CN115316919B

CN115316919B - Dual-camera 3D optical fluorescence endoscope imaging system, method and electronic equipment

Info

Publication number: CN115316919B
Application number: CN202211131640.7A
Authority: CN
Inventors: 朱文华; 李娜娜; 麦晓杰; 刘满林; 任均宇; 顾兆泰; 安昕
Original assignee: Guangdong Optomedic Technology Co Ltd
Current assignee: Guangdong Optomedic Technology Co Ltd
Priority date: 2022-09-15
Filing date: 2022-09-15
Publication date: 2023-06-30
Anticipated expiration: 2042-09-15
Also published as: CN115316919A

Abstract

The application provides a two-camera 3D optical fluorescence endoscope camera shooting system, a method and electronic equipment, relates to the technical field of endoscopes, and the technical scheme main points are as follows: an endoscope module including a first optical path and a second optical path, the first optical path and the second optical path receiving mixed light from different viewing angles, the mixed light including white light and fluorescence; the dual-camera module comprises a light splitter, a white light camera and a fluorescent camera, wherein the light splitter receives mixed light of the first light path and the second light path and separates the mixed light to form two paths of white light and two paths of fluorescence, the white light camera receives the two paths of white light, and the fluorescent camera receives the two paths of fluorescence; the image processing module generates a 3D white light image according to the two paths of white light fusion, generates a 3D fluorescent image according to the two paths of fluorescent fusion, and/or generates a 3D mixed image according to the two paths of white light and the two paths of fluorescent fusion. The double-camera 3D optical fluorescence endoscope shooting system and method and the electronic equipment have the advantages of being simple in assembly and high in imaging efficiency.

Description

Dual-camera 3D optical fluorescence endoscope imaging system, method and electronic equipment

Technical Field

The application relates to the technical field of endoscopes, in particular to a dual-camera 3D optical fluorescence endoscope imaging system, a method and electronic equipment.

Background

The medical endoscope solves the 'seeing' obstacle of the minimally invasive surgery, so that the minimally invasive surgery is possible. Medical endoscopes, which are important devices for minimally invasive surgery, are medical devices that integrate optical, ergonomic, precision mechanical, modern electronics, computer software, etc. and are used to provide doctors with images of the internal anatomy of the human body in clinical examinations, diagnoses, treatments, etc.

The traditional endoscope presents an image which is a 2D white light picture, only a plane image can be displayed, the natural depth of an object cannot be presented, and the tumor boundary cannot be accurately positioned and the blood flow perfusion of tissue cannot be observed. In the operation process, the doctor can only judge the depth of field according to the factors of the movement of the mirror body, the size of the anatomical structure, line perspective, texture gradient and the like. This requires a great deal of practice to be skilled.

Compared with the traditional 2D endoscope, the 3D endoscope strengthens the space perception on the visual field of an operator by providing the stereoscopic image, has clearer surgical visual field and more obvious anatomical hierarchy, and overcomes the defects of the 2D endoscope to a certain extent. Based on the three-dimensional effect of the 3D endoscope, the doctor learns the operation faster, the learning difficulty is lower, and the innovation type surgical popularization and large-scale application are facilitated.

Compared with the traditional white light endoscope, the fluorescent endoscope technology has the advantage of wide spectrum imaging, can improve the visibility of focus and a lesion front region, and is mainly used for observing focus or a lesion front region which cannot be effectively captured by a real image. In clinical departments such as general surgery department, hepatobiliary department and gynecology department, the fluorescent endoscope technology can effectively overcome the limitation of observation and operation under a white light endoscope, strengthen the operation visual field and image definition, and facilitate real-time observation and effective diagnosis and treatment, so that the clinical application value and advantages of the fluorescent endoscope in the departments are more obvious.

Existing 3D endoscopes are mainly divided into two types: 1. a 3D electronic endoscope; 2. 3D optical endoscopes.

