CN109758095A - The non-automatic focusing feedback-type fluorescence navigation system of one kind and exciting light self-regulating method - Google Patents
The non-automatic focusing feedback-type fluorescence navigation system of one kind and exciting light self-regulating method Download PDFInfo
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Abstract
The invention discloses a kind of non-automatic focusing feedback-type fluorescence navigation system and exciting light self-regulating methods, when endoscope is close to observed tissue, adjust the focus of object plane imaging, make tissue blur-free imaging, adjusting parameter needed for calculating excitation module by the distance that focus adjusts again, the Parameter Modulation of exciting light is carried out, realizes excitation module self-regulating function；It while meeting fluorescence imaging, and can be irradiated for a long time to avoid tissue by high power density laser, mitigate injury of the laser to biological tissue, reduction is burnt a possibility that safe with other photo-biologicals.
Description
Technical field
The present invention relates to optical imaging field, more particularly to a kind of non-automatic focusing feedback-type fluorescence navigation system and
Exciting light self-regulating method.
Background technique
Fluorescence endoscopy system on the market now, mostly uses laser as imaging source, greatly in order to guarantee image quality
And overall effect, power needed for laser is usually relatively large, and the laser output power of existing fluorescence endoscopy system is big
Mostly invariable or staged is adjustable manually.But laser output power constant is constant or staged adjustable meeting manually
Have the following problems: if endoscope leading portion is close to destination organization, the area that tissue receives laser becomes smaller, organization unit's area
On optical power increase；If laser power is invariable, long-term irradiation, it is likely that cause to burn or other photo-biologicals are asked safely
Topic.And staged manually adjusts laser power, can not reach real-time adjusting, and it is laborious time-consuming, influence image quality.
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 non-automatic focusing feedback-type fluorescence navigation system and exciting light self-regulated perfect squares
Method, it is intended to which it is constant to solve existing fluorescence endoscopy system laser output power constant, be easy to cause and burns or other photoproduction
Object safety problem；And staged manually adjusts laser power, cannot reach real-time adjusting, and it is laborious time-consuming, influence image quality
Problem.
Technical scheme is as follows:
A kind of non-automatic focusing feedback-type fluorescence navigation system, wherein including light source, light guide bundles, endoscope, camera lens, phase
Machine, focusing module, exciting light adjustment module；The camera lens is driven by focusing module and is moved；The focusing module and exciting light tune
Module connection is saved, exciting light adjustment module is connect with light source.
The laser that the light source issues is coupled in endoscope by light guide bundles, and laser is projected and reached from endoscope distal end
Observed tissue, by being observed the laser of Tissue reflectance and being collected by the fluorescence that excitation goes out by endoscope, and through mirror
Head images in camera after focusing；Focusing module drives camera lens to be moved forward and backward and realizes focusing, obtains accurate focusing position；In completion pair
Defocused, focus is adjusted distance feedback and arrives exciting light adjustment module by focusing module；Exciting light adjustment module is controlled to light source light function
Rate is modulated.
The non-automatic focusing feedback-type fluorescence navigation system, wherein the focusing module uses electromotion focusing module
Or manual focusing module.
A kind of exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system as described in any one of the above embodiments,
Wherein, specifically includes the following steps:
Step S1: it is coupled in endoscope by the laser that light source issues by light guide bundles；
Step S2: from the laser irradiation that endoscope distal end projects to observed tissue, by being observed swashing for Tissue reflectance
Light and the fluorescence gone out by excitation are imaged on camera after lens focus by endoscope collection；
Step S3: focusing module drives camera lens to be moved forward and backward and realizes focusing, obtains accurate focusing position；
Step S4: completing to defocused, and focus is adjusted distance feedback and arrives exciting light adjustment module by focusing module；
Step S5: the control of exciting light adjustment module is modulated light source.
