CN117257203A - Endoscopic system and imaging method of endoscopic system - Google Patents
Endoscopic system and imaging method of endoscopic system Download PDFInfo
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- CN117257203A CN117257203A CN202210676259.2A CN202210676259A CN117257203A CN 117257203 A CN117257203 A CN 117257203A CN 202210676259 A CN202210676259 A CN 202210676259A CN 117257203 A CN117257203 A CN 117257203A
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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
- A61B1/00002—Operational features of endoscopes
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- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
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- 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
- A61B1/043—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 for fluorescence imaging
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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
- A61B1/046—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 for infrared imaging
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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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Abstract
The invention provides an endoscopic system and an imaging method of the endoscopic system. The endoscopic system comprises: a hard tube endoscope; a light source module connected with the hard tube endoscope for emitting light of various wave bands to the hard tube endoscope; the light splitting module is used for reflecting and/or transmitting light collected by the hard tube type endoscope; the near infrared one-area acquisition module receives the light reflected or transmitted by the light splitting module and performs imaging; the near infrared two-region acquisition module receives the light reflected or transmitted by the light splitting module and performs imaging; the control module is used for acquiring images generated by the near infrared first-region acquisition module, the near infrared second-region acquisition module and the visible light acquisition module and processing and displaying the images. The invention solves the problems of low penetration depth, low signal to noise ratio and strong autofluorescence signal interference of the endoscopic system in the prior art.
Description
Technical Field
The invention relates to the technical field of fluorescent molecular imaging equipment, in particular to an endoscopic system and an imaging method of the endoscopic system.
Background
The mortality rate of cancers is increased year by year, and cancers are one of the key points and difficulties that are difficult to overcome in the current medical field. Due to the pathological specificity of cancer, the cancer can rapidly spread and develop in human body, has lower cure rate in late stage, is easy to metastasize, and simultaneously easily causes other complications, and has higher death rate. Therefore, early diagnosis and early treatment are important measures for improving survival rate of cancer patients, and how to quickly diagnose the cancer in early stage is also the key to accurate treatment time.
At present, the optical endoscope system has the advantages of high resolution, small damage, high imaging speed and the like, and is an important medical means for early discovery, diagnosis and treatment of cancers. The commonly used endoscopic system examination generally adopts a white light endoscope, the imaging mode is a white light imaging mode based on anatomical structure change, diagnosis is mainly carried out by observing the microstructure, the microvascular morphology, the color change and the like of the mucosal surface, the imaging definition of the mucosa surface structure and the vascular morphology is limited, the targeting recognition capability of tumors is not possessed, the recognition and the judgment of lesion sites are not facilitated, the risks of misjudgment of the lesion sites and missed detection of the micro lesions are easy to appear, and the treatment opportunity is delayed.
In order to improve the targeting recognition capability of tumors, fluorescent molecular imaging can be utilized in an endoscopic system, and a targeting fluorescent probe for fluorescent molecular imaging is utilized to realize high-specificity marking on a specific molecular target, so that the kit is high in sensitivity and specificity and suitable for early diagnosis of tumors. The fluorescent molecular imaging combined with the endoscopic system can assist doctors in finding tiny tumor focus and judging tumor boundaries in the tumor excision process. The existing fluorescence imaging system usually performs imaging in the wave band range of 400-900nm (visible light+near infrared first area light), but in clinical application, absorption and scattering caused by various biomolecules (including hemoglobin, fat and water) are concentrated in the visible light (400-700 nm) and near infrared first area (700-900 nm), and near infrared first area fluorescence imaging has the problems of autofluorescence intensity, low penetration depth, low signal to noise ratio, easiness in signal interference and the like, and can cause false positive nodules, and the condition of missed diagnosis or misdiagnosis is easy to cause.
That is, the endoscope system in the prior art has the problems of low penetration depth, low signal to noise ratio and strong autofluorescence signal interference.
Disclosure of Invention
The invention mainly aims to provide an endoscopic system and an imaging method of the endoscopic system, which are used for solving the problems of low penetration depth, low signal to noise ratio and strong autofluorescence signal interference of the endoscopic system in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided an endoscopic system comprising: a hard tube endoscope; a light source module connected with the hard tube endoscope for emitting light of various wave bands to the hard tube endoscope; the light splitting module is used for reflecting and/or transmitting light collected by the hard tube type endoscope; the near infrared one-area acquisition module receives the light reflected or transmitted by the light splitting module and performs imaging; the near infrared two-region acquisition module receives the light reflected or transmitted by the light splitting module and performs imaging; the visible light acquisition module is used for receiving the light reflected or transmitted by the light splitting module and imaging; the control module is electrically connected with the near infrared first-region acquisition module, the near infrared second-region acquisition module and the visible light acquisition module, and is used for acquiring images generated by the near infrared first-region acquisition module, the near infrared second-region acquisition module and the visible light acquisition module and processing and displaying the images.
Further, the plurality of light splitting modules are arranged, and at least one light splitting module is arranged between the hard tube endoscope and the near infrared two-region acquisition module, so that the near infrared two-region acquisition module receives light transmitted by the light splitting module; at least one other light splitting module is arranged between the visible light acquisition module and the near infrared first-area acquisition module, so that one of the visible light acquisition module and the near infrared first-area acquisition module receives the light reflected by the light splitting module, and the other receives the light transmitted by the light splitting module.
Further, the plurality of light splitting modules comprise a first light splitting module and a second light splitting module, and the near infrared two-region acquisition module is positioned on a transmission path of the first light splitting module; the second light splitting module is positioned on the reflection path of the first light splitting module, the visible light acquisition module is positioned on the reflection path of the second light splitting module, and the near infrared one-region acquisition module is positioned on the transmission path of the second light splitting module.
Further, the light source module comprises a white light source and a multiband light source, the band range of the multiband light source can be set selectively, and the multiband light source can emit near infrared light at least.