The image sensor of the 3D electronic endoscope is arranged behind the objective lens and is arranged in the lens tube together with the objective lens. The small size of the image sensor used in 3D electronic endoscopes, which is limited by the volume of the scope, results in poor resolution common to 3D electronic endoscopes. Besides influencing the image sensor, the 3D electronic endoscope is limited by the volume of the lens tube, so that the optical zooming and fluorescence functions are difficult to realize, and the use value of the 3D electronic endoscope is reduced.

The image sensor of the 3D optical endoscope is not arranged in the lens tube, and the volume limitation is less, so that the 3D optical endoscope can realize higher resolution and optical zooming. However, at present, the common mode is to collect the images of the left and right light paths through two image sensors respectively, then to synthesize and transmit the left and right images through an image processing system, and then to output a 3D image by using a 3D display. This approach has two main drawbacks: 1. the two image sensors are high in assembly requirement and are required to be aligned in all directions of up, down, front, back, left and right; 2. because the acquisition time of the left image and the right image is not strictly consistent, the image time sequence is required to be processed in the subsequent image processing process, and the system resource requirement is high.

Accordingly, the existing 3D endoscope technology is still in need of improvement and development.

Disclosure of Invention

The object of the present application is to provide a dual camera 3D optical fluorescence endoscope imaging system, method and electronic device capable of solving at least one of the above problems, which have the advantages of simple assembly and high imaging efficiency.

In a first aspect, the present application provides a dual-camera 3D optical fluorescence endoscope imaging system, which has the following technical scheme:

comprising the following steps:

the endoscope module comprises a first optical path and a second optical path which is the same as the first optical path in structure and is arranged in parallel, wherein the first optical path and the second optical path are used for receiving mixed light from different visual angles, and the mixed light comprises white light and fluorescence;

the dual-camera module comprises a light splitter, a white light camera and a fluorescent camera, wherein the light splitter receives the mixed light from the first light path and the second light path at the same time and separates the mixed light to form two paths of white light in one direction and two paths of fluorescence in the other direction, the white light camera receives the two paths of separated white light, and the fluorescent camera receives the two paths of separated fluorescence;

and the image processing module is used for generating a 3D white light image according to the fusion of two paths of white light in the white light camera, or generating a 3D fluorescent image according to the fusion of two paths of fluorescence in the fluorescent camera, or generating a 3D mixed image according to the fusion of two paths of white light in the white light camera and two paths of fluorescence in the fluorescent camera.

The first light path and the second light path which are identical in structure and are arranged in parallel are used for receiving mixed light containing white light and fluorescence from different visual angles, namely, two paths of mixed light with horizontal parallax are received, the two paths of mixed light contain white light and fluorescence, then the two paths of mixed light are emitted to the light splitter, the light splitter separates the two paths of mixed light, specifically, the light splitter separates the white light and the fluorescence, the two paths of mixed light are separated into two paths of white light and two paths of fluorescence, the two paths of white light are emitted to one direction, the two paths of fluorescence are emitted to the other direction, the two paths of white light have horizontal parallax as well as the two paths of mixed light, the two paths of fluorescence are emitted to the fluorescent camera, then the white light camera and the fluorescent camera convert light signals into electric signals and then transmit the electric signals to the image processing module, and the image processing module generates a 3D white light image according to the fusion of the two paths of white light and/or generates a 3D fluorescent image according to the fusion of the two paths of white light and the two paths of fluorescence, and the two paths of fluorescence are emitted to the other direction of fluorescence.

Further, in the present application, a focusing ring is provided between the beam splitter and the white light camera and/or the fluorescent camera.

When the white light and the fluorescence do not have a confocal plane, the position of an imaging plane of the white light or the fluorescence can be adjusted through the focusing ring, so that the white light can be clearly imaged on a white light camera finally, and the fluorescence can be clearly imaged on a fluorescence camera.

Further, in the present application, a zoom adapter lens is further provided between the endoscope module and the dual camera module.

The zoom adapter lens can be used for replacing zoom lenses with different focal sections according to requirements, so that the zoom adapter lens has zooming capability and meets various requirements under different conditions.