The exciting light self-regulating method of the non-automatic focusing feedback-type fluorescence navigation system, wherein the focusing mould
When block uses electromotion focusing module, detailed process is as follows by the step S3- step S5: the motor internal band of electromotion focusing module
Index glass head, which is moved forward and backward, realizes focusing, obtains accurate focusing position；Complete to defocused, electromotion focusing module by focus adjust away from
Exciting light adjustment module is arrived from feedback, exciting light adjustment module calculates observed structure observation identity distance from endoscope distal end face
Distance, and calculated with a distance from endoscope distal end face according to observed structure observation identity distance required when viewing surface distance is
The optical power of laser, and light source is modulated.
The exciting light self-regulating method of the non-automatic focusing feedback-type fluorescence navigation system, wherein pass through electric adjustable
The stepping data of burnt module, observed structure observation identity distance is instead released according to object-image relation is with a distance from endoscope distal end face
D1；Wherein, it is calculated by the following formula out the optical power P of the laser of light source1:
Wherein, D0Farthest viewing distance for endoscope distal end identity distance from observed structure observation face, P0To be observed tissue
Distance of the viewing surface apart from endoscope distal end face is D0When 3 front end face shoot laser of endoscope optical power, D1 be practical quilt
Observe distance of the tissue viewing surface apart from endoscope distal end face, P1For be observed structure observation identity distance from endoscope distal end face away from
From for D1When, the optical power of the practical laser of light source.
The exciting light self-regulating method of the non-automatic focusing feedback-type fluorescence navigation system, wherein for D1<D0When,
According to formula 1, power P is obtained1Are as follows:
For D1>D0When, endoscope emergent light power P1It is unified for P0, wherein the optical power of the practical laser of light source is equal to
The practical optical power being emitted in endoscope distal end face.
The exciting light self-regulating method of the non-automatic focusing feedback-type fluorescence navigation system, wherein wide using pulse
The method of degree modulation realizes the adjustment of light source optical power, pulse modulation frequency 10kHz；For D1<D0, the output light function of light source
Rate P1Pulse width modulated duty cycle be P1/P0* 100%.
The exciting light self-regulating method of the non-automatic focusing feedback-type fluorescence navigation system, wherein the focusing mould
When block uses manual focusing module, detailed process is as follows by step S3- step S5: manual focusing module includes before and after driving camera lens
Mobile gear die group and the slide rheostat being arranged in gear die group, gear die group drive camera lens to be moved forward and backward realization pair
Coke, gear die group drive camera lens that can correspond to obtain the different resistance values of slide rheostat when being moved to different location；In completion pair
Defocused, manual focusing module feeds back obtained resistance value to exciting light adjustment module；Exciting light adjustment module calculates and electricity
Resistance value is the optical power of corresponding laser, and is modulated to light source.
The exciting light self-regulating method of the non-automatic focusing feedback-type fluorescence navigation system, wherein use amplitude tune
Mode processed realizes the adjustment to light source optical power.
The exciting light self-regulating method of the non-automatic focusing feedback-type fluorescence navigation system, wherein the sliding becomes
Hinder the resistance value R of device and the optical power P of laser2Corresponding relationship pass through following steps and obtain: setting endoscope distal end face and quilt
Observing the distance between tissue viewing surface is D2, in different distance D2Lower carry out manual focus operation is completed manual to defocused export
Rheostatic resistance value value R inside focusing module, obtains distance D2With the relationship of resistance value R；According to formula:Wherein, D0Farthest viewing distance for endoscope distal end identity distance from observed structure observation face, P0For quilt
Observing distance of the tissue viewing surface apart from endoscope distal end face is D0When 3 front end face shoot laser of endoscope optical power, D2For
Practical observed structure observation identity distance is with a distance from endoscope distal end face；Set D0For 12cm, endoscope distal end face emergent light function
Rate is maximum value P0, according toThe different distance between front end face and observed structure observation face is peeped in obtaining
D2Under optical power value P2；Finally obtain the resistance value R of manual focusing module and the excitation light power P of endoscope distal end face outgoing2
Relationship.
