CN117562487A - Method for compensating uniformity of fluorescence signal in fluorescence endoscope system - Google Patents
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Abstract
The invention provides a method for compensating uniformity of fluorescent signals in a fluorescent endoscope system, which comprises the steps of fixing a fluorescent camera and a lens, and adjusting the intensity of an excitation light source to the intensity of common excitation light; dividing an imaging field of view of a fluorescence camera into a plurality of rectangular areas of the same size; a fluorescent contrast agent with a certain concentration is selected and placed in the center of each rectangular area successively, and imaging is acquired; respectively calculating the average gray value in each rectangular area according to the acquired fluorescent images; obtaining a compensation coefficient of each pixel position by using a polynomial fitting method, and storing the compensation coefficient in a memory for real-time compensation; the gray values of pixels in the photometric area are weighted by compensation coefficients, which are used in the image post-processing stage to perform a compensation transformation on the gray values of the acquired fluorescent image. The invention can solve the trouble caused by unreasonable change of the gray value of the fluorescent image in the operation process, and makes up the defect that the hardware structure is difficult to solve from the angle of a software algorithm.
Description
Technical Field
The invention relates to the technical field of medical image and digital image signal processing, in particular to a method for compensating uniformity of fluorescent signals in a fluorescent endoscope system.
Background
In the fluorescence endoscope imaging equipment, a lesion area is marked by using a specific fluorescent molecule contrast agent, then fluorescent molecules are excited by using external excitation light with specific wavelength, so that near infrared fluorescence with the wavelength longer than that of the external excitation light is generated, and focus positioning and focus morphology acquisition can be realized by means of a high-sensitivity near infrared fluorescence camera. The fluorescent molecular imaging technology has no radioactivity, can mark micro focus areas, greatly reduces the operation difficulty of doctors and improves the operation success rate.
In the conventional fluorescence endoscope system, the intensity of the fluorescence image gray-scale value is related to the intensity of the external excitation light, the concentration of the contrast agent, and the relative position of the near infrared camera. Ideally, the intensity of the excitation light source and the sensitivity of the near infrared fluorescence camera to fluorescent signals in a fluorescence endoscopic imaging system should be uniform throughout the imaging field of view. However, in the existing endoscopic imaging apparatus, it is difficult to achieve an ideal state due to various reasons such as light path design, lens, and production and adjustment processes of cameras.
Disclosure of Invention
In order to solve the problems in the existing fusion method, the invention aims to provide a method for compensating the uniformity of fluorescent signals in a fluorescent endoscope system, which is mainly used for solving the trouble caused by unreasonable change of gray values of fluorescent images in the operation process and can make up for the defect that the hardware structure is difficult to solve from the perspective of a software algorithm.
The invention realizes the above purpose through the following technical scheme:
a method of compensating for uniformity of a fluorescence signal in a fluorescence endoscope system, the method comprising the steps of:
fixing the fluorescent camera and the lens, and adjusting the intensity of the excitation light source to the intensity of the common excitation light;
dividing an imaging view of the fluorescence camera into a plurality of rectangular areas with the same size, wherein the length-to-width ratio of each rectangular area is consistent with the length-to-width ratio of the imaging view of the fluorescence camera;
placing fluorescent contrast agents with the same concentration on each rectangular area, and acquiring fluorescence generated in a plurality of rectangular areas due to the irradiation of laser to obtain corresponding fluorescence images;
respectively calculating the average gray value in each rectangular area according to the acquired fluorescent images;
obtaining a compensation coefficient of each pixel position by using a polynomial fitting method based on the average gray value, and storing the compensation coefficient in a memory for real-time compensation;
when the fluorescence camera images in real time, acquiring a compensation coefficient stored in each pixel position, and compensating the fluorescence uniformity of pixels in a light measuring area, so as to optimize the control effects of an automatic shutter, a gain and an aperture of the fluorescence camera;
after the fluorescence camera collects the output image, the compensation coefficient of each pixel position is obtained again, and gray scale adjustment is carried out on the collected fluorescence image.