Further, in the application, the endoscope device further comprises a light source module, wherein the light source module comprises a white light source and an infrared light source, the white light source and the infrared light source are connected with a light guide beam, and the light guide beam is connected to the endoscope module.

Further, in the present application, the first light path is composed of a first lens, a second lens, a third lens, a diaphragm, a fourth lens, a fifth lens and a sixth lens, which are sequentially arranged along an object plane to an image plane;

the first lens is a convex surface on one side close to the object plane, and is a concave surface on one side close to the image plane;

the second lens is concave on one side close to the object plane, and is convex on one side close to the image plane;

the third lens is concave on one side close to the object plane, and is concave on one side close to the image plane;

the side, close to the object plane, of the fourth lens is a convex surface, and the side, close to the image plane, of the fourth lens is a concave surface;

the fifth lens is a convex surface at one side close to the object plane, and is a convex surface at one side close to the image plane;

the sixth lens is a convex surface on one side close to the object plane, and is a convex surface on one side close to the image plane.

Further, in the present application, the second lens and the third lens are double cemented lenses, and the fourth lens and the fifth lens are double cemented lenses.

Further, in the application, the radius of the first lens on the side close to the object plane is 8.75mm, the radius of the first lens on the side close to the image plane is 2.11mm, and the thickness of the first lens is 0.8mm;

the radius of the second lens close to the object plane is-10.19 mm, the radius of the second lens close to the image plane is-2.48 mm, and the thickness of the second lens is 3.5mm;

the radius of the third lens close to the object plane is-2.48 mm, the radius of the third lens close to the image plane is 18.64mm, and the thickness of the third lens is 2mm;

the radius of the fourth lens close to the object plane is 50.83mm, the radius of the fourth lens close to the image plane is 5.73mm, and the thickness of the fourth lens is 4mm;

the radius of the fifth lens close to the object plane is 5.73mm, the radius of the fifth lens close to the image plane is-3.84 mm, and the thickness of the fifth lens is 2mm;

the radius of the sixth lens is 8.06mm at the side close to the object plane, the radius of the sixth lens at the side close to the image plane is-709.88 mm, and the thickness of the sixth lens is 2.5mm;

the interval of the first lens and the second lens is 1mm, the diaphragm is arranged between the third lens and the fourth lens and is respectively contacted with the third lens and the fourth lens, the thickness of the diaphragm is 0.5mm, and the interval of the fifth lens and the sixth lens is 0.4mm.

Further, in the present application, the material of the first lens is H-ZLAF75, the material of the second lens is H-ZF4, the material of the third lens is H-FK61, the material of the fourth lens is H-ZF62, the material of the fifth lens is H-ZPK5, and the material of the sixth lens is H-LAF50.

In a second aspect, the present application further provides a dual camera 3D optical fluorescence endoscope imaging method, including:

acquiring two paths of mixed light with different visual angles, wherein the mixed light comprises white light and fluorescence;

separating the mixed light of two different visual angles to form two paths of white light in one direction and two paths of fluorescence in the other direction;

generating a 3D white light image according to the two paths of separated white light fusion, or generating a 3D fluorescent image according to the two paths of separated fluorescent fusion, or generating a 3D mixed image according to the two paths of separated white light and the two paths of separated fluorescent fusion.

In a third aspect, there is also provided an electronic device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, perform the steps of the above method.

As can be seen from the above, according to the dual-camera 3D optical fluorescence endoscope imaging system, the dual-camera 3D optical fluorescence endoscope imaging method and the electronic device provided by the present application, the first optical path and the second optical path which are identical in structure and are arranged in parallel are used for receiving the mixed light containing the white light and the fluorescence from different viewing angles, that is, the two mixed light is received, and both the two mixed light contain the white light and the fluorescence, then the two mixed light is emitted to the beam splitter, the beam splitter separates the two mixed light, specifically, the beam splitter separates the white light from the fluorescence, the two mixed light is separated into two white light and two fluorescence, the two white light is emitted to one direction, the two fluorescence is emitted to the other direction, wherein the two white light has the same horizontal parallax as the two mixed light, the two fluorescence has the same horizontal parallax as the two mixed light, the two white light is emitted to the white light camera, then the white light camera and the fluorescence camera convert the optical signals into the white light and then transmit the white light to the image processing module, and the image processing module generates the 3D image according to the two white light and/or the two fluorescence image fusion generating method and/or the two image fusion method according to the two fluorescent light fusion effect, and the image processing module generates the image fusion method and the image fusion method is simple and has the high imaging effect.

