CN108814525A - The fluorescence navigation endoscopic system and laser power automatic adjusting method of focusing feedback - Google Patents
The fluorescence navigation endoscopic system and laser power automatic adjusting method of focusing feedback Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
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Abstract
The invention discloses a kind of fluorescence navigation endoscopic systems and laser power automatic adjusting method based on focusing feedback, pass through the position data of motor after reading automatic focusing, adjustment Output optical power in real time, meeting brightness of image simultaneously, it can avoid tissue and receive high power density laser irradiation for a long time, mitigate injury of the laser to biological tissue.
Description
Technical field
The present invention relates in a kind of fluorescence navigation endoscope more particularly to a kind of fluorescence navigation based on focusing feedback
Endoscope system and laser power automatic adjusting method.
Background technique
In some functional endoscopic imaging systems, laser will use as special lighting light source, such as ICG fluorescence
Imaging, to guarantee allomeric function imaging effect, the laser power that system needs is bigger.The output laser of existing default
Power is steady state value, and when needing close to structure observation details, lighting area becomes smaller, the optical power that unit area receives（I.e.
Radiant illumination）It will increase, burn or other photo-biological safety problems to will cause.
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 fluorescence navigation endoscopic systems and laser power based on focusing feedback certainly
Dynamic method of adjustment, it is intended to which the output laser power for solving existing endoscopic imaging system is steady state value, when close to structure observation
It is easy to cause and burns or the problem of other photo-biologicals safety.
Technical scheme is as follows：It is a kind of based on focusing feedback fluorescence navigation endoscope laser power adjust automatically
Adjusting method, wherein specifically include following steps：
Step S1：The laser that light source issues is coupled in endoscope by light guide bundles；
Step S2：Laser is emitted from endoscope distal end and reaches observed tissue, by the laser and fluorescence that are observed Tissue reflectance
It is collected by endoscope, and images in camera after lens focus；
Step S3：Camera converts optical signals into picture signal and is transferred to automatic focusing module, automatic focusing module control pair
Burnt motor is moved forward and backward, and is driven camera lens to be moved forward and backward, is obtained accurate focusing position；
Step S4：It completes to defocused, automatic focusing module is by the position data feedback for motor of focusing to light source controller；
Step S5：Light source controller calculates the laser optical power of light source according to the position data of focusing motor, and to light source into
Row modulation.
The laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback, wherein described right
The position data of burnt motor is determined by calculating stepping number and the direction of focusing motor.
The laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback, wherein the step
In rapid S5, light source controller calculates distance of the viewing surface apart from endoscope distal end face according to the position data of focusing motor, and
Identity distance calculates the laser optical power of light source with a distance from endoscope distal end face according to the observation, and is modulated to light source.
The laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback, wherein by right
The position data of burnt motor, according to the anti-distance for releasing viewing surface apart from endoscope distal end face of object-image relation.
The laser power automatic adjusting method of the described fluorescence navigation endoscope based on focusing feedback, wherein by with
Lower formula calculates the laser optical power of light source：
（Formula 1）
Wherein, P is the laser optical power of light source,For the farthest viewing distance of endoscope,It is for viewing distanceWhen it is interior
Sight glass front end is emitted optical power, and D is actual observation identity distance with a distance from endoscope distal end face.
The laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback, wherein according to interior
Its farthest viewing distance is chosen in the application of sight glassFor 12cm, at this point, endoscope distal end outgoing optical power is maximum value；
For D<When, the laser optical power of light source is：
；
For D>When, the laser optical power of light source is unified for；
Wherein, P is the laser optical power of light source,For the farthest viewing distance of endoscope,It is for viewing distanceWhen it is interior
Sight glass front end is emitted optical power, and D is distance of the viewing surface apart from endoscope distal end face.
The laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback, wherein to light source
Laser optical power adjustment using pulse width modulation method realize.
The laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback, wherein the arteries and veins
Modulated frequency is 10kHz.
The laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback, wherein to light source
Laser optical power adjustment using amplitude modulation method realize.