According to the method for compensating the uniformity of the fluorescent signal in the fluorescent endoscope system, in the measuring process, firstly, the shooting distance and the excitation light source intensity of the fluorescent camera are fixed, and the shutter, the gain and the aperture of the fluorescent camera are controlled to be in fixed values, so that the gray value intensity of the fluorescent image is related to the concentration of the contrast agent and the uniformity of the fluorescent signal.
According to the method for compensating the uniformity of the fluorescence signal in the fluorescence endoscope system, indocyanine green with the concentration of 10 mug/ml is adopted as a fluorescence contrast agent to image in each rectangular area successively.
According to the method for compensating the uniformity of the fluorescent signal in the fluorescent endoscope system, provided by the invention, an imaging view field of a fluorescent camera is equally divided into m multiplied by n rectangular areas, and the width and the height of each rectangle are respectively set as w and h;
respectively calculating average gray values of corresponding m×n rectangular areas according to the obtained m×n fluorescent images;
setting rectangular region R ij The average brightness of (a) is a ij And calculate each R ij Compensation coefficient c of (2) ij The calculation is expressed as formula (1):
according to the method for compensating the uniformity of fluorescence signals in the fluorescence endoscope system, a binary quadratic polynomial model is established and expressed as a formula (2), and m multiplied by n is used for c ij Fitting the values to obtain polynomial coefficients a, b, c, d:
f(i，j)＝ai 2 +bj 2 +cij+d＝c ij (2)
according to formula (2), a compensation coefficient for each pixel position is calculated, expressed as formula (3):
wherein C (x, y) is the compensation coefficient of the [ x, y ] pixel position.
According to the method for compensating the uniformity of the fluorescence signal in the fluorescence endoscope system, provided by the invention, the uniformity of the fluorescence is compensated by using C (x, y) in the automatic control and adjustment stage of the fluorescence camera:
c (x, y) is applied to an automatic control and adjustment stage of a fluorescence camera, and the gray values of pixels in a light metering area are weighted by a compensation coefficient of fluorescence uniformity, and the gray values are expressed as a formula (4):
M＝mean(C(x，y)I(x，y)) (4)
wherein M represents the average gray value of the photometric area.
According to the method for compensating the uniformity of the fluorescence signal in the fluorescence endoscope system, provided by the invention, the uniformity of the fluorescence is compensated by using C (x, y) in the image post-processing stage of a fluorescence camera:
c (x, y) is used to make a compensation transformation on the gray values of the acquired fluorescence image in the image post-processing stage of the fluorescence camera, expressed as formula (5):
I c (x，y)＝C(x，y)I(x，y) (5)
wherein I is obtained by the formula (5) c Namely, the result of compensating for the uniformity of fluorescence.
According to the method for compensating the uniformity of the fluorescence signal in the fluorescence endoscope system, the fluorescence endoscope system comprises a fluorescence camera, a focusing module and terminal display equipment, and a lens of the fluorescence camera is driven by the focusing module to move.
According to the method for compensating the uniformity of the fluorescence signal in the fluorescence endoscope system, the focusing module is an electric focusing module, and the rotation of an internal motor is controlled by the electric focusing module to drive the lens to move back and forth to an accurate focusing position; after focusing is completed, motor stepping data of the electric focusing module are obtained, and the distance D between the observed tissue observation surface and the front end surface of the endoscope is calculated according to the stepping data of the motor in the electric focusing module;
and selecting different distances D, imaging the fluorescent solution with the same concentration, and adjusting the compensation parameters to ensure that the gray values of the fluorescent image are consistent under the different distances D, thereby obtaining the relationship between the fluorescent signal compensation parameters and the distances D.
Compared with the prior art, the invention discloses a compensation method for the uniformity of fluorescent signals in a fluorescent endoscope system, so as to solve the problem of non-uniformity distribution of the fluorescent signals caused by various reasons, and further ensure that the gray value intensity of the concentration of the same fluorescent contrast agent in different positions in the imaging view field of a fluorescent camera is kept consistent.