Drawings

Fig. 1 is a schematic structural diagram of a dual-camera 3D optical fluorescence endoscope imaging system provided in the present application.

Fig. 2 is a schematic structural diagram of a dual-camera 3D optical fluorescence endoscope imaging system provided in the present application.

Fig. 3 is a schematic side view of an endoscope module provided herein.

Fig. 4 is a schematic structural view of a first optical path and a second optical path of an endoscope module provided in the present application.

Fig. 5 is a graph of MTF for a first optical path and a second optical path as used herein.

Fig. 6 is a schematic structural diagram of an electronic device provided in the present application.

In the figure: 100. an endoscope module; 200. a dual camera module; 300. an image processing module; 400. a zoom adapter lens; 500. a light source module; 110. a first optical path; 120. a second light path; 130. a light guide beam; 140. a glass protective sheet; 111. a first lens; 112. a second lens; 113. a third lens; 114. a fourth lens; 115. a fifth lens; 116. a sixth lens; 117. a diaphragm; 210. a beam splitter; 220. a white light camera; 230. a fluorescence camera; 240. a focusing ring; 610. a processor; 620. a memory.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. The components of the present application, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1, a dual-camera 3D optical fluorescence endoscope imaging system specifically includes:

the endoscope module 100 includes a first optical path 110 and a second optical path 120 having the same structure as the first optical path 110 and arranged in parallel, wherein the first optical path 110 and the second optical path 120 are used for receiving mixed light from different angles of view, and the mixed light includes white light and fluorescence;

the dual camera module 200 including a beam splitter 210, a white light camera 220, and a fluorescent camera 230, the beam splitter 210 receiving the mixed light from the first and second

light paths

110 and 120 at the same time and separating the mixed light for forming two paths of white light in one direction and two paths of fluorescent light in the other direction, the white light camera 220 receiving the separated two paths of white light, the fluorescent camera 230 receiving the separated two paths of fluorescent light;

specifically, the white light camera 220 referred to herein may refer to a single image sensor, i.e., CMOS, and the fluorescent camera 230 may also refer to a single image sensor;

the image processing module 300 generates a 3D white light image according to two white light fusions in the white light camera 220 and/or generates a 3D fluorescence image according to two fluorescence fusions in the fluorescence camera 230 and/or generates a 3D mixed image according to two white light fusions in the white light camera 220 and two fluorescence fusions in the fluorescence camera 230.

The first light path 110 and the second light path 120 which are identical in structure and are arranged in parallel are used for receiving mixed light containing white light and fluorescence from different visual angles, namely, two mixed light with horizontal parallax is received, the two mixed light contains white light and fluorescence, then the two mixed light is emitted to the light splitter 210, the light splitter 210 separates the two mixed light, specifically, the light splitter 210 separates the white light and the fluorescence, the two mixed light is separated into two white light and two fluorescence, the two white light is emitted to one direction, the two fluorescence is emitted to the other direction, the two white light has horizontal parallax as well as the two mixed light, the two fluorescence has horizontal parallax as well as the two mixed light, the two white light is emitted to the fluorescent camera 220, the two fluorescence is emitted to the fluorescent camera 230, then the white light camera 220 converts light signals into electric signals and then transmits the electric signals to the image processing module 300, and the image processing module 300 generates a 3D white light image according to the two white light fusion and/or generates a 3D fluorescent image according to the two fluorescence fusion and/or generates a two fluorescent image according to the two fluorescence fusion and/or the two fluorescence fusion and the two fluorescence image has the two fusion efficiency, therefore the image processing module has the advantages of simple imaging and high imaging efficiency.

