US20190191975A1 - Fluorescence imaging in a light deficient environment - Google Patents
Fluorescence imaging in a light deficient environment Download PDFInfo
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- US20190191975A1 US20190191975A1 US16/234,252 US201816234252A US2019191975A1 US 20190191975 A1 US20190191975 A1 US 20190191975A1 US 201816234252 A US201816234252 A US 201816234252A US 2019191975 A1 US2019191975 A1 US 2019191975A1
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Definitions
- An endoscope may be used to look inside a body and examine the interior of an organ or cavity of the body. Endoscopes may be used for investigating a patient's symptoms, confirming a diagnosis, or providing medical treatment. A medical endoscope may be used for viewing a variety of body systems and parts, including for example, the gastrointestinal tract, the respiratory tract, the urinary tract, the abdominal cavity by way of a small incision, and so forth. Endoscopes may further be used for surgical procedures, such as plastic surgery procedures, procedures performed on joints or bones, procedures performed on the neurological system, procedures performed within the abdominal cavity, and so forth.
- Endoscopes have also been used in non-medical fields for viewing and inspecting spaces that may be inaccessible or difficult to see.
- endoscopes may be used by planners or architects for visualizing scale models of proposed buildings or cities.
- Endoscopes may be used for visualizing an internal space of a complex system such as a computer.
- Endoscopes may even be used by law enforcement or military personnel for conducting surveillance in tight spaces or examining explosive devices.
- a digital color image may include at least three layers, or “color channels,” for each pixel of the image.
- Each of the color channels measures the intensity and chrominance of light for a spectral band.
- a digital color image includes a color channel for red, green, and blue spectral bands of light (this may be referred to as an RGB image).
- RGB image a color channel for red, green, and blue spectral bands of light
- Each of the red, green, and blue color channels include brightness information for the red, green, or blue spectral band of light. The brightness information for the separate red, green, and blue layers may be combined to create a digital color image.
- a digital camera image sensor commonly includes a color filter array that permits red, green, and blue visible light wavelengths to hit selected pixel sensors. Each individual pixel sensor element is made sensitive to red, green, or blue wavelengths and will only return image data for that wavelength. The image data from the total array of pixel sensors is combined to generate the RGB image.
- a color image may provide valuable information to help identify different organs or tissues within the abdomen, or to identify certain conditions or diseases within the space.
- a digital camera capable of capturing color images may have at least three distinct types of pixel sensors to individually capture the red, green, and blue layers of the color images.
- the at least three distinct types of pixel sensors may consume a relatively significant physical space (when compared with a color-agnostic pixel array) such that the complete pixel array cannot fit on the small distal end of the endoscope that is inserted into the body.
- the total pixel array (i.e. the image sensor) is commonly located in a hand-piece unit of an endoscope that is held by an endoscope operator and is not placed within the body cavity.
- the image sensor For such an endoscope, light is transmitted along the length of the endoscope from the hand-piece unit to the distal end of the endoscope that is placed within the body cavity.
- This endoscope configuration has significant limitations. Endoscopes with this configuration are delicate and can be easily misaligned or damaged when bumped or impacted during regular use. This can significantly degrade the quality of the images generated by the endoscope and necessitate that the endoscope be frequently repaired or replaced.
- color images reflect what the human eye detects when looking at an environment.
- the human eye is limited to viewing only visible light and cannot detect other wavelengths of the electromagnetic spectrum.
- additional information may be obtained about an environment.
- One method of detecting additional information about an environment, beyond what the human eye is capable of detecting is the use of fluorescent reagents.
- fluorescent reagents may provide a unique view of a body cavity that highlights certain tissues, structures, or conditions that the human eye or a computer program cannot detect in an RGB image.
- Fluorescence is the emission of light by a substance that has absorbed light or other electromagnetic radiation. Certain fluorescent materials may “glow” or emit a distinct color that is visible to the human eye when the fluorescent material is subjected to ultraviolet light or other wavelengths of electromagnetic radiation. Certain fluorescent materials will cease to glow nearly immediately when the radiation source stops.