The present invention also provides an electronic device including:
a memory storing computer executable instructions;
a processor configured to execute the computer-executable instructions,
wherein the computer executable instructions, when executed by the processor, implement the steps of the method of compensating for fluorescence signal uniformity in a fluorescence endoscope system of any of the above.
The present invention also provides a storage medium having stored thereon a computer program for implementing the steps of the method of compensating for fluorescence signal uniformity in a fluorescence endoscope system of any of the above, when the computer program is executed by a processor.
It can be seen that the present invention also provides an electronic device and a storage medium for a method of compensating for uniformity of a fluorescence signal in a fluorescence endoscope system, comprising: one or more memories, one or more processors. The memory is used for storing the program codes, intermediate data generated in the running process of the program, the output result of the model and model parameters; the processor is used for processor resources occupied by code running and a plurality of processor resources occupied when training the model.
The invention is described in further detail below with reference to the drawings and the detailed description.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for compensating for fluorescence signal uniformity in a fluorescence endoscope system according to the present invention.
FIG. 2 is a schematic diagram of an embodiment of a method for compensating for uniformity of fluorescence signal in a fluorescence endoscope system according to the present invention with respect to an imaging field of view of a fluorescence camera.
FIG. 3 is a schematic diagram of a method of compensating for uniformity of a fluorescence signal in a fluorescence endoscope system according to an embodiment of the present invention with respect to measured non-uniformity of fluorescence.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Fluorescent endoscopes are novel diagnostic devices which use laser inherent fluorescence spectroscopy to diagnose through various endoscopes. It can automatically identify and diagnose according to the inherent fluorescence spectrum characteristics of human tissue, and can immediately prompt whether the tested tissue is normal tissue, and can identify benign and malignant lesions of the tested tissue, and can raise the diagnosis rate of early cancer and abnormal hyperplasia.
Gray values are a common image feature that can be used to describe information such as brightness, contrast, and texture of an image. Common gray image processing operations include graying, binarizing, histogram equalization, etc., which all require processing of the gray value of each pixel in the image.
Referring to fig. 1 to 3, the present invention provides a method for compensating for uniformity of a fluorescent signal in a fluorescent endoscope system, the method comprising the steps of:
step S1, fixing a fluorescent camera and a lens, and adjusting the intensity of an excitation light source to the intensity of common excitation light;
s2, dividing an imaging view field of the fluorescence camera into a plurality of rectangular areas with the same size, wherein the length-to-width ratio of each rectangular area is consistent with the length-to-width ratio of the imaging view field of the fluorescence camera;
step S3, placing fluorescent contrast agents with the same concentration on each rectangular area, and acquiring fluorescence generated in a plurality of rectangular areas due to the irradiation of laser to obtain corresponding fluorescence images;
step S4, respectively calculating the average gray value in each rectangular area according to the acquired fluorescent image;
step S5, obtaining a compensation coefficient of each pixel position by using a polynomial fitting method based on the average gray value, and storing the compensation coefficient in a memory for real-time compensation;
step S6, when the fluorescence camera images in real time, obtaining a compensation coefficient of each stored pixel position, and compensating the fluorescence uniformity of pixels in a light measurement area, so as to optimize the control effects of an automatic shutter, a gain and an aperture of the fluorescence camera;
and S7, after the fluorescence camera collects the output image, acquiring the compensation coefficient stored in each pixel position again, and carrying out gray scale adjustment on the collected fluorescence image.
In this example, indocyanine green at a concentration of 10 μg/ml was used as a fluorescent contrast agent to image each rectangular region in succession.
The shooting distance of the fluorescent camera, the automatic control function and the intensity of the external excitation light source may influence the intensity of the gray value in the final fluorescent image. The object of the invention is to determine a compensation factor for the uniformity of a fluorescent signal, so as to compensate for the non-uniformity of the fluorescent signal, irrespective of the shooting distance and the intensity of the light source. Therefore, in the measurement process, the invention firstly fixes the shooting distance of the fluorescent camera and the intensity of the excitation light source, and sets the shutter, the gain and the aperture of the fluorescent camera to be in fixed values, so that the gray value of the fluorescent image is related to the concentration of the contrast agent and the uniformity of fluorescent signals.
