module on relation curve.
- 8. according to the image procossing self-adjusting of the described in any item exposure feedback-type fluorescence navigation endoscopic systems of claim 3-5 Method, which is characterized in that go out the pass of the exposure parameter of white light camera and the adjusting parameter A of image processing module by theoretical calculation It is formula, obtains the exposure parameter of white light camera, by relation formula, calculates the adjusting parameter of corresponding image processing module A。
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| CN114081424A (en) * | 2021-10-08 | 2022-02-25 | 深圳迈瑞生物医疗电子股份有限公司 | Endoscopic imaging system and control method thereof |
| WO2023097606A1 (en) * | 2021-12-02 | 2023-06-08 | Covidien Lp | Near-infrared fluorescence imaging system with image quality tuning |
| CN118250542A (en) * | 2024-05-27 | 2024-06-25 | 深圳市博盛医疗科技有限公司 | Three-wafer endoscope imaging method and imaging device |
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