Specifically, in the conventional scheme, when 3D imaging of white light or 3D imaging of fluorescence is separately implemented, two image sensors are required to receive two optical signals having horizontal parallax, however, for generating a 3D image using two image sensors, there is a problem that image data is not synchronized, when the image data is not synchronized, time sequences of the image data need to be processed, high system computing resources are required to be occupied, resulting in low production efficiency, and if the problem is solved, the two image sensors need to be aligned strictly, which brings high difficulty to assembly and debugging.

Through the scheme of the application, 3D imaging can be realized only through one camera, 3D imaging of white light can be realized only by using the white light camera 220, 3D imaging of fluorescence can be realized only by using the fluorescence camera 230, and 3D mixed imaging of white light and fluorescence can be realized when the white light camera 220 and the fluorescence camera 230 are simultaneously used, so that better imaging is obtained, and because the 3D mixed image can be obtained through superposition of a 3D white light image and a 3D fluorescence image, the mounting of two image sensors is not too high, and the device has the advantage of simple assembly.

Specifically, the dual-camera 3D optical fluorescence endoscope camera system provided by the present application further includes a controller, the controller may control the image processing module 300 to fuse and generate a 3D white light image only according to two paths of white light irradiated on one image sensor, the controller may control the image processing module 300 to fuse and generate a 3D fluorescence image only according to two paths of fluorescence irradiated on one image sensor, and the controller may also control the image processing module 300 to fuse and generate a 3D mixed image simultaneously according to two paths of white light irradiated on one image sensor and two paths of fluorescence irradiated on one image sensor.

In some embodiments, the system further comprises a detection module, the detection module is used for detecting the brightness of the white light and the fluorescence, and the controller controls the image processing module 300 to correspondingly fuse and generate a 3D white light image and/or a 3D fluorescence image and/or a 3D mixed image according to the brightness of the white light and the fluorescence.

Specifically, when the white light brightness and the fluorescence brightness are both greater than the preset values, the controller controls the image processing module 300 to fuse and generate the 3D mixed image, because when the white light brightness is too low or the fluorescence brightness is too low, the fused and generated 3D mixed image may have a poor display effect, and the white light or the fluorescence with too low brightness may cause interference. Therefore, when the brightness of the white light is lower than the preset value and the brightness of the fluorescence is not lower than the preset value, the controller may control the image processing module 300 to generate a 3D fluorescence image according to fluorescence fusion; when the fluorescence brightness is lower than the preset value and the white light brightness is not lower than the preset value, the controller may control the image processing module 300 to generate the 3D white light image according to the white light fusion.

In addition, the display module is further included, the image processing module 300 outputs the 3D white light image and/or the 3D fluorescent image and/or the 3D mixed image generated by fusion to the display module for display, specifically, the display module may be composed of three display screens, and when the image processing module 300 only generates the 3D white light image, the 3D white light image may be displayed on the three display screens; when the image processing module 300 generates only the 3D fluoroscopic image, the 3D fluoroscopic image may be displayed on three display screens; when the image processing module 300 generates the 3D mixed image, the 3D white light image, the 3D fluorescent image, and the 3D mixed image may be displayed on three display screens, respectively.

Further, referring to fig. 2, in the present application, a focusing ring 240 is provided between the beam splitter 210 and the white light camera 220 and/or the fluorescent camera 230.

With the above arrangement, when the white light and the fluorescent light do not have a confocal plane, that is, when the focus of the white light or the fluorescent light does not fall on the photosurface of the camera, the position of the imaging surface of the white light or the fluorescent light can be adjusted by the focusing ring 240, so that the white light can be clearly imaged on the white light camera 220, and the fluorescent light can be clearly imaged on the fluorescent light camera 230.

Further, in the present application, a zoom adapter lens 400 is also provided between the endoscope module 100 and the dual camera module 200.

Through the above arrangement, the zoom adapter lens 400 can be used to replace zoom lenses with different focal lengths according to requirements, so that the zoom adapter lens has zooming capability and meets various requirements under different conditions.