Further, the multi-band light source comprises: a near infrared chip; the optical filter is a narrow-band optical filter; and the coupling mirror is positioned at one side of the optical filter, which is far away from the near infrared chip, and is used for coupling the light passing through the optical filter into the optical fiber and then entering the hard tube type endoscope.
Further, the endoscopic system further comprises a plurality of achromatic amplifying modules, at least one achromatic amplifying module is located on the light incident side of the near infrared two-region collecting module, and at least one achromatic amplifying module is located on the light incident sides of the near infrared one-region collecting module and the visible light collecting module.
Further, the achromatic magnification module sequentially comprises a first lens, a second lens, a third lens and a fourth lens from the object side to the image side, wherein the second lens and the fourth lens are two cemented lenses.
Further, the near infrared first region acquisition module comprises: a narrow band filter; near infrared one-area imaging lens; the near-infrared one-area fluorescent camera is used for collecting light passing through the narrow-band optical filter and focusing the light on an imaging target surface of the near-infrared one-area fluorescent camera, and the near-infrared one-area fluorescent camera is used for converting optical signals into electric signals for imaging display.
Further, the near infrared two-region acquisition module comprises: a long-pass filter; near infrared two-region imaging lens; the near infrared two-region fluorescent camera is used for collecting light passing through the long-pass filter and focusing the light on an imaging target surface of the near infrared two-region fluorescent camera, and the near infrared two-region fluorescent camera is used for converting optical signals into electric signals for imaging display.
Further, the hard tube endoscope includes at least an optical lens group composed of a plurality of lenses.
Further, the endoscopic system also comprises a coupling lens and an image transmission optical fiber, wherein the coupling lens is connected with the image transmission optical fiber, and the coupling lens and the image transmission optical fiber are positioned between the light splitting module and the near infrared two-region acquisition module, so that light transmitted by the light splitting module is coupled into the image transmission optical fiber through the coupling lens for transmission, and then is transmitted to the near infrared two-region acquisition module; or the coupling lens and the image transmission optical fiber are positioned between the hard tube type endoscope and the light splitting module, and the light collected by the hard tube type endoscope is coupled into the image transmission optical fiber through the coupling lens for transmission, and then is transmitted to the light splitting module.
According to another aspect of the present invention, there is provided an imaging method of an endoscope system, imaging using the endoscope system, including: step S1: placing a detection end of a hard tube endoscope of an endoscope system in a region to be detected; step S2: adjusting the band range of a light source module of the endoscopic system to be matched with the excitation band corresponding to the fluorescent reagent in the area to be detected, and irradiating the area to be detected; step S3: the reflected light and fluorescence emitted light of the region to be detected are transmitted to a light splitting module of the endoscope system after passing through the hard tube endoscope, and are divided into visible light, near infrared first-area light and near infrared second-area light through the light splitting module; step S4: the near infrared light in the second region sequentially passes through a coupling lens and an image transmission optical fiber of the endoscope system to enter the near infrared acquisition module in the second region, and the visible light and the near infrared light in the first region correspondingly enter the visible light acquisition module and the near infrared acquisition module in the first region; step S5: the control module of the endoscope system transmits signals to the visible light acquisition module, the near infrared first-region acquisition module and the near infrared second-region acquisition module, and correspondingly acquires a visible light image, a near infrared first-region fluorescent image and a near infrared second-region fluorescent image; step S6: and carrying out pretreatment of image denoising treatment and image enhancement treatment on the visible light image, the near infrared first-region fluorescent image and the near infrared second-region fluorescent image, and then carrying out pseudo-color treatment and image fusion treatment on the pretreated images, thereby obtaining a fusion image.
Further, in the imaging method, a coupling lens and an image transmission optical fiber of the endoscopic system are positioned between the light splitting module and the near infrared two-region acquisition module, and light transmitted by the light splitting module is coupled into the image transmission optical fiber through the coupling lens for transmission, and then is transmitted to the near infrared two-region acquisition module.
According to another aspect of the present invention, there is provided an imaging method of an endoscope system, imaging using the endoscope system, including: step S1: placing a detection end of a hard tube endoscope of an endoscope system in a region to be detected; step S2: adjusting the band range of a light source module of the endoscopic system to be matched with the excitation band corresponding to the fluorescent reagent in the area to be detected, and irradiating the area to be detected; step S3: the reflected light and the fluorescence emission light of the region to be detected are transmitted to a coupling lens and an image transmission optical fiber of the endoscope system after passing through the hard tube endoscope, and are transmitted to a light splitting module of the endoscope system through the coupling lens and the image transmission optical fiber, and the light splitting module divides the reflected light and the fluorescence emission light into visible light, near infrared first-area light and near infrared second-area light; step S4: the near infrared light in the second region enters the near infrared acquisition module, and the visible light and the near infrared light in the first region correspondingly enter the visible light acquisition module and the near infrared acquisition module; step S5: the control module of the endoscope system transmits signals to the visible light acquisition module, the near infrared first-region acquisition module and the near infrared second-region acquisition module, and correspondingly acquires a visible light image, a near infrared first-region fluorescent image and a near infrared second-region fluorescent image; step S6: and carrying out pretreatment of image denoising treatment and image enhancement treatment on the visible light image, the near infrared first-region fluorescent image and the near infrared second-region fluorescent image, and then carrying out pseudo-color treatment and image fusion treatment on the pretreated images, thereby obtaining a fusion image.
Further, in the imaging method, the coupling lens and the image transmission optical fiber of the endoscope system are positioned between the hard tube type endoscope and the light splitting module, and light collected by the hard tube type endoscope is coupled into the image transmission optical fiber through the coupling lens for transmission, and then is transmitted to the light splitting module.
