CN109744984A - A kind of focusing feedback-type fluorescence navigation endoscopic system and detectable signal method of adjustment - Google Patents
A kind of focusing feedback-type fluorescence navigation endoscopic system and detectable signal method of adjustment Download PDFInfo
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Abstract
The invention discloses a kind of focusing feedback-type fluorescence navigation endoscopic system and detectable signal methods of adjustment, when endoscope is close to observed tissue, adjust the focus of object plane imaging, make observed tissue blur-free imaging, carry out adjustment signal detecting module further according to the range information of focus adjustment, realizes the self-regulating function of signal detection module；Using the focus control on endoscopic system, the parameter regulation of fluorescence detection device may be implemented, so that the gray value of fluorescent image keeps almost the same under different image-forming ranges.
Description
Technical field
The present invention relates to optical imaging field more particularly to a kind of focusing feedback-type fluorescence navigation endoscopic system and
Detectable signal method of adjustment.
Background technique
Fluorescent contrast agent is widely used in lymph label in art, tumor boundaries calibration, angiography and cholangiography etc.
Deng.Intuitively to show fluorescent places, fluorescence navigation picture system passes through after obtaining White-light image and fluorescent image respectively at present
Algorithm extracts fluorescence signal and is marked in White-light image, obtains the terminal image for having synthetic effect.Endoscope is in different works
The light area for making to be irradiated to destination organization under distance is different, excites the excitation optical density of contrast agent to change, fluorescence is caused to be believed
Number source strength is varied, and signal detection side is needed to be adjusted just to be able to maintain terminal output fluorescent image and keep constant and do not dodge
It is bright.
Currently, fluorescence navigation endoscope product mainly passes through one camera timesharing imaging and double camera spectroscopic imaging is realized.(1)
One camera timesharing imaging is by controlling white light and exciting light before and after frames successively stroboscopic, illumination observation region, to successively obtain white
Light figure and fluorogram have the white light figure of fluorescent marker by algorithm synthesis output.Since camera exposure parameter is according to collection
Light intensity is adjusted, and the white light light intensity that Tissue reflectance is returned in the system accounts for leading, white light when close to tissue compared to fluorescence
Reflective light intensity, camera exposure parameter is low, otherwise high far from tissue camera exposure parameter.The signal detection method of adjustment makes difference
When distance observation fluorescence, although the exciting light density ratio of short distance imaging radiation to target is strong at a distance, fluorescent image gray value
It is still consistent, bright neglect secretly will not be neglected.But there are distinct disadvantages for the program, such as: white light and fluorescence are staggered the time imaging, and there are the times
Difference leads to smear；Imaging frame rate is low, not enough smoothness etc..(2) double camera beam splitting system separates white light and fluorescence photosensitive, passes through
Algorithm synthesis solves one camera timesharing and is imaged existing defect, but due to fluorescence camera only receive endoscope be collected into it is glimmering
Optical signal adjusts exposure parameter according to current fluorescence intensity, when causing close to the weaker imaging object of structure observation fluorescence, camera
The gray value of exposure parameter automatic adjustment height, fluorescent image is promoted；And when far from structure observation, it is irradiated to the exciting light of imaging object
Weaker, camera exposure parameter can not increase substantially again, the gray value decline of fluorescent image；This makes fluorescent image neglect bright neglect
Secretly, doctor's judgement is influenced.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
The purpose of the present invention is to provide a kind of focusing feedback-type fluorescence navigation endoscopic system and detectable signal adjustment sides
Method, it is intended to which the fluorescence signal for solving existing double camera light splitting endoscopic system output changes with operating distance to be flashed, Bu Nengman
Sufficient requirement obtains problem.
Technical scheme is as follows: a kind of focusing feedback-type fluorescence navigates endoscopic system, wherein including light source,
Light guide bundles, endoscope, filter plate, lens, fluorescence detection device, dichroic beamsplitter, focusing module, white light camera, fluorescence are visited
It surveys device and adjusts module；The camera lens is driven by focusing module and is moved；The focusing module and fluorescence detection device adjust module
Connection, fluorescence detection device are connect with fluorescence detection device adjustment module；
The laser and white light that the light source issues are coupled in endoscope by light guide bundles, and laser and white light are penetrated from endoscope distal end
Out and observed tissue is reached, laser, fluorescence and the visible light by being observed Tissue reflectance are collected by endoscope, and laser is filtered
Wave plate filters out, and fluorescence and visible light-transmissive filter plate are by lens focus；Visible light-transmissive dichroic beamsplitter, images in white light
Camera；Fluorescence is reflected by dichroic beamsplitter, images in fluorescence detection device；Focusing module drive lens are moved forward and backward to accurate
Focusing position；It completes to defocused, focus is adjusted distance feedback and adjusts module to fluorescence detection device by focusing module；Fluorescence
Detection device adjustment module calculates the adjusting parameter of fluorescence detection device, is sent to fluorescence detection device and carries out parameter regulation,
So that the fluorescent brightness value of the fluorescent image of output is protected consistent in the case where endoscope is woven in different operating distance with observed group.