Specifically, the zoom adapter lens 400 is composed of two optical path structures having the same structure.

Further, referring to fig. 2 and 3, in the present application, a light source module 500 is further included, where the light source module 500 includes a white light source and an infrared light source, and the white light source and the infrared light source are connected with a light guide beam 130, and the light guide beam 130 is connected to the endoscope module 100.

With the above arrangement, light from the white light source and light from the infrared light source are directed by the light guide 130 to impinge on the tissue surface along the endoscope module 100, such that the tissue reflects white light and fluorescence, and the reflected white light and fluorescence can be received by the endoscope module 100.

Further, referring to fig. 4, in the present application, the first optical path 110 is composed of a first lens 111, a second lens 112, a third lens 113, a stop 117, a fourth lens 114, a fifth lens 115, and a sixth lens 116, which are sequentially arranged along an object plane to an image plane;

the first lens 111 is convex on the side close to the object plane, and is concave on the side close to the image plane;

the second lens 112 is concave on the side close to the object plane and is convex on the side close to the image plane;

the third lens 113 has a concave surface on the side close to the object plane and a concave surface on the side close to the image plane;

the fourth lens element 114 has a convex surface on a side close to the object plane and a concave surface on a side close to the image plane;

the fifth lens element 115 has a convex surface on a side close to the object plane and a convex surface on a side close to the image plane;

the sixth lens element 116 has a convex surface on the object plane side and a convex surface on the image plane side.

Specifically, the second lens 112 and the third lens 113 are cemented lenses, and the fourth lens 114 and the fifth lens 115 are cemented lenses.

The second lens 112 and the third lens 113 are made into a double-cemented lens, and the fourth lens 114 and the fifth lens 115 are made into a double-cemented lens, which can be used for minimizing chromatic aberration or eliminating chromatic aberration, and the double-cemented lens can improve image quality and reduce reflection loss of light energy, thereby improving the definition of lens imaging. In addition, the use of the double-cemented lens can simplify the assembly procedure in the lens manufacturing process, can help to eliminate the influence of chromatic aberration, reduce curvature of field and correct coma; in the application, partial chromatic aberration can be remained by using the two groups of double-cemented lenses to balance the overall chromatic aberration of the optical system, and the gluing of the lenses omits the air interval between the two lenses, so that the optical system is integrally compact, and the miniaturization requirement of the endoscope is met.

In some preferred embodiments, the radius of the first lens 111 near the object plane is 8.75mm, the radius near the image plane is 2.11mm, and the thickness is 0.8mm;

the radius of the second lens 112 near the object plane is-10.19 mm, the radius near the image plane is-2.48 mm, and the thickness is 3.5mm;

the radius of the third lens 113 near the object plane is-2.48 mm, the radius near the image plane is 18.64mm, and the thickness is 2mm;

the radius of the fourth lens 114 near the object plane is 50.83mm, the radius near the image plane is 5.73mm, and the thickness is 4mm;

the radius of the fifth lens 115 near the object plane is 5.73mm, the radius near the image plane is-3.84 mm, and the thickness is 2mm;

the radius of the sixth lens 116 near the object plane is 8.06mm, the radius near the image plane is-709.88 mm, and the thickness is 2.5mm;

the first lens 111 and the second lens 112 are spaced apart by 1mm, the diaphragm 117 is disposed between the third lens 113 and the fourth lens 114 and is in contact with the third lens 113 and the fourth lens 114, respectively, the diaphragm 117 has a thickness of 0.5mm, and the fifth lens 115 and the sixth lens 116 are spaced apart by 0.4mm.

The first lens 111 is H-ZLAF75, the second lens 112 is H-ZF4, the third lens 113 is H-FK61, the fourth lens 114 is H-ZF62, the fifth lens 115 is H-ZPK5, and the sixth lens 116 is H-LAF50.

In addition, a glass protection sheet 140 is further arranged on one side, close to the object plane, of the first optical path 110 and the second optical path 120, and the glass protection sheet 140 is made of AL2O3.