By applying the technical scheme of the invention, the endoscope system comprises a hard tube endoscope, a light source module, a light splitting module, a near infrared first-area acquisition module, a near infrared second-area acquisition module, a visible light acquisition module and a control module. The light source module is connected with the hard tube type endoscope and is used for emitting light with various wave bands to the hard tube type endoscope; the light splitting module is used for reflecting and/or transmitting light collected by the hard tube type endoscope; the near infrared one-area acquisition module receives the light reflected or transmitted by the light splitting module and performs imaging; the near infrared two-region acquisition module receives the light reflected or transmitted by the light splitting module and performs imaging; the visible light acquisition module is used for receiving the light reflected or transmitted by the light splitting module and imaging; the control module is electrically connected with the near infrared first-region acquisition module, the near infrared second-region acquisition module and the visible light acquisition module, and is used for acquiring images generated by the near infrared first-region acquisition module, the near infrared second-region acquisition module and the visible light acquisition module, processing and displaying the images.
Through adopting the hard tube type endoscope, guarantee that the hard tube type endoscope itself is inflexible, when the hard tube type endoscope gets into the human body and treats the detection region like this, the hard tube type endoscope shines the light of the multiple wave band of light source module transmission to treat the detection region to collect the light of treating the detection region reflection, guaranteed the resolution ratio, be favorable to improving the definition of formation of image, guaranteed the clear advantage of formation of image, be favorable to improving the accuracy of treating the discernment and judgement of detection region. Through setting up beam split module for beam split module has played the effect of beam split, is favorable to the reasonable division of each device distribution position in the endoscopic system, is favorable to the integration and the use of endoscopic system.
The utility model provides an endoscope system that light source module and near infrared first district collection module, near infrared second district collection module, visible light collection module between mutually supporting, provides a visible light, near infrared first district light and near infrared second district light formation of image jointly, has improved formation of image definition greatly, has avoided traditional white light to peep the defect that formation of image brought can't confirm the tumour boundary, be difficult to detect small tumour focus. By utilizing the mode of the near infrared first-region light and the near infrared second-region light for common imaging, the tumor can be identified in a targeting way, meanwhile, the penetration depth of the region to be detected can be greatly increased by the near infrared second-region light, the interference such as autofluorescence and light scattering can be better avoided, and the problems of high false positive, low penetration depth, low signal to noise ratio and the like caused by the imaging of only the near infrared first-region are avoided. The control module is used for collecting, processing and displaying images generated by the near infrared first-region collecting module, the near infrared second-region collecting module and the visible light collecting module, and the fluorescent molecular imaging technology is utilized to mark the lesion area of the mucous membrane tissue, so that doctors can better help to distinguish normal tissues from lesion tissues, and the diagnosis accuracy is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 shows a schematic view of an optical path of an endoscopic system according to a first embodiment of the present invention;
fig. 2 shows a schematic view of an optical path of an endoscopic system according to a second embodiment of the present invention;
fig. 3 is a schematic view showing the structure of a light source module of an endoscopic system according to an alternative embodiment of the present invention;
fig. 4 shows a schematic structural view of an achromatic magnification module of an endoscopic system according to an alternative embodiment of the present invention.
Wherein the above figures include the following reference numerals:
10. a hard tube endoscope; 20. a light source module; 21. a white light source; 22. a multi-band light source; 221. a near infrared chip; 222. a light filter; 223. a coupling mirror; 31. a first spectroscopic module; 32. a second spectroscopic module; 40. a near infrared first-area acquisition module; 50. a near infrared two-region acquisition module; 60. a visible light acquisition module; 70. a control module; 80. an achromatic amplification module; 81. a first lens; 82. a second lens; 83. a third lens; 84. a fourth lens; 90. a coupling lens; 100. and an image transmission optical fiber.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
It is noted that all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless otherwise indicated.
In the present invention, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.
In order to solve the problems of low penetration depth, low signal to noise ratio and strong autofluorescence signal interference of an endoscopic system in the prior art, the invention provides the endoscopic system and an imaging method of the endoscopic system.
As shown in fig. 1 to 4, the endoscope system includes a hard tube endoscope 10, a light source module 20, a spectroscopic module, a near infrared first-region acquisition module 40, a near infrared second-region acquisition module 50, a visible light acquisition module 60, and a control module 70. The light source module 20 is connected to the hard tube endoscope 10 for emitting light of various wavelength bands to the hard tube endoscope 10; the light splitting module is used for reflecting and/or transmitting the light collected by the hard tube endoscope 10; the near infrared one-region acquisition module 40 receives the light reflected or transmitted by the light splitting module and performs imaging; the near infrared two-region acquisition module 50 receives the light reflected or transmitted by the light splitting module and performs imaging; the visible light collection module 60 is configured to receive the light reflected or transmitted by the light splitting module and perform imaging; the control module 70 is electrically connected to the near infrared first-region acquisition module 40, the near infrared second-region acquisition module 50 and the visible light acquisition module 60, and the control module 70 is used for acquiring, processing and displaying images generated by the near infrared first-region acquisition module 40, the near infrared second-region acquisition module 50 and the visible light acquisition module 60.
Through adopting hard tube endoscope 10, guarantee that hard tube endoscope 10 itself is inflexible, like this when hard tube endoscope 10 gets into the human body and treats the detection area and examine, hard tube endoscope 10 shines the light of the multiple wave band of light source module 20 emission to treat the detection area to collect the light of treating the detection area reflection, guaranteed the resolution ratio, be favorable to improving the definition of formation of image, guaranteed the clear advantage of formation of image, be favorable to improving the accuracy of treating the discernment and judgement of detection area. Through setting up beam split module for beam split module has played the effect of beam split, is favorable to the reasonable division of each device distribution position in the endoscopic system, is favorable to the integration and the use of endoscopic system.
The utility model provides an endoscope system that the light source module 20 and near infrared first district collection module 40, near infrared second district collection module 50, visible light collection module 60 between mutually supporting, the common formation of image of visible light, near infrared first district light and near infrared second district light has improved the formation of image definition greatly, has avoided traditional white light endoscope formation of image to bring can't confirm the tumour boundary, be difficult to detect the defect of small tumour focus. By utilizing the mode of the near infrared first-region light and the near infrared second-region light for common imaging, the tumor can be identified in a targeting way, meanwhile, the penetration depth of the region to be detected can be greatly increased by the near infrared second-region light, the interference such as autofluorescence and light scattering can be better avoided, and the problems of high false positive, low penetration depth, low signal to noise ratio and the like caused by the imaging of only the near infrared first-region are avoided. The images generated by the near infrared first-area acquisition module 40, the near infrared second-area acquisition module 50 and the visible light acquisition module 60 are acquired, processed and displayed through the control module 70, and the pathological change area of the mucous membrane tissue can be marked by utilizing the fluorescent molecular imaging technology, so that doctors can be better helped to distinguish normal tissue from pathological change tissue, and the accuracy of diagnosis can be improved.