A kind of laser power of the fluorescence navigation endoscope using as described in any one of the above embodiments based on focusing feedback is automatic
The fluorescence of method of adjustment navigates endoscopic system, wherein including light source, light guide bundles, and endoscope, camera lens, camera, motor of focusing,
Automatic focusing module, light source controller；The camera lens is driven by focusing motor and is moved；The automatic focusing module and light source control
Device connection, automatic focusing module are connect with focusing motor, and camera is connect with automatic focusing module；The laser that the light source issues is logical
It crosses light guide bundles to be coupled in endoscope, laser is emitted from endoscope distal end and reaches observed tissue, by being observed Tissue reflectance
Laser and fluorescence collected by endoscope, and camera is imaged in after lens focus；Camera converts optical signals into image letter
Number and be transferred to automatic focusing module, automatic focusing module control focusing motor is moved forward and backward, and is driven camera lens to be moved forward and backward, is obtained
Accurate focusing position；It completes to defocused, automatic focusing module is by the position data feedback for motor of focusing to light source controller, light
Source controller calculates distance of the viewing surface apart from endoscope distal end face, and according to the observation identity distance with a distance from endoscope distal end face
The laser optical power of light source is calculated, and light source is modulated.
Beneficial effects of the present invention：The present invention by provide it is a kind of based on focusing feedback fluorescence navigate endoscopic system and
Laser power automatic adjusting method adjusts Output optical power, full by the position data of motor after reading automatic focusing in real time
Sufficient brightness of image simultaneously, can avoid tissue and receive high power density laser irradiation for a long time, mitigate laser to the wound of biological tissue
Evil.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the fluorescence navigation endoscopic system in the present invention based on focusing feedback.
The step of Fig. 2 is the laser power automatic adjusting method of the fluorescence navigation endoscope in the present invention based on focusing feedback
Flow chart.
Fig. 3 is to modulate adjustment Output optical power schematic diagram by pulse width in the present invention.
Fig. 4 is to modulate adjustment 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.
The endoscopic system as shown in Figure 1, a kind of fluorescence based on focusing feedback navigates, including light source 1, light guide bundles 2 are inside peeped
Mirror 3, camera lens 4, camera 5, motor 6 of focusing（The replacement of other mobile devices can be used）, automatic focusing module 7, light source controller 8；
The camera lens 4 is driven by focusing motor 6 and is moved；The automatic focusing module 7 is connect with light source controller 8, automatic focusing module 7
It is connect with focusing motor 6, camera 5 is connect with automatic focusing module 7；
The laser that the light source 1 issues is coupled in endoscope 3 by light guide bundles 2, and laser is emitted and reaches from 3 front end of endoscope
Observed tissue passes through endoscope 3 by the laser and fluorescence that are observed Tissue reflectance and collects, and images in after the focusing of camera lens 4
Camera 5；Camera 5 converts optical signals into picture signal and is transferred to automatic focusing module 7, the control focusing of automatic focusing module 7
Motor 6 is moved forward and backward, and is driven camera lens 4 to be moved forward and backward, is obtained accurate focusing position；It completes to defocused, the general of automatic focusing module 7
Focus motor 6 position data d feedback to light source controller 8, light source controller 8 calculates viewing surface apart from endoscope distal end face
Distance D, and identity distance from endoscope distal end face distance D calculates required laser when viewing surface distance is D according to the observation
Optical power P, and light source 1 is modulated.
As shown in Fig. 2, a kind of laser power of the fluorescence navigation endoscopic system as described above based on focusing feedback
Automatic adjusting method specifically includes following steps：
Step S1：The laser that light source 1 issues is coupled in endoscope 3 by light guide bundles 2；
Step S2：Laser is emitted from 3 front end of endoscope and reaches observed tissue, by the laser and fluorescence that are observed Tissue reflectance
It is collected by endoscope 3, and images in camera 5 after the focusing of camera lens 4；
Step S3：Camera 5 converts optical signals into picture signal and is transferred to automatic focusing module 7, and automatic focusing module 7 controls
Motor 6 of focusing is moved forward and backward, and is driven camera lens 4 to be moved forward and backward, is obtained accurate focusing position；
Step S4：It completes to defocused, automatic focusing module 7 is by the position data d feedback for motor 6 of focusing to light source controller 8；
Step S5：Light source controller 8 calculates the laser optical power P of light source 1 according to the position data d of focusing motor 6, and to light
Source 1 is modulated.