The focusing feedback-type fluorescence navigation endoscopic system, wherein the fluorescence detection device is used but is not limited to
Fluorescence camera or fluorescence area array CCD.
The focusing feedback-type fluorescence navigation endoscopic system, wherein the fluorescence detection device uses fluorescence camera.
The focusing feedback-type fluorescence navigation endoscopic system, wherein the focusing module is used but is not limited to electronic
Focusing module or manual focusing module or automatic focusing module.
The focusing feedback-type fluorescence navigation endoscopic system, wherein the focusing module uses electromotion focusing module.
A kind of detectable signal method of adjustment of focusing feedback-type fluorescence navigation endoscopic system as described in any one of the above embodiments,
Wherein, specifically includes the following steps:
Step S1: light source issues exciting light and white light, laser and white light are transmitted by light guide bundles and be coupled in endoscope；
Step S2: white light and laser project from endoscope distal end and reach observed tissue, by be observed Tissue reflectance laser,
Visible light and fluorescence are collected by endoscope；
Step S3: laser 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 detection device；
Step S5: camera lens is driven to be moved forward and backward to accurate focusing position by focusing module；
Step S6: completing to defocused, and focus is adjusted distance feedback and adjusts module to fluorescence detection device by focusing module；
Step S7: the adjusting parameter that fluorescence detection device adjustment module calculates fluorescence detection device is sent to fluorescence detection device
Parameter regulation is carried out, so that the fluorescence of the fluorescent image of output is bright in the case where endoscope is woven in different operating distance with observed group
Angle value is consistent.
The detectable signal method of adjustment of the focusing feedback-type fluorescence navigation endoscopic system, wherein work as focusing module
When using electromotion focusing module, detailed process is as follows by the step S5 to step S7: being controlled by electromotion focusing module internal
The rotation of motor drives camera lens to be moved forward and backward to accurate focusing position；It completes to defocused, electromotion focusing module is by motor internal
Stepping data feedback to fluorescence camera adjust module；Fluorescence camera adjusts module according to the stepping data meter of electromotion focusing module
The adjusting parameter for calculating fluorescence detection device is sent to fluorescence detection device and carries out parameter regulation, so that in endoscope and being observed
Group is woven under different operating distance, and the fluorescent brightness value of the fluorescent image of output is consistent.
The detectable signal method of adjustment of the focusing feedback-type fluorescence navigation endoscopic system, wherein the electric adjustable
The stepping data of burnt module are determined by the stepping number and direction of the internal stepper motor of calculating.
The detectable signal method of adjustment of the focusing feedback-type fluorescence navigation endoscopic system, wherein the step S7
Detailed process is as follows: it is corresponding that fluorescence camera control module according to the stepping data of electromotion focusing module calculates fluorescence camera
Exposure parameter is transferred to fluorescence camera and carries out being exposed fluorescence camera adjusting, so that in endoscope to observed tissue
Under different distance, the fluorescent brightness value of the fluorescent image of output is consistent.
The detectable signal method of adjustment of the focusing feedback-type fluorescence navigation endoscopic system, wherein the step S7
Detailed process is as follows: the fluorescence camera control module calculates in fluorescence camera according to the stepping data of electromotion focusing module
Neutral density gradual filter angle adjusting parameter, angle adjusting parameter is transferred to fluorescence camera in fluorescence camera
Property density wedge filter carry out angular adjustment so that endoscope to be observed tissue different distance under, the fluorescence of output
The fluorescent brightness value of image is consistent.