It should be noted that, the hard tube endoscope 10 has an internal structure of an optical lens group composed of a plurality of cylindrical lenses, the endoscope body is not bendable, and the hard tube endoscope 10 mainly enters into a sterilized tissue and organ of a human body or enters into a sterilized cavity of the human body through a surgical incision, such as a laparoscope, a thoracoscope, an arthroscope, etc. Its advantages are clear image, high resolution, multiple working channels and multiple visual fields.
Specifically, the plurality of light splitting modules is provided, and at least one light splitting module is arranged between the hard tube endoscope 10 and the near infrared two-region acquisition module 50, so that the near infrared two-region acquisition module 50 receives light transmitted by the light splitting module; at least one other spectroscopic module is disposed between the visible light collecting module 60 and the near infrared first-region collecting module 40, so that one of the visible light collecting module 60 and the near infrared first-region collecting module 40 receives the light reflected by the spectroscopic module and the other receives the light transmitted by the spectroscopic module. By arranging a plurality of light splitting modules, one light splitting module corresponds to the near infrared two-region acquisition module 50, so that the near infrared two-region acquisition module 50 can accurately receive light in a near infrared two-region wave band range transmitted by the light splitting module, the collection of the near infrared two-region light is realized, and the subsequent image display work is facilitated; while allowing the other spectroscopic module to transmit or reflect visible light to be collected by the visible light collecting module 60 and the transmitted or reflected near infrared one-region light to be collected by the near infrared one-region collecting module 40 for the subsequent image display.
As shown in fig. 1 and 2, the two light splitting modules, namely, the first light splitting module 31 and the second light splitting module 32, are respectively, the light reflected by the area to be detected is transmitted to the first light splitting module 31 through the hard tube endoscope 10, the first light splitting module 31 is used for transmitting the light in the wavelength range of 900nm to 1700nm, that is, the near infrared two-region light, and the near infrared two-region light transmitted by the near infrared two-region acquisition module 50 is located on the transmission path of the first light splitting module 31, so that the near infrared two-region light can smoothly enter the near infrared two-region acquisition module 50; the first light splitting module 31 is configured to reflect light in a wavelength range from 400nm to 900nm, and since the second light splitting module 32 is located on a reflection path of the first light splitting module 31, the light reflected by the first light splitting module 31 enters the second light splitting module 32, and then the second light splitting module 32 transmits light in a wavelength range from 700nm to 900nm, that is, near infrared first-region light, and since the near infrared first-region acquisition module 40 is located on a transmission path of the second light splitting module 32, the transmitted near infrared first-region light can be ensured to smoothly enter the near infrared first-region acquisition module 40; the second light splitting module 32 reflects light in a wavelength range from 400nm to 700nm, namely, reflects visible light, and since the visible light collecting module 60 is located on a reflection path of the second light splitting module 32, the visible light reflected by the second light splitting module 32 can be ensured to smoothly enter the visible light collecting module 60 for imaging display. By arranging the first light splitting module 31 and the second light splitting module 32, light splitting of light in different wavebands is achieved, and further, the near infrared first-region acquisition module 40, the near infrared second-region acquisition module 50 and the visible light acquisition module 60 can accurately receive light in a corresponding waveband range, and further, imaging stability is guaranteed.
The light splitting module is a dichroic mirror.
As shown in fig. 3, the light source module 20 includes a white light source 21 and a multi-band light source 22, where the multi-band light source 22 can be selectively set in a band range, and the multi-band light source 22 can emit at least near infrared light. The white light source 21 can provide visible light illumination, the multiband light source 22 is used for exciting fluorescent reagents on the area to be detected to emit fluorescence (near infrared first-area light and near infrared second-area light), the white light source 21 and the multiband light source 22 are coupled to one optical fiber for transmission, and then the transmission is carried out into the hard tube endoscope 10, and then the hard tube endoscope 10 irradiates light of various wave bands emitted by the white light source 21 and the multiband light source 22 to the area to be detected.
Specifically, the multiband light source 22 includes a near infrared chip 221, a filter 222, and a coupling mirror 223, where the near infrared chip 221 is a near infrared LED chip; according to the excitation wavelength of the commonly used fluorescent reagent, the multiband light source 22 is integrated by a near infrared LED chip with the central wave bands of 785nm, 808nm and 830 nm; the filter 222 is a narrowband filter corresponding to the center band, and the narrowband filter corresponding to the center band is selected according to the excitation wavelength of the fluorescent reagent used. A coupling mirror 223 is located on the side of the filter 222 remote from the near infrared chip 221, the coupling mirror 223 being used to couple light passing through the filter 222 into the coupling fiber and into the rigid tube endoscope 10. The light source module 20 of the present application adopts the combination of the white light source 21 and the multiband light source 22, and is applicable to excitation of different fluorescent reagents.
It should be noted that, the white light source 21 is a white light LED, and the multiband light source 22 is a multiband LED, and the multiband LED realizes the output of multiple central bands by integrating near infrared chips of multiple different central bands.