Beneficial effects of the present invention: the present invention is by providing the non-automatic focusing feedback-type fluorescence navigation system of one kind and excitation
Light self-regulating method, when endoscope is close to observed tissue, the focus of adjustment object plane imaging makes tissue blur-free imaging, then lead to
Adjusting parameter needed for the distance of overfocus adjustment calculates excitation module, carries out the Parameter Modulation of exciting light, realizes excitation
Optical module self-regulating function；While meeting fluorescence imaging, and can be to avoid tissue by high power density laser long-time
Irradiation, mitigates injury of the laser to biological tissue, and reduction is burnt a possibility that safe with other photo-biologicals.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of non-automatic focusing feedback-type fluorescence navigation system in the present invention.
Fig. 2 is the step process of the exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system in the present invention
Figure.
Fig. 3 be in the present invention it is non-automatic focusing feedback-type fluorescence navigation system specific embodiment in manual focusing module
Structural schematic diagram.
Fig. 4 is to modulate adjustment source device output optical power schematic diagram by pulse width in the present invention.
Fig. 5 is to modulate adjustment source device output optical power schematic diagram by amplitude 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.
As shown in Figure 1, a kind of non-automatic focusing feedback-type fluorescence navigation system, including light source 1, light guide bundles 2, endoscope 3,
Camera lens 4, camera 5, focusing module 6, exciting light adjustment module 7；The camera lens 4 is driven by focusing module 6 and is moved；The focusing mould
Block 6 is connect with exciting light adjustment module 7, and exciting light adjustment module 7 is connect with light source 1.
The laser that the light source 1 issues is coupled in endoscope 3 by light guide bundles 2, and laser projects simultaneously from 3 front end of endoscope
Observed tissue is reached, is collected by the fluorescence for being observed the laser of Tissue reflectance and being gone out by excitation by endoscope 3, and
Camera 5 is imaged in after the focusing of camera lens 4；Focusing module 6 drives camera lens 4 to be moved forward and backward and realizes focusing, obtains accurate focusing position；
It completes to defocused, focus is adjusted distance feedback and arrives exciting light adjustment module 7 by focusing module 6；Exciting light adjustment module 7 controls
1 optical power of light source is modulated.
Specifically, the focusing module 6 can be according to actual needs using the focusing module band index glass of different driving mode
First 4 are moved forward and backward: (1) focusing module 6 uses electromotion focusing module, and the motor internal of electromotion focusing module 6 drives camera lens 4
It is moved forward and backward and realizes focusing, obtain accurate focusing position；It completes to defocused, electromotion focusing module 6 is anti-by focus adjustment distance
It is fed to exciting light adjustment module 7, exciting light adjustment module 7 calculates distance D of the viewing surface apart from endoscope distal end face, and according to
Distance D of the viewing surface apart from endoscope distal end face calculates the optical power P of required laser when viewing surface distance is D1, and it is right
Light source 1 is modulated.(2) focusing module 6 uses manual focusing module, as shown in figure 3, manual focusing module includes driving
The gear die group 8 and the slide rheostat 9 being arranged in gear die group that camera lens 4 is moved forward and backward, before gear die group 8 drives camera lens 4
Mobile afterwards to realize focusing, gear die group 8 drives camera lens 4 that can correspond to obtain the difference of slide rheostat 9 when being moved to different location
Resistance value；It completes to defocused, manual focusing module 6 feeds back obtained resistance value to exciting light adjustment module 7；Exciting light tune
Section module 7 calculates the optical power P of required laser when resistance value is R2, and light source 1 is modulated.
As shown in Fig. 2, a kind of exciting light self-adjusting of non-automatic focusing feedback-type fluorescence navigation system as described above
Method, specifically includes the following steps:
Step S1: the laser issued by light source 1 is coupled in endoscope 3 by light guide bundles 2；
Step S2: from the laser irradiation that 3 front end of endoscope is projected to observed tissue, by being observed swashing for Tissue reflectance
Light and the fluorescence gone out by excitation are collected by endoscope 3, and are imaged on camera 5 after the focusing of camera lens 4；
Step S3: focusing module 6 drives camera lens 4 to be moved forward and backward and realizes focusing, obtains accurate focusing position；
Step S4: completing to defocused, and focus is adjusted distance feedback and arrives exciting light adjustment module 7 by focusing module 6；
Step S5: the control of exciting light adjustment module 7 is modulated 1 optical power of light source.