Beneficial effects of the present invention: the present invention is navigated endoscopic system and detection by providing a kind of focusing feedback-type fluorescence
Signal adjusting method, when endoscope is close to observed tissue, the focus of adjustment object plane imaging, make observed tissue clearly at
Picture carrys out adjustment signal detecting module further according to the range information of focus adjustment, realizes the self-regulating function of signal detection module；Benefit
With the focus control on endoscopic system, the parameter regulation of fluorescence detection device may be implemented, so that under different image-forming ranges,
The gray value of fluorescent image keeps almost the same.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of focusing feedback-type fluorescence navigation endoscopic system in the present invention.
Fig. 2 is the step process of focusing feedback-type fluorescence navigation endoscopic system and detectable signal method of adjustment in the present invention
Figure.
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 focusing feedback-type fluorescence navigates, including light source 1, light guide bundles 2, endoscope 3,
Filter plate 4, lens 5, fluorescence detection device 6, dichroic beamsplitter 7, focusing module 8, white light camera 9, fluorescence detection device tune
Mould preparation block 10；The camera lens 5 is driven by focusing module 8 and is moved；The focusing module 8 connects with fluorescence detection device adjustment module 10
It connects, fluorescence detection device 6 is connect with fluorescence detection device adjustment module 10；
The laser and white light that the light source 1 issues are coupled in endoscope 3 by light guide bundles 2, and laser and white light are before endoscope 3
End-fire goes out and reaches observed tissue, and laser, fluorescence and the visible light by being observed Tissue reflectance are collected by endoscope 3, swashs
Light is filtered out by filter plate 4, and fluorescence and visible light-transmissive filter plate 4 are focused by lens 5；Visible light-transmissive dichroic beamsplitter 7,
Image in white light camera 9；Fluorescence is reflected by dichroic beamsplitter 7, images in fluorescence detection device 6；8 drive lens of focusing module
5 are moved forward and backward to accurate focusing position；It completes to defocused, focus is adjusted distance feedback and arrives fluorescence detection by focusing module 8
Device adjusts module 10；Fluorescence detection device adjustment module 10 calculates the adjusting parameter of fluorescence detection device, is sent to fluorescence
Detection device 6 carries out parameter regulation, so that in the case where endoscope 3 is woven in different operating distance with observed group, the fluorogram of output
The fluorescent brightness value of picture is protected consistent.
Specifically, the fluorescence detection device 6 can use fluorescence camera, and face battle array CCD(CCD is charge-coupled device
The abbreviation of part (charge coupled device)), etc..Fluorescence signal is detected for convenience, it is preferable that described
Fluorescence detection device 6 uses but is not limited to fluorescence camera.
Specifically, the focusing module 8 uses but is not limited to electromotion focusing module, manual focusing module and automatic focusing mould
Block.It is moved in order to facilitate drive lens 5, it is preferable that the focusing module 8 uses electromotion focusing module.
As shown in Fig. 2, a kind of detectable signal adjustment of focusing feedback-type fluorescence navigation endoscopic system as described above
Method, specifically includes the following steps:
Step S1: light source 1 issues exciting light and white light, and laser and white light are transmitted and are coupled in endoscope 3 by light guide bundles 2；
Step S2: white light and laser project from 3 front end of endoscope and reach observed tissue, by being observed swashing for Tissue reflectance
Light, visible light and fluorescence are collected by endoscope 3；
Step S3: laser 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 7 images in white light camera 9；Fluorescence is reflected by dichroic beamsplitter 7, at
As in fluorescence detection device 6；
Step S5: camera lens 5 is driven to be moved forward and backward to accurate focusing position by focusing module 8；
Step S6: completing to defocused, and focus is adjusted distance feedback and adjusts module 10 to fluorescence detection device by focusing module 8；
Step S7: the adjusting parameter that fluorescence detection device adjustment module 10 calculates fluorescence detection device is sent to fluorescence detection dress
Set 6 carry out parameter regulations so that endoscope 3 with observed group be woven in different operating distance under, the fluorescent image of output it is glimmering
Brightness values are consistent.