As shown in fig. 1 and 2, the endoscopic system further includes a plurality of achromatic amplifying modules 80, where at least one achromatic amplifying module 80 is located on the light incident side of the near infrared two-region collecting module 50, so that the achromatic amplifying module 80 can amplify or reduce the near infrared two-region light by a certain magnification, and reduce aberration, so that the near infrared two-region light fills the imaging target surface of the camera of the near infrared two-region collecting module 50 to the maximum extent, and reduces the influence of chromatic aberration on the image, thereby improving imaging performance. At least one other achromatic amplifying module 80 is located at the light incident side of the near infrared first-region collecting module 40 and the visible light collecting module 60, that is, at the light incident side of the second splitting module 32 and at the light emergent side of the first splitting module 31, so that the achromatic amplifying module 80 can amplify or reduce the reflected light of the first splitting module 31 by a certain multiplying power, reduce aberration, and further enable the visible light reflected by the second splitting module 32 to fill the imaging target surface of the camera of the visible light collecting module 60 to the greatest extent and reduce the influence of the chromatic aberration on the image, thereby improving imaging performance; meanwhile, the near infrared first-area light transmitted by the second light splitting module 32 can fill the imaging target surface of the camera of the near infrared first-area acquisition module 40 to the maximum extent, and the influence of chromatic aberration on an image can be reduced, so that a better imaging effect is obtained.
As shown in fig. 4, the achromatic magnification module 80 includes four lenses, and the achromatic magnification module 80 includes, in order from an object side to an image side, a first lens 81, a second lens 82, a third lens 83, and a fourth lens 84, wherein the second lens 82 and the fourth lens 84 are both cemented doublets. The curvature of the surface of each lens and the thickness of each lens are different, and black lines connecting each lens in the figure represent light rays.
Specifically, the visible light collecting module 60 includes a visible light camera and a visible light imaging lens, where the visible light imaging lens is connected to the visible light camera through a camera mount, and is used for collecting white light images; the visible light imaging lens is used for collecting light beams and focusing the light beams on an imaging target surface of the visible light camera; the visible light camera is used for converting the light signals into electric signals for imaging display.
Specifically, the near-infrared first-region acquisition module 40 includes a narrowband filter, a near-infrared first-region imaging lens and a near-infrared first-region fluorescent camera, where the narrowband filter is a filter with a wavelength range of 700nm-900nm, and can filter stray light that does not belong to the wavelength range, so as to ensure that only light in the near-infrared first-region enters the near-infrared first-region fluorescent camera, avoid the influence of the stray light on the imaging performance, the near-infrared first-region imaging lens is used for collecting light passing through the narrowband filter and focusing the light on an imaging target surface of the near-infrared first-region fluorescent camera, and the near-infrared first-region fluorescent camera is used for converting optical signals into electric signals for imaging display.
Specifically, the near-infrared two-region acquisition module 50 includes a long-pass filter, a near-infrared two-region imaging lens, and a near-infrared two-region fluorescent camera, where the long-pass filter can filter stray light below a 900nm band, so as to ensure that only light in a near-infrared two-region band enters the near-infrared two-region fluorescent camera, avoid the influence of stray light of other wavelengths on imaging quality, achieve imaging effects, the near-infrared two-region imaging lens is used for collecting light passing through the long-pass filter and focusing on an imaging target surface of the near-infrared two-region fluorescent camera, and the near-infrared two-region fluorescent camera is used for converting optical signals into electric signals for imaging display.
As shown in fig. 1 and 2, the endoscopic system further includes a coupling lens 90 and an image transmission optical fiber 100, where the coupling lens 90 is connected to the image transmission optical fiber 100 for combined use, and the coupling lens 90 and the image transmission optical fiber 100 are located between the light splitting module and the near infrared two-region acquisition module 50, so that light transmitted by the light splitting module is coupled by the coupling lens 90 and enters the image transmission optical fiber 100 for transmission, and then is transmitted to the near infrared two-region acquisition module 50; or the coupling lens 90 and the image transmission optical fiber 100 are positioned between the hard tube endoscope 10 and the light splitting module, and the light collected by the hard tube endoscope 10 is coupled into the image transmission optical fiber 100 through the coupling lens 90 for transmission, and then transmitted to the light splitting module. The coupling lens 90 is generally disposed at the light incident side of the image transmission optical fiber 100, the coupling lens 90 couples the collected light into the image transmission optical fiber 100, the image transmission optical fiber 100 is used for transmitting image light, and the image light is transmitted through the image transmission optical fiber 100, so that the size of one end of the hard tube endoscope 10 is reduced, the operation is convenient for a doctor, and the application convenience is improved.
The following detailed description and illustrations are made in accordance with specific embodiments of the present invention and corresponding illustrations.
Example 1
Fig. 1 is a light path diagram of an endoscopic system according to a first embodiment of the present application.
Specifically, the light of multiple wave bands emitted by the light source module 20 is transmitted to the hard tube endoscope 10 through the coupling optical fiber, the hard tube endoscope 10 irradiates the light of multiple wave bands emitted by the light source module 20 to the region to be detected, collects the reflected light and the fluorescence emitted light of the region to be detected, and further transmits the reflected light and the fluorescence emitted light to the first light splitting module 31, the near infrared two-region light transmitted by the first light splitting module 31 is coupled into the image transmission optical fiber 100 through the coupling lens 90, is transmitted to the achromatic amplifying module 80 through the image transmission optical fiber 100, and enters the near infrared two-region acquisition module 50 for imaging after amplifying a certain multiplying power and eliminating aberration and chromatic aberration through the achromatic amplifying module 80. The visible light and near infrared first-region light reflected by the first light splitting module 31 reach the second light splitting module 32 after being amplified by the achromatic amplifying module 80 to a certain multiplying power and eliminating aberration and chromatic aberration, the second light splitting module 32 reflects the visible light to the visible light collecting module 60 for imaging, and the second light splitting module 32 transmits the near infrared first-region light to the near infrared first-region collecting module 40 for imaging.
Further, the control module 70 transmits signals to the visible light acquisition module 60, the near infrared first-region acquisition module 40 and the near infrared second-region acquisition module 50, correspondingly acquires visible light images, near infrared first-region fluorescent images and near infrared second-region fluorescent images, performs image preprocessing, performs pseudo-color processing and image fusion processing on the preprocessed images, and accordingly obtains fusion images, and then displays the fusion images.
Example two
Fig. 2 is a light path diagram of an endoscopic system according to a second embodiment of the present application.