Wherein, the position data d of the focusing motor 6 is determined by calculating stepping number and the direction of focusing motor 6.
Specifically, in the step S5, light source controller 8 according to focusing motor 6 position data d calculate viewing surface away from
From endoscope distal end face distance D, and it is D that identity distance, which calculates viewing surface distance from endoscope distal end face distance D, according to the observation
When required laser optical power P, and light source 1 is modulated.
Further, by the position data d for motor 6 of focusing, according to the anti-viewing surface of releasing of object-image relation apart from endoscope
The distance D of front end face.
Specifically, in the step S5, it is calculated by the following formula out the laser optical power P of light source 1：
（Formula 1）
Wherein,For the farthest viewing distance of endoscope,It is for viewing distanceWhen 3 front end of endoscope be emitted optical power, D
It is actual observation identity distance with a distance from endoscope distal end face.
Preferably, according to the application of endoscope, its farthest viewing distance is chosenFor 12cm（It may be other distances
Value）, at this point, 3 front end of endoscope outgoing optical power is maximum value。
For D<, at this point, obtaining power P is according to inverse square formula：
For D>When, endoscope 3 is emitted optical power and is unified for；
Wherein, D is actual observation identity distance with a distance from endoscope distal end face, and P is the practical laser optical power of light source 1（Light source 1
Practical laser optical power is equal to the practical outgoing optical power in 3 front end of endoscope）.
Preferably, the technical program realizes the adjustment of 1 optical power of light source using the method for pulse width modulation, in order not to shadow
Ring camera system imaging, pulse modulation frequency 10kHz（It may be other frequency values）.
For D<, the pulse width modulated duty cycle of Output optical power P is P/* 100%, see Fig. 3.
The technical program can also realize the adjustment of optical power using another implementation：Arteries and veins is replaced by amplitude modulation
Width modulated is rushed, the adjustment of 1 optical power of output light source is realized, sees Fig. 4.
Practical optical power of the technical program in addition to realizing laser 1 using the method for pulse width modulation and amplitude modulation
Adjustment outside, can also use other modulator approaches realize laser 1 practical optical power adjustment.
The technical program is adjusted Output optical power in real time, is being met by the position data of motor after reading automatic focusing
Brightness of image simultaneously, can avoid tissue and receive high power density laser irradiation for a long time, mitigate injury of the laser to biological tissue；
When by endoscope 3 close to structure observation, in the constant situation of optical power, since lighting area becomes smaller, so that radiant illumination increases,
But too big radiant illumination is not needed on functional imaging, therefore, in distance after, optical power has the surplus of downward.
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 laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback, which is characterized in that specific
Include the following steps：
Step S1：The laser that light source issues is coupled in endoscope by light guide bundles；
Step S2：Laser is emitted from endoscope distal end and reaches observed tissue, by the laser and fluorescence that are observed Tissue reflectance
It is collected by endoscope, and images in camera after lens focus；
Step S3：Camera converts optical signals into picture signal and is transferred to automatic focusing module, automatic focusing module control pair
Burnt motor is moved forward and backward, and is driven camera lens to be moved forward and backward, is obtained accurate focusing position；
Step S4：It completes to defocused, automatic focusing module is by the position data feedback for motor of focusing to light source controller；
Step S5：Light source controller calculates the laser optical power of light source according to the position data of focusing motor, and to light source into
Row modulation.
2. the laser power automatic adjusting method of the fluorescence navigation endoscope according to claim 1 based on focusing feedback,
It is characterized in that, wherein, the position data of the focusing motor is determined by calculating stepping number and the direction of focusing motor.
3. the laser power automatic adjusting method of the fluorescence navigation endoscope based on focusing feedback according to claim 1,
It is characterized in that, in the step S5, light source controller calculates viewing surface apart from endoscope according to the position data of focusing motor
The distance of front end face, and identity distance calculates the laser optical power of light source with a distance from endoscope distal end face according to the observation, and to light
Source is modulated.
4. the laser power automatic adjusting method of the fluorescence navigation endoscope according to claim 3 based on focusing feedback,
It is characterized in that, by the position data of focusing motor, according to the anti-viewing surface of releasing of object-image relation apart from endoscope distal end face
Distance.