When focusing module 8 uses electromotion focusing module, when fluorescence detection device 6 is using fluorescence camera, the focusing is anti-
Detailed process is as follows for the detectable signal method of adjustment of feedback type fluorescence navigation endoscopic system: light source 1 issues laser and white light, swashs
Light and white light are transmitted and are coupled in endoscope 3 by light guide bundles 2；White light and laser projected from 3 front end of endoscope and reach by
Tissue is observed, laser, visible light and the fluorescence by being observed Tissue reflectance are collected by endoscope 3；Laser is filtered by filter plate 4
Fall, fluorescence and visible light-transmissive filter plate 4 are focused by camera lens 5；Visible light-transmissive dichroic beamsplitter 7, images in white light camera
9；Fluorescence is reflected by dichroic beamsplitter 7, images in fluorescence camera 6；Turning for motor internal is controlled by electromotion focusing module 8
It is dynamic, drive camera lens 5 to be moved forward and backward to accurate focusing position；It completes to defocused, electromotion focusing module 8 is by the stepping of motor internal
Data d feedback adjusts module 10 to fluorescence camera；Fluorescence camera adjusts module 10 according to the stepping data d of electromotion focusing module 8
The corresponding exposure parameter of fluorescence camera 6 is calculated, fluorescence camera 6 is transferred to and carries out being exposed adjusting to fluorescence camera 6, so that
Under the different distance that endoscope 3 arrives observed tissue, the fluorescent brightness value of the fluorescent image of output is consistent.
Specifically, the stepping data d of the electromotion focusing module 8 be stepping number by calculating internal stepper motor and
Direction determines.
Specifically, observed structure observation identity distance is set with a distance from 3 front end face of endoscope as D, it is glimmering in the step S7
Light camera adjusts module 10 and calculates observed structure observation identity distance according to the stepping data d of 8 motor internal of electromotion focusing module
From 3 front end face distance D of endoscope；Different distance D are chosen, the fluorescent solutions of given dose are imaged in endoscope 3, lead to
The exposure parameter (shutter and gain) for crossing adjustment fluorescence camera 6, so that the gray value of fluorescent image keeps one at different distance D
It causes, in this way, the relationship of exposure parameter (shutter and the gain) and distance D of fluorescence camera 6, such as the following table 1 just can be obtained.
| Distance D | D1 | D2 | D3 | D4 | D5 | D6 | …… |
| 8 exposure parameter of fluorescence camera (shutter, gain) | SF1, GF1 | SF2, GF2 | SF3, GF3 | SF4, GF4 | SF5, GF5 | SF6, GF6 | …… |
The exposure parameter of 1 fluorescence camera 6 of table and the relationship of distance D
In this way, can be obtained the exposure parameter of fluorescence camera 6, fluorescence phase by the stepping data d for reading electromotion focusing module 8
Exposure parameter is transferred to fluorescence camera 6 by machine control module 10, and control fluorescence camera 6 exposes, so that arriving in endoscope 3 observed
Under the different distance of tissue, the fluorescent brightness value of image is consistent.
In the technical program, range information is adjusted by the feedback focus of focusing module 8 to adjust fluorescence detection device 6
Adjusting parameter guarantees that the gray value of output fluorescent image is consistent.
In the technical program, the fluorescence camera control module 10 is in addition to can be according to the number of steps of electromotion focusing module 8
The corresponding exposure parameter of fluorescence camera 6 is calculated according to d, fluorescence camera 6 is transferred to and carries out being exposed adjusting to fluorescence camera 6,
So that the fluorescent brightness value of the fluorescent image of output is consistent under the different distance that endoscope 3 arrives observed tissue；It is described
It is close that fluorescence camera control module 10 can also calculate the neutrality in fluorescence camera 6 according to the stepping data d of electromotion focusing module 8
Gradual filter angle adjusting parameter is spent, angle adjusting parameter is transferred to fluorescence camera 6 to the neutral density in fluorescence camera 6
Gradual filter carries out angular adjustment, so that under the different distance that endoscope 3 arrives observed tissue, the fluorescent image of output
Fluorescent brightness value is consistent.
In the description of this specification, reference term " embodiment ", " certain embodiments ", " schematically implementation
What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the invention.In this specification
In, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
- The endoscopic system 1. a kind of focusing feedback-type fluorescence navigates, which is characterized in that including light source, light guide bundles, endoscope, filtering Piece, lens, fluorescence detection device, dichroic beamsplitter, focusing module, white light camera, fluorescence detection device adjust module；It is described Camera lens is driven by focusing module and is moved；The focusing module and fluorescence detection device adjustment module connects, fluorescence detection device and Fluorescence detection device adjusts module connection；The laser and white light that the light source issues are coupled in endoscope by light guide bundles, and laser and white light are penetrated from endoscope distal end Out and observed tissue is reached, laser, fluorescence and the visible light by being observed Tissue reflectance are collected by endoscope, and laser is filtered Wave plate filters out, and fluorescence and visible light-transmissive filter plate are by lens focus；Visible light-transmissive dichroic beamsplitter, images in white light Camera；Fluorescence is reflected by dichroic beamsplitter, images in fluorescence detection device；Focusing module drive lens are moved forward and backward to accurate Focusing position；It completes to defocused, focus is adjusted distance feedback and adjusts module to fluorescence detection device by focusing module；Fluorescence Detection device adjustment module calculates the adjusting parameter of fluorescence detection device, is sent to fluorescence detection device and carries out parameter regulation, So that the fluorescent brightness value of the fluorescent image of output is protected consistent in the case where endoscope is woven in different operating distance with observed group.