The difference from the first embodiment is that the positions of the coupling lens 90, the image transmission optical fiber 100, and the achromatic magnification module 80 are different.
Specifically, the light of multiple wave bands emitted by the light source module 20 is transmitted to the hard tube endoscope 10 through the coupling optical fiber, the hard tube endoscope 10 irradiates the light of multiple wave bands emitted by the light source module 20 to the region to be detected, and collects the reflected light and the fluorescence emitted light of the region to be detected, and then transmits the reflected light and the fluorescence emitted light to the coupling lens 90, and is coupled into the image transmission optical fiber 100 through the coupling lens 90, and is transmitted to the achromatic amplification module 80 through the image transmission optical fiber 100, and enters the first light splitting module 31 after amplifying a certain multiplying power and eliminating aberration and chromatic aberration through the achromatic amplification module 80, and the near infrared two-region light transmitted by the first light splitting module 31 enters the near infrared two-region acquisition module 50 for imaging. The visible light and near infrared first-region light reflected by the first light splitting module 31 reach the second light splitting module 32 after being amplified by the achromatic amplifying module 80 to a certain multiplying power and eliminating aberration and chromatic aberration, the second light splitting module 32 reflects the visible light to the visible light collecting module 60 for imaging, and the second light splitting module 32 transmits the near infrared first-region light to the near infrared first-region collecting module 40 for imaging.
Further, the control module 70 transmits signals to the visible light acquisition module 60, the near infrared first-region acquisition module 40 and the near infrared second-region acquisition module 50, correspondingly acquires visible light images, near infrared first-region fluorescent images and near infrared second-region fluorescent images, performs image preprocessing, performs pseudo-color processing and image fusion processing on the preprocessed images, and accordingly obtains fusion images, and then displays the fusion images.
The invention also provides an imaging method of the endoscope system, which adopts the endoscope system of the first embodiment to image, and comprises the following steps:
step S1: placing the probe end of the hard tube endoscope 10 on the surface of the area to be detected;
step S2: adjusting the band range of the light source module 20 of the endoscopic system to be matched with the excitation band corresponding to the fluorescent reagent in the area to be detected, and irradiating the area to be detected;
step S3: the reflected light and fluorescence emitted light of the region to be detected are transmitted to a first light splitting module 31 of the endoscope system after passing through the hard tube endoscope 10, and are divided into near infrared two-region light, visible light and near infrared one-region light combined light by the first light splitting module 31;
step S4: the near infrared two-region light sequentially passes through a coupling lens 90 and an image transmission optical fiber 100 of the endoscopic system and enters an achromatic amplification module 80, and the near infrared two-region light enters a near infrared two-region acquisition module 50 for imaging after being amplified by the achromatic amplification module 80 and eliminating aberration and chromatic aberration; the light combined by the visible light and the near infrared first-region light enters the second light splitting module 32 after being amplified by the other achromatic amplifying module 80 to a certain multiplying power and eliminating aberration and chromatic aberration, is split into the visible light and the near infrared first-region light by the second light splitting module 32 and correspondingly enters the visible light acquisition module 60 and the near infrared first-region acquisition module 40 for imaging;
Step S5: the control module 70 of the endoscopic system transmits signals to the visible light acquisition module 60, the near infrared first-region acquisition module 40 and the near infrared second-region acquisition module 50, and correspondingly acquires a visible light image, a near infrared first-region fluorescence image and a near infrared second-region fluorescence image;
step S6: and carrying out pretreatment of image denoising treatment and image enhancement treatment on the visible light image, the near infrared first-region fluorescent image and the near infrared second-region fluorescent image, and then carrying out pseudo-color treatment and image fusion treatment on the pretreated images, thereby obtaining a white light and fluorescence fused image.
In the imaging method of the endoscopic system according to the first embodiment, the coupling lens 90 and the image transmission fiber 100 of the endoscopic system are located between the spectroscopic module and the near infrared two-region acquisition module 50, more specifically, the coupling lens 90 and the image transmission fiber 100 are located between the first spectroscopic module 31 and the achromatic amplification module 80, and the light transmitted by the first spectroscopic module 31 is coupled into the image transmission fiber 100 through the coupling lens 90 for transmission, and then transmitted to the near infrared two-region acquisition module 50.
The invention also provides an imaging method of the endoscope system, which adopts the endoscope system of the second embodiment to image, and comprises the following steps:
Step S1: placing the detection end of the hard tube endoscope 10 of the endoscope system on the surface of the area to be detected;
step S2: adjusting the band range of the light source module 20 of the endoscopic system to be matched with the excitation band corresponding to the fluorescent reagent in the area to be detected, and irradiating the area to be detected;
step S3: the reflected light and fluorescence emitted light of the region to be detected are transmitted to the coupling lens 90 and the image transmission optical fiber 100 of the endoscope system after passing through the hard tube endoscope 10, are transmitted to the achromatic amplifying module 80 through the coupling lens 90 and the image transmission optical fiber 100, are amplified by a certain multiplying power through the achromatic amplifying module 80, and enter the first light splitting module 31 after eliminating aberration and chromatic aberration, and the first light splitting module 31 splits the reflected light and fluorescence emitted light into combined light of visible light and near infrared first-area light and near infrared second-area light;
step S4: the near infrared two-region light enters the near infrared two-region acquisition module 50, the combined light of the visible light and the near infrared one-region light is amplified by another achromatic amplifying module 80 to a certain multiplying power, and after aberration and chromatic aberration are eliminated, the combined light correspondingly enters the second light splitting module 32, is split into the visible light and the near infrared one-region light by the second light splitting module 32, and correspondingly enters the visible light acquisition module 60 and the near infrared one-region acquisition module 40 for imaging;
Step S5: the control module 70 of the endoscopic system transmits signals to the visible light acquisition module 60, the near infrared first-region acquisition module 40 and the near infrared second-region acquisition module 50, and correspondingly acquires a visible light image, a near infrared first-region fluorescence image and a near infrared second-region fluorescence image;
step S6: and carrying out pretreatment of image denoising treatment and image enhancement treatment on the visible light image, the near infrared first-region fluorescent image and the near infrared second-region fluorescent image, and then carrying out pseudo-color treatment and image fusion treatment on the pretreated images, thereby obtaining a white light and fluorescence fused image.