With the above arrangement, excellent imaging effect can be obtained while ensuring that the size of the first optical path 110 is smaller than 20mm, and the MTF curve thereof is as shown in fig. 5, which satisfies the requirement of the special application scene of the endoscope.

separating the two mixed lights with different visual angles to form two white lights in one direction and two fluorescent lights in the other direction;

and generating a 3D white light image according to the two paths of separated white light fusion, or generating a 3D fluorescent image according to the two paths of separated fluorescent fusion, or generating a 3D mixed image according to the two paths of separated white light and the two paths of separated fluorescent fusion.

The two paths of mixed light with horizontal parallax are received, the two paths of mixed light comprise white light and fluorescence, then the two paths of mixed light are separated, specifically, the white light and the fluorescence are separated, the two paths of mixed light are separated into the two paths of white light and the two paths of fluorescence, the two paths of white light are emitted to one direction, the two paths of fluorescence are emitted to the other direction, the two paths of white light and the two paths of mixed light have horizontal parallax, the two paths of fluorescence also have horizontal parallax as the two paths of mixed light, then a 3D white light image is generated according to the fusion of the two paths of white light and/or a 3D mixed image is generated according to the fusion of the two paths of fluorescence, specifically, 3D imaging can be realized only by one camera, 3D imaging of white light can be realized only by using a white light camera, 3D imaging of fluorescence can be realized only by using a fluorescence camera, 3D mixed imaging of white light and fluorescence can be realized when the white light camera and the fluorescence camera are simultaneously used, better imaging can be obtained, and the 3D mixed imaging of white light and fluorescence can be realized, and the 3D mixed image can be obtained through the two paths of fluorescence camera and the two paths of fluorescence fusion and/or the two paths of fluorescence fusion generating 3D mixed image and/3D image according to the fusion of the two paths of white light and the fluorescence fusion.

In a third aspect, referring to fig. 6, the present application also provides an electronic device comprising a processor 610 and a memory 620, the memory 620 storing computer readable instructions which, when executed by the processor 610, perform the steps in the above method.

Through the foregoing technical solutions, the processor 610 and the memory 620 are interconnected and communicate with each other through a communication bus and/or other form of connection mechanism (not shown), where the memory 620 stores a computer program executable by the processor 610, and when the electronic device is running, the processor 610 executes the computer program to perform the method in any of the alternative implementations of the foregoing embodiments when executed, to implement the following functions: acquiring two paths of mixed light with different visual angles, wherein the mixed light comprises white light and fluorescence; separating the two mixed lights with different visual angles to form two white lights in one direction and two fluorescent lights in the other direction; and generating a 3D white light image according to the two paths of separated white light fusion, or generating a 3D fluorescent image according to the two paths of separated fluorescent fusion, or generating a 3D mixed image according to the two paths of separated white light and the two paths of separated fluorescent fusion.

In a fourth aspect, the present application also provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above method.

By the above technical solution, the computer program, when executed by the processor, performs the method in any of the alternative implementations of the above embodiments to implement the following functions: acquiring two paths of mixed light with different visual angles, wherein the mixed light comprises white light and fluorescence; separating the two mixed lights with different visual angles to form two white lights in one direction and two fluorescent lights in the other direction; and generating a 3D white light image according to the two paths of separated white light fusion, or generating a 3D fluorescent image according to the two paths of separated fluorescent fusion, or generating a 3D mixed image according to the two paths of separated white light and the two paths of separated fluorescent fusion.

The storage medium may be implemented by any type of volatile or nonvolatile Memory device or combination thereof, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.