- The endoscopic system 2. focusing feedback-type fluorescence according to claim 1 navigates, which is characterized in that the fluorescence detection Device uses but is not limited to fluorescence camera or fluorescence area array CCD.
- The endoscopic system 3. focusing feedback-type fluorescence according to claim 1 navigates, which is characterized in that the fluorescence detection Device uses fluorescence camera.
- The endoscopic system 4. focusing feedback-type fluorescence according to claim 1 navigates, which is characterized in that the focusing module Using but be not limited to electromotion focusing module or manual focusing module or automatic focusing module.
- The endoscopic system 5. focusing feedback-type fluorescence according to claim 4 navigates, which is characterized in that the focusing module Using electromotion focusing module.
- 6. a kind of detectable signal adjustment of focusing feedback-type fluorescence navigation endoscopic system as described in any one in claim 1-5 Method, which is characterized in that specifically includes the following steps:Step S1: light source issues exciting light and white light, laser and white light are transmitted by light guide bundles and be coupled in endoscope；Step S2: white light and laser project from endoscope distal end and reach observed tissue, by be observed Tissue reflectance laser, Visible light and fluorescence are collected by endoscope；Step S3: laser 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 detection device；Step S5: camera lens is driven to be moved forward and backward to accurate focusing position by focusing module；Step S6: completing to defocused, and focus is adjusted distance feedback and adjusts module to fluorescence detection device by focusing module；Step S7: the adjusting parameter that fluorescence detection device adjustment module calculates fluorescence detection device is sent to fluorescence detection device Parameter regulation is carried out, so that the fluorescence of the fluorescent image of output is bright in the case where endoscope is woven in different operating distance with observed group Angle value is consistent.
- 7. the detectable signal method of adjustment of focusing feedback-type fluorescence navigation endoscopic system according to claim 6, special Sign is that, when focusing module uses electromotion focusing module, detailed process is as follows by the step S5 to step S7: by electronic Focusing module controls the rotation of motor internal, and camera lens is driven to be moved forward and backward to accurate focusing position；It completes to defocused, electric adjustable The stepping data feedback of motor internal to fluorescence camera is adjusted module by burnt module；Fluorescence camera adjusts module according to electromotion focusing The adjusting parameter that the stepping data of module calculate fluorescence detection device is sent to fluorescence detection device and carries out parameter regulation, so that In the case where endoscope is woven in different operating distance with observed group, the fluorescent brightness value of the fluorescent image of output is consistent.
- 8. the detectable signal method of adjustment of focusing feedback-type fluorescence navigation endoscopic system according to claim 6, special Sign is that the stepping data of the electromotion focusing module are determined by the stepping number and direction of the internal stepper motor of calculating 's.
- 9. the detectable signal method of adjustment of focusing feedback-type fluorescence navigation endoscopic system according to claim 6, special Sign is that detailed process is as follows by the step S7: fluorescence camera control module is according to the stepping data meter of electromotion focusing module The corresponding exposure parameter of fluorescence camera is calculated, fluorescence camera is transferred to and carries out being exposed fluorescence camera adjusting, so that inside Under sight glass to the different distance of observed tissue, the fluorescent brightness value of the fluorescent image of output is consistent.
- 10. the detectable signal method of adjustment of focusing feedback-type fluorescence navigation endoscopic system according to claim 6, special Sign is that detailed process is as follows by the step S7: the fluorescence camera control module is according to the number of steps of electromotion focusing module According to the neutral density gradual filter angle adjusting parameter calculated in fluorescence camera, angle adjusting parameter is transferred to fluorescence phase Machine carries out angular adjustment to the neutral density gradual filter in fluorescence camera, so that in endoscope to the difference of observed tissue Under distance, the fluorescent brightness value of the fluorescent image of output is consistent.
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