After the fluorescent camera is fixed, the imaging view of the fluorescent camera is kept unchanged, and the method provided by the embodiment is further used for equally dividing the imaging view of the fluorescent camera into a plurality of rectangular areas. As shown in fig. 2, the aspect ratio of each rectangular region remains consistent with the aspect ratio of the fluoroscopic camera imaging field of view. The smaller the area of the equally divided rectangular area, the more accurate the measurement of the compensation coefficient. Setting an imaging view field of a fluorescence camera to be equally divided into m multiplied by n rectangular areas, wherein the width and the height of each rectangle are respectively set as w and h;
after a fluorescent contrast agent with a certain concentration is selected and placed in the center of each rectangular area successively and imaging is acquired, the average gray value of the corresponding m×n rectangular areas is calculated according to the obtained m×n fluorescent images.
Setting rectangular region R ij The average brightness of (a) is a ij And calculate each R ij Compensation coefficient c of (2) ij The calculation is expressed as formula (1):
further, a binary quadratic polynomial model is built, expressed as formula (2), and using m×n c ij Fitting the values to obtain polynomial coefficients a, b, c, d:
f(i，j)＝ai 2 +bj 2 +cij+d＝c ij (2)
according to equation (2), the compensation coefficient for each pixel position can be calculated, expressed as equation (3):
wherein C (x, y) is the compensation coefficient of the [ x, y ] pixel position.
Further, this embodiment compensates for fluorescence uniformity using C (x, y) during the automatic control adjustment phase of the fluorescence camera:
first, C (x, y) will be applied in the automatic control adjustment phase of the fluoroscopic camera. The control algorithms of automatic shutter, automatic aperture and automatic gain depend on the algorithm's determination of the average gray scale intensity of the photometric area. If all pixel gray levels in the photometric area are considered to be equally weighted, the control effects of the automatic shutter, gain and aperture may deviate from expectations due to non-uniformity of the fluorescence signal, for example, a weak fluorescence signal may not be collected. The method provided by the embodiment weights the gray values of the pixels in the light measuring area by the compensation coefficient of fluorescence uniformity, so that the robustness of the automatic control function of the fluorescence camera is improved. The weighting process is as in formula (4):
M＝mean(C(x，y)I(x，y)) (4)
wherein M represents the average gray value of the photometric area.
The C (x, y) is then used to compensate for fluorescence uniformity during the image post-processing stage of the fluorescence camera. The control effects of the shutter, gain and aperture of the fluorescent camera affect the overall fluorescent image, but cannot provide precise control over the local pixel positions.
C (x, y) is used to make a compensation transformation on the gray values of the acquired fluorescence image in the image post-processing stage of the fluorescence camera, expressed as formula (5):
I c (x，y)＝C(x，y)I(x，y) (5)
wherein I is obtained by the formula (5) c Namely, the result of compensating for the uniformity of fluorescence.
In this embodiment, the fluorescence endoscope system includes a fluorescence camera, a focusing module, and a terminal display device, where a lens of the fluorescence camera is driven by the focusing module to move.
The focusing module is an electric focusing module, and the rotation of an internal motor is controlled by the electric focusing module to drive the lens to move back and forth to an accurate focusing position; after focusing is completed, motor stepping data of the electric focusing module are obtained, and the distance D between the observed tissue observation surface and the front end surface of the endoscope is calculated according to the stepping data of the motor in the electric focusing module;
in the embodiment, the fluorescent solution with the same concentration is imaged by selecting different distances D, and the gray values of the fluorescent image are kept consistent under the different distances D by adjusting the compensation parameters, so that the relationship between the fluorescent signal compensation parameters and the distances D is obtained. The fluorescence uniformity signal compensation parameters K1, K2, K3, K4, K5, K6 are obtained according to the distances D, D1, D2, D3, D4, D5, D6.