5. the laser power automatic adjusting method of the fluorescence navigation endoscope according to claim 3 based on focusing feedback,
It is characterized in that, being calculated by the following formula out the laser optical power of light source：
（Formula 1）
Wherein, P is the laser optical power of light source,For the farthest viewing distance of endoscope,It is for viewing distanceWhen in peep
Mirror front end is emitted optical power, and D is actual observation identity distance with a distance from endoscope distal end face.
6. the laser power automatic adjusting method of the fluorescence navigation endoscope according to claim 5 based on focusing feedback,
It is characterized in that, according to the application of endoscope, farthest viewing distanceIt is chosen for 12cm, at this point, endoscope distal end emergent light
Power is maximum value；
For D<When, the laser optical power of light source is：
；
For D>When, the laser optical power of light source is unified for；
Wherein, P is the laser optical power of light source,For the farthest viewing distance of endoscope,It is for viewing distanceWhen in peep
Mirror front end is emitted optical power, and D is distance of the viewing surface apart from endoscope distal end face.
7. the laser power automatic adjusting method of the fluorescence navigation endoscope according to claim 1 based on focusing feedback,
It is characterized in that, being realized to the adjustment of the laser optical power of light source using the method for pulse width modulation.
8. the laser power automatic adjusting method of the fluorescence navigation endoscope according to claim 7 based on focusing feedback,
It is characterized in that, the pulse modulation frequency is 10kHz.
9. the laser power automatic adjusting method of the fluorescence navigation endoscope according to claim 1 based on focusing feedback,
It is characterized in that, being realized to the adjustment of the laser optical power of light source using the method for amplitude modulation.
10. a kind of laser power using the described in any item fluorescence navigation endoscopes based on focusing feedback of claim 1-9
The fluorescence of automatic adjusting method navigates endoscopic system, which is characterized in that including light source, light guide bundles, and endoscope, camera lens, camera,
Focusing motor, automatic focusing module, light source controller；The camera lens is driven by focusing motor and is moved；The automatic focusing module
It is connect with light source controller, automatic focusing module is connect with focusing motor, and camera is connect with automatic focusing module；The light source hair
Laser out is coupled in endoscope by light guide bundles, and laser is emitted from endoscope distal end and reaches observed tissue, by being seen
The laser and fluorescence for examining Tissue reflectance are collected by endoscope, and camera is imaged in after lens focus；Camera turns optical signal
It changes picture signal into and is transferred to automatic focusing module, automatic focusing module control focusing motor is moved forward and backward, before driving camera lens
After move, obtain accurate focusing position；It completes to defocused, automatic focusing module is by the position data feedback for motor of focusing to light
Source controller, light source controller calculate distance of the viewing surface apart from endoscope distal end face, and according to the observation identity distance from endoscope
The distance of front end face calculates the laser optical power of light source, and is modulated to light source.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109744984A (en) * | 2019-01-31 | 2019-05-14 | 广东欧谱曼迪科技有限公司 | A kind of focusing feedback-type fluorescence navigation endoscopic system and detectable signal method of adjustment |
| CN109758094A (en) * | 2019-01-31 | 2019-05-17 | 广东欧谱曼迪科技有限公司 | A kind of focusing feedback-type fluorescence navigation endoscopic system and image are from processing method |
| CN109758095A (en) * | 2019-01-31 | 2019-05-17 | 广东欧谱曼迪科技有限公司 | The non-automatic focusing feedback-type fluorescence navigation system of one kind and exciting light self-regulating method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109744984A (en) * | 2019-01-31 | 2019-05-14 | 广东欧谱曼迪科技有限公司 | A kind of focusing feedback-type fluorescence navigation endoscopic system and detectable signal method of adjustment |
| CN109758094A (en) * | 2019-01-31 | 2019-05-17 | 广东欧谱曼迪科技有限公司 | A kind of focusing feedback-type fluorescence navigation endoscopic system and image are from processing method |
| CN109758095A (en) * | 2019-01-31 | 2019-05-17 | 广东欧谱曼迪科技有限公司 | The non-automatic focusing feedback-type fluorescence navigation system of one kind and exciting light self-regulating method |
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