The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A dual camera 3D optical fluorescence endoscope camera system, comprising:

an endoscope module (100) comprising a first optical path (110) and a second optical path (120) which is identical in structure to the first optical path (110) and is arranged in parallel, wherein the first optical path (110) and the second optical path (120) are used for receiving mixed light from different visual angles, and the mixed light comprises white light and fluorescence;

a dual camera module (200) including a beam splitter (210), a white light camera (220), and a fluorescent camera (230), the beam splitter (210) receiving the mixed light from the first optical path (110) and the second optical path (120) at the same time and separating the mixed light for forming two paths of white light in one direction and two paths of fluorescent light in the other direction, the white light camera (220) receiving the separated two paths of white light, the fluorescent camera (230) receiving the separated two paths of fluorescent light;

the image processing module (300) generates a 3D white light image according to two paths of white light fusion in the white light camera (220) and/or generates a 3D fluorescent image according to two paths of fluorescent fusion in the fluorescent camera (230) and/or generates a 3D mixed image according to two paths of white light in the white light camera (220) and two paths of fluorescent fusion in the fluorescent camera (230);

the first light path (110) is composed of a first lens (111), a second lens (112), a third lens (113), a diaphragm (117), a fourth lens (114), a fifth lens (115) and a sixth lens (116) which are sequentially arranged along the object plane to the image plane;

the first lens (111) is a convex surface at one side close to the object plane and is a concave surface at one side close to the image plane;

the side, close to the object plane, of the second lens (112) is a concave surface, and the side, close to the image plane, is a convex surface;

the third lens (113) is a concave surface at one side close to the object plane and a concave surface at one side close to the image plane;

the side, close to the object plane, of the fourth lens (114) is a convex surface, and the side, close to the image plane, of the fourth lens is a concave surface;

the side, close to the object plane, of the fifth lens (115) is a convex surface, and the side, close to the image plane, of the fifth lens is a convex surface;

the sixth lens (116) is a convex surface at one side close to the object plane and a convex surface at one side close to the image plane;

the second lens (112) and the third lens (113) are double cemented lenses, and the fourth lens (114) and the fifth lens (115) are double cemented lenses;

the radius of the first lens (111) close to the object plane is 8.75mm, the radius of the first lens close to the image plane is 2.11mm, and the thickness of the first lens is 0.8mm;

the radius of the second lens (112) close to the object plane is-10.19 mm, the radius of the second lens close to the image plane is-2.48 mm, and the thickness of the second lens is 3.5mm;

the radius of the third lens (113) close to the object plane is-2.48 mm, the radius of the third lens close to the image plane is 18.64mm, and the thickness of the third lens is 2mm;

the radius of the side, close to the object plane, of the fourth lens (114) is 50.83mm, the radius of the side, close to the image plane, is 5.73mm, and the thickness of the fourth lens is 4mm;

the radius of the fifth lens (115) close to the object plane is 5.73mm, the radius of the fifth lens close to the image plane is-3.84 mm, and the thickness of the fifth lens is 2mm;

the radius of the sixth lens (116) close to the object plane is 8.06mm, the radius of the sixth lens close to the image plane is-709.88 mm, and the thickness of the sixth lens is 2.5mm;

the interval between the first lens (111) and the second lens (112) is 1mm, the diaphragm (117) is arranged between the third lens (113) and the fourth lens (114) and is respectively contacted with the third lens (113) and the fourth lens (114), the thickness of the diaphragm (117) is 0.5mm, and the interval between the fifth lens (115) and the sixth lens (116) is 0.4mm.

2. The dual camera 3D optical fluorescence endoscope camera system of claim 1, wherein a focusing ring (240) is arranged between the beam splitter (210) and the white light camera (220) and/or the fluorescence camera (230).

3. The dual camera 3D optical fluorescence endoscope camera system of claim 1, further characterized in that a zoom adapter lens (400) is provided between the endoscope module (100) and the dual camera module (200).

4. The dual camera 3D optical fluorescence endoscope camera system of claim 1, further comprising a light source module (500), the light source module (500) comprising a white light source and an infrared light source, the white light source and the infrared light source being connected with a light guide beam (130), the light guide beam (130) being connected to the endoscope module (100).

5. The dual camera 3D optical fluorescence endoscope imaging system according to claim 1, wherein the first lens (111) is H-ZLAF75, the second lens (112) is H-ZF4, the third lens (113) is H-FK61, the fourth lens (114) is H-ZF62, the fifth lens (115) is H-ZPK5, and the sixth lens (116) is H-LAF50.