As can be seen, the present embodiment can utilize a focusing device on an endoscope system, so that the gray values of fluorescent images remain substantially uniform at different imaging distances; when the endoscope is close to the tissue, the imaging focal point is adjusted, so that the tissue is imaged clearly, and then the processing parameters of the fluorescent signal are adjusted according to the focal point adjusted distance information, so that the image processing self-adjusting function is realized, and the problem that the fluorescent signal flickers along with the change of the working distance to influence the clinical judgment in the existing fluorescent imaging system is solved.
In practical application, the method provided by the embodiment specifically includes the following steps:
(1) Firstly, fixing a fluorescent camera and a lens by means of an external fixing device, adjusting the intensity of an excitation light source to be the general working intensity, and setting a shutter, a gain and an aperture of the fluorescent camera to be a fixed value mode.
(2) In this embodiment, the imaging field of view of the fluoroscopic camera used is 1920×1080 pixels, which is equally divided into rectangular areas of 16×9 120×120 pixels.
(3) Indocyanine green with concentration of 10 mug/ml is used as fluorescent contrast agent to image each rectangular area successively, and average gray level intensity a in each rectangular area is calculated ij 。
(4) Calculating the compensation coefficient c of each rectangular center according to formula (1) ij 。
(4) Using the compensation coefficient c of each rectangular center measured ij Fitting the polynomial coefficients of the binary quadratic polynomial model of equation (2).
(5) And calculating a compensation coefficient of each pixel position according to the formula (3). And stores the compensation coefficients in memory.
(6) And (3) when the fluorescence camera images in real time, acquiring a fluorescence uniformity compensation coefficient stored at each pixel position, and performing fluorescence compensation on pixels in a light measurement area according to a formula (4), so as to optimize the control effects of an automatic shutter, a gain and an aperture of the fluorescence camera.
(7) After the fluorescence camera collects the output image, the fluorescence uniformity compensation coefficient of each pixel position is obtained again, and gray scale adjustment is performed on the collected fluorescence image according to the formula (5). The invention can compensate the uniformity of fluorescent signal.
In summary, the embodiment discloses a method for compensating uniformity of a fluorescence signal in a fluorescence endoscope system, so as to solve the problem of non-uniformity distribution of the fluorescence signal caused by various reasons, thereby ensuring that gray values presented by the concentration of the same fluorescent contrast agent at different positions in an imaging view of a fluorescence camera are consistent.
In one embodiment, an electronic device is provided, which may be a server. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the electronic device is for storing data. The network interface of the electronic device is used for communicating with an external terminal through a network connection. The computer program when executed by a processor implements a method of compensating for fluorescence signal uniformity in a fluorescence endoscope system.
It will be appreciated by those skilled in the art that the electronic device structure shown in this embodiment is merely a partial structure related to the present application and does not constitute a limitation of the electronic device to which the present application is applied, and that a specific electronic device may include more or fewer components than those shown in this embodiment, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
Further, the logic instructions in the memory described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It can be seen that the present embodiment also provides an electronic device and a storage medium for a method of compensating for uniformity of a fluorescence signal in a fluorescence endoscope system, which includes: one or more memories, one or more processors. The memory is used for storing the program codes, intermediate data generated in the running process of the program, the output result of the model and model parameters; the processor is used for processor resources occupied by code running and a plurality of processor resources occupied when training the model.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (9)
1. A method for compensating for uniformity of a fluorescence signal in a fluorescence endoscope system, the method comprising the steps of:
fixing the fluorescent camera and the lens, and adjusting the intensity of the excitation light source to the intensity of the common excitation light;
dividing an imaging view of the fluorescence camera into a plurality of rectangular areas with the same size, wherein the length-to-width ratio of each rectangular area is consistent with the length-to-width ratio of the imaging view of the fluorescence camera;
placing fluorescent contrast agents with the same concentration on each rectangular area, and acquiring fluorescence generated in a plurality of rectangular areas due to the irradiation of laser to obtain corresponding fluorescence images;
respectively calculating the average gray value in each rectangular area according to the acquired fluorescent images;
obtaining a compensation coefficient of each pixel position by using a polynomial fitting method based on the average gray value, and storing the compensation coefficient in a memory for real-time compensation;
when the fluorescence camera images in real time, acquiring a compensation coefficient stored in each pixel position, and compensating the fluorescence uniformity of pixels in a light measuring area, so as to optimize the control effects of an automatic shutter, a gain and an aperture of the fluorescence camera;
after the fluorescence camera collects the output image, the compensation coefficient of each pixel position is obtained again, and gray scale adjustment is carried out on the collected fluorescence image.