Specifically, when the focusing module 6 is using electromotion focusing module, the detailed process of the step S3- step S5 is such as
Under: the motor internal of electromotion focusing module 6 drives camera lens 4 to be moved forward and backward and realizes focusing, obtains accurate focusing position；In completion pair
It is defocused, electromotion focusing module 6 by focus adjust distance feedback arrive exciting light adjustment module 7, exciting light adjustment module 7 calculate by
Distance D of the tissue viewing surface apart from endoscope distal end face is observed, and according to observed structure observation identity distance from endoscope distal end face
Distance D calculate the optical power P of required laser when viewing surface distance is D1, and 1 optical power of light source is modulated.
Further, the focus adjustment distance is specially the stepping data d of motor, and exciting light adjustment module 7 is according to electricity
The stepping data d of dynamic focusing module 6 calculates the laser optical power P of light source 1, and is modulated to light source 1；Wherein, the electricity
The stepping data d of dynamic focusing module 6 is determined by the stepping number and direction of the internal stepper motor of calculating.
Specifically, for the optical power P of laser1Calculating process it is as follows: exciting light adjustment module 7 is according to electromotion focusing mould
The stepping data d of block 6 calculates observed structure observation identity distance from endoscope distal end face distance D1, and according to observed tissue
Distance D of the viewing surface apart from endoscope distal end face1Calculating observed structure observation identity distance is D with a distance from endoscope distal end face1When
The optical power P of required laser1, and light source 1 is modulated；By the stepping data d of electromotion focusing module 6, according to object
Instead releasing observed structure observation identity distance as relationship is D with a distance from endoscope distal end face1；Wherein, it is calculated by the following formula
The optical power P of the laser of light source 1 out1:
Wherein, D0The farthest viewing distance in structure observation face, P are observed for 3 front end face of endoscope distance0To be observed group
Knitting distance of the viewing surface apart from endoscope distal end face is D0When 3 front end face shoot laser of endoscope optical power, D1 is practical
Observed structure observation identity distance is with a distance from endoscope distal end face.
Preferably, according to the application of endoscope 3, its farthest viewing distance D is chosen0For 12cm (or other distances
Value), at this point, 3 front end of endoscope outgoing optical power is maximum value.
Wherein, for D1<D0When, according to inverse square formula, obtain power P1Are as follows:
For D1>D0When, endoscope 3 is emitted optical power and is unified for P0, the optical power of the practical laser of light source 1 is equal to interior peep
The practical optical power being emitted of 3 front end face of mirror；
Wherein, D1It is practical observed structure observation identity distance with a distance from endoscope distal end face；P1To be observed structure observation
Identity distance is D with a distance from endoscope distal end face1When, the optical power of the practical laser of light source 1.
Preferably, the method that pulse width modulation can be used in the technical program realizes that the adjustment of 1 optical power of light source (can also be with
Using other exciting light regulative modes), in order to not influence camera system imaging, pulse modulation frequency be 10kHz (or its
His frequency values).For D1<D0, the pulse width modulated duty cycle of Output optical power P is P1/P0* 100%, see Fig. 4.
Specifically, when the focusing module 6 is using manual focusing module, the detailed process of the step S3- step S5 is such as
Under: manual focusing module includes the gear die group 8 for driving camera lens 4 to be moved forward and backward and the sliding variable resistance being arranged in gear die group 8
Device 9, gear die group 8 drive camera lens 4 to be moved forward and backward and realize focusing, and gear die group 8 drives camera lens 4 can be right when being moved to different location
It should obtain the different resistance values of slide rheostat 9；It completes to defocused, manual focusing module 6 arrives obtained resistance value feedback
Exciting light adjustment module 7；Exciting light adjustment module 7 calculates the optical power P of required laser when resistance value is R2, and to light
1 optical power of source is modulated.
Wherein, the method that amplitude modulation can be used in the technical program realizes that the adjustment of 1 optical power of light source (can also use it
His exciting light regulative mode), see Fig. 5.