In the imaging method of the endoscope system according to the second embodiment, the coupling lens 90 and the image transmission fiber 100 of the endoscope system are located between the rigid tube endoscope 10 and the spectroscopic module, and the light of the rigid tube endoscope 10 is coupled into the image transmission fiber 100 through the coupling lens 90 for transmission, and then transmitted to the first spectroscopic module 31.
It should be noted that the control module 70 is configured to control the acquisition of white light images and fluorescence images (including near infrared first-region fluorescence images and near infrared second-region fluorescence images). And after the acquisition is finished, carrying out pretreatment of image denoising treatment and image enhancement treatment on the fluorescent image, then carrying out pseudo-color treatment on the pretreated image, and carrying out image fusion treatment on the treated fluorescent image and the white light image so as to obtain a fusion image. The control module 70 may be a series of devices, such as a computer, capable of collecting images and algorithmically processing and displaying the images.
Image enhancement processing adopted in the application: the self-adaptive contrast enhancement obtains the relative brightness relationship between the target pixel point and the surrounding pixel points through differential calculation so as to adjust the dynamic range of the image, and the specific algorithm steps comprise:
step S61: setting one pixel point in an image to be processed (fluorescent image) as x (i, j), taking the x point as a center, and calculating the mean value m of the pixel point in a region with the window size of (2n+1) and (2n+1) x (i, j) and standard deviation sigma x (i, j) the specific formula includes:
step S62: the pixel value f (i, j) after local enhancement is calculated, and the calculation formula of f (i, j) is as follows:
wherein D is the global average of the image to be processed.
Processing by adopting gray morphological closing operation, namely performing expansion processing on the image, communicating discontinuous edge pixel points to form a closed edge, and enhancing tiny information; and then carrying out corrosion treatment on the image to remove image noise points. The effective fluorescent signal in the gray level image is highlighted by reserving a large-range fluorescent area, and the background noise point or local fluorescent signal in a small range is removed, so that the enhancement effect of the fluorescent image is realized.
The pseudo color mapping functions of the red, green and blue three channels of the gray level conversion method for performing pseudo color processing on the image are generally shown as the following formula:
Where H (i, j) is the gray value of the gray image at (i, j), and R (i, j), G (i, j), and B (i, j) are the three primary colors of red, green, and blue, respectively, that result from the gray value conversion.
The image fusion can adopt a weighted average method, and the weighted average method is a fusion method for carrying out weighted processing on pixel points corresponding to an original image, and the formula is as follows:
wherein,and->The minimum frequency coefficients of the image A to be processed and the image B to be processed after N layers of decomposition are respectively +.>For the fused image transform coefficients, w A And w B Is a weighting coefficient and satisfies w A +w B =1 (generally take w A =0.5 and w B ＝0.5)。
It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. An endoscopic system, comprising:
a hard tube endoscope (10);
a light source module (20), the light source module (20) being connected with the hard tube endoscope (10) for emitting light of a plurality of wavelength bands to the hard tube endoscope (10);
a spectroscopic module for reflecting and/or transmitting light collected by the hard tube endoscope (10);
a near infrared one-region acquisition module (40), wherein the near infrared one-region acquisition module (40) receives the light reflected or transmitted by the light splitting module and performs imaging;
The near infrared two-region acquisition module (50), wherein the near infrared two-region acquisition module (50) receives the light reflected or transmitted by the light splitting module and performs imaging;
the visible light acquisition module (60), the visible light acquisition module (60) is used for receiving the light reflected or transmitted by the light splitting module and imaging;
the control module (70), control module (70) with near infrared first district collection module (40), near infrared second district collection module (50) with visible light collection module (60) all electricity is connected, control module (70) are used for gathering near infrared first district collection module (40), near infrared second district collection module (50) with the image that visible light collection module (60) generated is handled and is displayed.
2. The endoscopic system of claim 1, wherein the plurality of spectroscopic modules is provided, at least one of the spectroscopic modules being disposed between the rigid tube endoscope (10) and the near infrared two-zone acquisition module (50) such that the near infrared two-zone acquisition module (50) receives light transmitted by the spectroscopic module; at least one other light splitting module is arranged between the visible light collecting module (60) and the near infrared first-area collecting module (40), so that one of the visible light collecting module (60) and the near infrared first-area collecting module (40) receives light reflected by the light splitting module, and the other receives light transmitted by the light splitting module.
3. The endoscopic system of claim 2, wherein a plurality of said spectroscopic modules comprises a first spectroscopic module (31) and a second spectroscopic module (32), said near infrared two-zone acquisition module (50) being located on a transmission path of said first spectroscopic module (31); the second light splitting module (32) is located on the reflection path of the first light splitting module (31), the visible light collecting module (60) is located on the reflection path of the second light splitting module (32), and the near infrared one-region collecting module (40) is located on the transmission path of the second light splitting module (32).
4. The endoscopic system according to claim 1, wherein the light source module (20) comprises a white light source (21) and a multi-band light source (22), the multi-band light source (22) being arranged with selectable band ranges, the multi-band light source (22) being capable of emitting at least near infrared light.
5. The endoscopic system of claim 4, wherein the multi-band light source (22) comprises:
a near infrared chip (221);
a filter (222), the filter (222) being a narrowband filter;
and a coupling mirror (223), wherein the coupling mirror (223) is positioned on one side of the optical filter (222) away from the near infrared chip (221), and the coupling mirror (223) is used for coupling light passing through the optical filter (222) into the optical fiber and then entering the hard tube endoscope (10).
6. The endoscopic system of claim 1, further comprising achromatic amplification modules (80), wherein the achromatic amplification modules (80) are plural, at least one of the achromatic amplification modules (80) being located on an entrance side of the near infrared two-zone acquisition module (50), at least another achromatic amplification module (80) being located on an entrance side of the near infrared one-zone acquisition module (40) and the visible light acquisition module (60).