2. The method according to claim 1, characterized in that:
in the measurement process, firstly, the shooting distance of the fluorescent camera and the intensity of the excitation light source are fixed, and the shutter, the gain and the aperture of the fluorescent camera are controlled to be in fixed values, so that the gray value of the fluorescent image is related to the concentration of the contrast agent and the uniformity of fluorescent signals.
3. The method according to claim 1, characterized in that:
indocyanine green at a concentration of 10 μg/ml was used as a fluorescent contrast agent to image each rectangular region in succession.
4. The method according to claim 2, characterized in that:
setting an imaging view field of a fluorescence camera to be equally divided into m multiplied by n rectangular areas, wherein the width and the height of each rectangle are respectively set as w and h;
respectively calculating average gray values of corresponding m×n rectangular areas according to the obtained m×n fluorescent images;
setting rectangular region R ij The average brightness of (a) is a ij And calculate each R ij Compensation coefficient c of (2) ij The calculation is expressed as formula (1):
5. the method according to claim 4, wherein:
building a binary quadratic polynomial model expressed as formula (2) and using m×n c ij Fitting the values to obtain polynomial coefficients a, b, c, d:
f(i，j)＝ai 2 +bj 2 +cij+d＝c ij (2)
according to formula (2), a compensation coefficient for each pixel position is calculated, expressed as formula (3):
wherein C (x, y) is the compensation coefficient of the [ x, y ] pixel position.
6. The method according to claim 4, wherein:
compensating for fluorescence uniformity in an automatic control adjustment phase of a fluorescence camera by using C (x, y):
c (x, y) is applied to an automatic control and adjustment stage of a fluorescence camera, and the gray values of pixels in a light metering area are weighted by a compensation coefficient of fluorescence uniformity, and the gray values are expressed as a formula (4):
M＝mean(C(x，y)I(x，y)) (4)
wherein M represents the average gray value of the photometric area.
7. The method according to claim 6, wherein:
compensating for fluorescence uniformity at the image post-processing stage of the fluorescence camera using C (x, y):
c (x, y) is used to make a compensation transformation on the gray values of the acquired fluorescence image in the image post-processing stage of the fluorescence camera, expressed as formula (5):
I c (x，y)＝C(x，y)I(x，y) (5)
wherein I is obtained by the formula (5) c Namely, the result of compensating for the uniformity of fluorescence.
8. The method according to any one of claims 1 to 7, wherein:
the fluorescent endoscope system comprises a fluorescent camera, a focusing module and terminal display equipment, wherein a lens of the fluorescent camera is driven by the focusing module to move.
9. The method according to claim 8, wherein:
the focusing module is an electric focusing module, and the rotation of an internal motor is controlled by the electric focusing module to drive the lens to move back and forth to an accurate focusing position; after focusing is completed, motor stepping data of the electric focusing module are obtained, and the distance D between the observed tissue observation surface and the front end surface of the endoscope is calculated according to the stepping data of the motor in the electric focusing module;
and selecting different distances D, imaging the fluorescent solution with the same concentration, and adjusting the compensation parameters to ensure that the gray values of the fluorescent image are consistent under the different distances D, thereby obtaining the relationship between the fluorescent signal compensation parameters and the distances D.
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