Wherein, the resistance value R and excitation light power P of slide rheostat2Corresponding relationship can be obtained by following steps:
It is right manually to carry out under different distance D (D is the distance between 3 front end face of endoscope and observed structure observation face)
Coke operation is completed to obtain distance D and resistance value R to the rheostatic resistance value value R inside defocused export manual focusing module 6
Relationship, such as the following table 1.
The relationship of internal slide rheostatic the resistance value R and distance D of 1 manual focusing module 6 of table
According to formula 1, it is found that the output power of laser is with distance D, there are inverse square relationships.Preferably, according to endoscope 3
Application, choose the farthest viewing distance D between 3 front end face of endoscope and observed structure observation face0For 12cm (or
Other distance values), at this point, 3 front end face of endoscope outgoing optical power is maximum value P0.3 front end of endoscope can be obtained according to formula 1
The optical power value P under different distance D between face and observed structure observation face2, see the table below 2.
The excitation light power P of 2 endoscope of table, 3 front end outgoing2With the relationship of distance D
In conjunction with Tables 1 and 2, the resistance value R of manual focusing module 6 and the excitation of 3 front end face of endoscope outgoing are finally obtained
Optical power P2Relationship, such as the following table 3.
The excitation light power P of resistance value R and 3 front end face of the endoscope outgoing of 3 manual focusing module 6 of table2Relationship
In this way, exciting light adjustment module 7 can be according to resistance value R and table 3, to the exciting light of 3 front end face of endoscope outgoing
Optical power be adjusted so that be irradiated to observed structure observation face excitation light irradiance keep it is relatively uniform.
The technical program compared with the existing technology, has the advantage that
(1) when endoscope is close to observed tissue, the focus of adjustment object plane imaging makes tissue blur-free imaging, then pass through
Adjusting parameter needed for the distance of focus adjustment calculates excitation module, carries out the Parameter Modulation of exciting light, realizes exciting light
Module self-regulating function；While meeting fluorescence imaging, and it can be shone for a long time to avoid tissue by high power density laser
It penetrates, mitigates injury of the laser to biological tissue, reduction is burnt a possibility that safe with other photo-biologicals.
(2) exciting light self-adjusting function is realized by the feedback information of non-automatic focusing module 6, focusing mode has electronic
Other non-automatic focusing modes such as focusing, manual focusing.
(3) main function of exciting light adjustment module 7 is the excitation light power for changing endoscope 3 and being emitted, implementation
The PWM of laser light source signal, or the amplitude of adjustment laser light source signal just can be such as adjusted, or adjusts light function by attenuator
Rate, etc..
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)
1. a kind of non-automatic focusing feedback-type fluorescence navigation system, which is characterized in that including light source, light guide bundles, endoscope, mirror
Head, camera, focusing module, exciting light adjustment module；The camera lens is driven by focusing module and is moved；The focusing module and excitation
The connection of light adjustment module, exciting light adjustment module are connect with light source.
The laser that the light source issues is coupled in endoscope by light guide bundles, and laser is projected and reached from endoscope distal end and seen
Tissue is examined, by being observed the laser of Tissue reflectance and being collected by the fluorescence that excitation goes out by endoscope, and it is poly- through camera lens
It is defocused to image in camera；Focusing module drives camera lens to be moved forward and backward and realizes focusing, obtains accurate focusing position；It completes to focus
Afterwards, focus is adjusted distance feedback and arrives exciting light adjustment module by focusing module；Exciting light adjustment module is controlled to light source optical power
It is modulated.
2. non-automatic focusing feedback-type fluorescence navigation system according to claim 1, which is characterized in that the focusing module
Using but be not limited to electromotion focusing module or manual focusing module.
3. a kind of exciting light self-adjusting of the described in any item non-automatic focusing feedback-type fluorescence navigation systems of such as claim 1-2
Method, which is characterized in that specifically includes the following steps:
Step S1: it is coupled in endoscope by the laser that light source issues by light guide bundles；
Step S2: the laser irradiation projected from endoscope distal end to observed tissue, by be observed Tissue reflectance laser and
It is collected by the fluorescence that excitation goes out by endoscope, and is imaged on camera after lens focus；
Step S3: focusing module drives camera lens to be moved forward and backward and realizes focusing, obtains accurate focusing position；
Step S4: completing to defocused, and focus is adjusted distance feedback and arrives exciting light adjustment module by focusing module；
Step S5: the control of exciting light adjustment module is modulated light source.