7. The endoscopic system according to claim 6, wherein the achromatic magnification module (80) comprises, in order from an object side to an image side, a first lens (81), a second lens (82), a third lens (83), a fourth lens (84), wherein both the second lens (82) and the fourth lens (84) are doublet lenses.
8. The endoscopic system of claim 1, wherein the near infrared one-zone acquisition module (40) comprises:
a narrow band filter;
near infrared one-area imaging lens;
the near-infrared one-area fluorescence camera is used for collecting light passing through the narrow-band filter and focusing the light on an imaging target surface of the near-infrared one-area fluorescence camera, and the near-infrared one-area fluorescence camera is used for converting light signals into electric signals for imaging display.
9. The endoscopic system of claim 1, wherein the near infrared two-zone acquisition module (50) comprises:
a long-pass filter;
near infrared two-region imaging lens;
the near-infrared two-region fluorescent camera is used for collecting light passing through the long-pass filter and focusing on an imaging target surface of the near-infrared two-region fluorescent camera, and the near-infrared two-region fluorescent camera is used for converting light signals into electric signals for imaging display.
10. The endoscope system of claim 1, wherein the rigid tube endoscope (10) comprises at least an optical lens group of a plurality of lenses.
11. The endoscope system according to any of claims 1 to 10, further comprising a coupling lens (90) and an image-transmitting optical fiber (100), said coupling lens (90) being connected to said image-transmitting optical fiber (100),
the coupling lens (90) and the image transmission optical fiber (100) are positioned between the light splitting module and the near infrared two-region acquisition module (50), so that light transmitted by the light splitting module is coupled into the image transmission optical fiber (100) through the coupling lens (90) for transmission, and then is transmitted to the near infrared two-region acquisition module (50); or alternatively
The coupling lens (90) and the image transmission optical fiber (100) are positioned between the hard tube type endoscope (10) and the light splitting module, and light collected by the hard tube type endoscope (10) is coupled into the image transmission optical fiber (100) through the coupling lens (90) for transmission, and then is transmitted to the light splitting module.
12. A method of imaging an endoscopic system, wherein imaging with the endoscopic system of any of claims 1 to 10, comprises:
step S1: placing a detection end of a hard tube endoscope (10) of the endoscope system in a region to be detected;
step S2: adjusting the band range of a light source module (20) of the endoscopic system to be matched with the excitation band corresponding to the fluorescent reagent in the area to be detected, and irradiating the area to be detected;
step S3: the reflected light and fluorescence emitted light of the region to be detected are transmitted to a light splitting module of the endoscope system after passing through the hard tube endoscope (10), and are divided into visible light, near infrared first-area light and near infrared second-area light by the light splitting module;
step S4: the near infrared two-region light sequentially passes through a coupling lens (90) and an image transmission optical fiber (100) of the endoscope system to enter the near infrared two-region acquisition module (50), and the visible light and the near infrared one-region light correspondingly enter the visible light acquisition module (60) and the near infrared one-region acquisition module (40);
Step S5: the control module (70) of the endoscope system transmits signals to the visible light acquisition module (60), the near infrared first-region acquisition module (40) and the near infrared second-region acquisition module (50) to correspondingly acquire a visible light image, a near infrared first-region fluorescence image and a near infrared second-region fluorescence image;
step S6: and carrying out pretreatment of image denoising treatment and image enhancement treatment on the visible light image, the near infrared first-region fluorescent image and the near infrared second-region fluorescent image, and then carrying out pseudo-color treatment and image fusion treatment on the pretreated images so as to obtain a fusion image.
13. The method of imaging an endoscopic system according to claim 12, wherein in the method of imaging the coupling lens (90) and the image transmission fiber (100) of the endoscopic system are located between the spectroscopic module and the near infrared two-zone acquisition module (50), and the light transmitted by the spectroscopic module is coupled into the image transmission fiber (100) via the coupling lens (90) for transmission to the near infrared two-zone acquisition module (50).
14. A method of imaging an endoscopic system, wherein imaging with the endoscopic system of any of claims 1 to 10, comprises:
Step S1: placing a detection end of a hard tube endoscope (10) of the endoscope system in a region to be detected;
step S2: adjusting the band range of a light source module (20) of the endoscopic system to be matched with the excitation band corresponding to the fluorescent reagent in the area to be detected, and irradiating the area to be detected;
step S3: the reflected light and the fluorescence emission light of the region to be detected are transmitted to a coupling lens (90) and an image transmission optical fiber (100) of the endoscope system after passing through the hard tube endoscope (10), and are transmitted to a light splitting module of the endoscope system after passing through the coupling lens (90) and the image transmission optical fiber (100), and the light splitting module divides the reflected light and the fluorescence emission light into visible light, near infrared first-area light and near infrared second-area light;
step S4: the near infrared two-region light enters a near infrared two-region acquisition module (50), and the visible light and the near infrared one-region light correspondingly enter a visible light acquisition module (60) and a near infrared one-region acquisition module (40);
step S5: the control module (70) of the endoscope system transmits signals to the visible light acquisition module (60), the near infrared first-region acquisition module (40) and the near infrared second-region acquisition module (50) to correspondingly acquire a visible light image, a near infrared first-region fluorescence image and a near infrared second-region fluorescence image;
Step S6: and carrying out pretreatment of image denoising treatment and image enhancement treatment on the visible light image, the near infrared first-region fluorescent image and the near infrared second-region fluorescent image, and then carrying out pseudo-color treatment and image fusion treatment on the pretreated images so as to obtain a fusion image.
15. The method of imaging an endoscopic system according to claim 14, wherein in the method of imaging the coupling lens (90) and the image transmission fiber (100) of the endoscopic system are located between the stiff tube endoscope (10) and the spectroscopic module, and light collected by the stiff tube endoscope (10) is coupled into the image transmission fiber (100) via the coupling lens (90) for transmission to the spectroscopic module.
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