4. the exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system according to claim 3, special
Sign is that when the focusing module uses electromotion focusing module, detailed process is as follows: electric adjustable by the step S3- step S5
The motor internal of burnt module drives camera lens to be moved forward and backward and realizes focusing, obtains accurate focusing position；It completes to defocused, electric adjustable
Focus is adjusted distance feedback and arrives exciting light adjustment module by burnt module, and exciting light adjustment module calculates observed structure observation face
Distance apart from endoscope distal end face, and observation is calculated with a distance from endoscope distal end face according to observed structure observation identity distance
Identity distance from for when required laser optical power, and light source is modulated.
5. the exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system according to claim 4, special
Sign is, by the stepping data of electromotion focusing module, observed structure observation identity distance is instead released according to object-image relation and is peeped from interior
The distance of mirror front end face is D1；Wherein, it is calculated by the following formula out the optical power P of the laser of light source1:
Wherein, D0Farthest viewing distance for endoscope distal end identity distance from observed structure observation face, P0To be observed structure observation
Identity distance is D with a distance from endoscope distal end face0When 3 front end face shoot laser of endoscope optical power, D1 is practical observed
Structure observation identity distance is with a distance from endoscope distal end face, P1It is with a distance from endoscope distal end face for observed structure observation identity distance
D1When, the optical power of the practical laser of light source.
6. the exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system according to claim 5, special
Sign is, for D1<D0When, according to formula 1, obtain power P1Are as follows:
For D1>D0When, endoscope emergent light power P1It is unified for P0, wherein the optical power of the practical laser of light source is equal to interior peep
The practical optical power being emitted of mirror front end face.
7. the exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system according to claim 6, special
Sign is, using but the method that is not limited to pulse width modulation realize the adjustment of light source optical power, pulse modulation frequency is
10kHz；For D1<D0, the Output optical power P of light source1Pulse width modulated duty cycle be P1/P0* 100%.
8. the exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system according to claim 4, special
Sign is that when the focusing module 6 is using manual focusing module, detailed process is as follows: manual focusing mould by step S3- step S5
Block includes the gear die group for driving camera lens to be moved forward and backward and the slide rheostat being arranged in gear die group, gear die group band index glass
Head, which is moved forward and backward, realizes focusing, and gear die group drives camera lens that can correspond to obtain the difference of slide rheostat when being moved to different location
Resistance value；It completes to defocused, manual focusing module feeds back obtained resistance value to exciting light adjustment module；Exciting light is adjusted
Module calculates the optical power with resistance value for corresponding laser, and is modulated to light source.
9. the exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system according to claim 8, special
Sign is, using but be not limited to amplitude modulation system and realize adjustment to light source optical power.
10. the exciting light self-regulating method of non-automatic focusing feedback-type fluorescence navigation system according to claim 8, special
Sign is, the resistance value R of the slide rheostat and the optical power P of laser2Corresponding relationship pass through following steps obtain: setting
The distance between endoscope distal end face and observed structure observation face are D2, in different distance D2Lower carry out manual focus operation, it is complete
The rheostatic resistance value value R of defocused export manual focusing inside modules in pairs, obtains distance D2With the relationship of resistance value R；Root
According to formula:Wherein, D0Farthest viewing distance for endoscope distal end identity distance from observed structure observation face,
P0It is D with a distance from endoscope distal end face for observed structure observation identity distance0When 3 front end face shoot laser of endoscope light function
Rate, D2It is practical observed structure observation identity distance with a distance from endoscope distal end face；Set D0For 12cm, endoscope distal end face goes out
Penetrating optical power is maximum value P0, according toIt is peeped between front end face and observed structure observation face not in obtaining
Same distance D2Under optical power value P2；Finally obtain the resistance value R of manual focusing module and the exciting light of endoscope distal end face outgoing
Power P2Relationship.
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