- Fluorescence occurs when an orbital electron of a molecule, atom, or nanostructure is excited by light or other electromagnetic radiation, and then relaxes to its ground state by emitting a photon from the excited state.
- the specific frequencies of electromagnetic radiation that excite the orbital electron, or are emitted by the photon during relaxation, are dependent on the particular atom, molecule, or nanostructure.
- the light emitted by the substance has a longer wavelength, and therefore lower energy, than the radiation that was absorbed by the substance.
- the absorbed electromagnetic radiation is intense, it is possible for one electron to absorb two photons. This two-photon absorption can lead to emission of radiation having a shorter wavelength, and therefore higher energy, than the absorbed radiation.
- the emitted radiation may also be the same wavelength as the absorbed radiation.
- Fluorescence imaging has numerous practical applications, including mineralogy, gemology, medicine, spectroscopy for chemical sensors, detecting biological processes or signals, and so forth. Fluorescence may particularly be used in biochemistry and medicine as a non-destructive means for tracking or analyzing biological molecules.
- the biological molecules including certain tissues or structures, may be tracked by analyzing the fluorescent emission of the biological molecules after being excited by a certain wavelength of electromagnetic radiation. However, relatively few cellular components are naturally fluorescent.
- the body may be administered a dye or reagent that may include a molecule, protein, or quantum dot having fluorescent properties.
- the reagent or dye may then fluoresce after being excited by a certain wavelength of electromagnetic radiation.
- Different reagents or dyes may include different molecules, proteins, and/or quantum dots that will fluoresce at particular wavelengths of electromagnetic radiation. Thus, it may be necessary to excite the reagent or dye with a specialized band of electromagnetic radiation to achieve fluorescence and identify the desired tissue, structure, or process in the body.
- Fluorescence imaging may provide valuable information in the medical field that may be used for diagnostic purposes and/or may be visualized in real-time during a medical procedure.
- Specialized reagents or dyes may be administered to a body to fluoresce certain tissues, structures, chemical processes, or biological processes.
- the fluorescence of the reagent or dye may highlight body structures such as blood vessels, nerves, particular organs, and so forth. Additionally, the fluorescence of the reagent or dye may highlight conditions or diseases such as cancerous cells or cells experiencing a certain biological or chemical process that may be associated with a condition or disease.
- the fluorescence imaging may be used in real-time by a medical practitioner or computer program for differentiating between, for example, cancerous and non-cancerous cells during a surgical tumor extraction.
- the fluorescence imaging may further be used as a non-destructive means for tracking and visualizing over time a condition in the body that would otherwise not be visible by the human eye or distinguishable in an RGB image.
- fluorescence imaging requires specialized emissions of electromagnetic radiation and may further require specialized imaging sensors capable of reading the wavelength of electromagnetic radiation that is emitted by the fluoresced structure or reagent.
- Different reagents or dyes may be sensitive to different wavelengths of electromagnetic radiation and may further emit different wavelengths of electromagnetic radiation when fluoresced.
- Imaging systems may then be highly specialized and tuned for a certain reagent or dye such that the system is configured to emit certain wavelengths of electromagnetic radiation and includes imaging sensors configured for reading certain wavelengths of electromagnetic radiation.
- imaging systems may be useful for very limited applications and may not be capable of fluorescing more than one reagent or structure during a single imaging session. It can be very costly to need multiple distinct imaging systems that are each configured for fluorescing a particular reagent or dye.
- fluorescence imaging may be desirable to overlay fluorescence imaging on a black-and-white or color image to provide context to a practitioner or computer algorithm.
- this would require the use of a camera (or multiple cameras) having many distinct types of pixel sensors that are each sensitive to distinct ranges of electromagnetic radiation.
- This may include the three separate types of pixels sensors for generating an RGB color image by way of conventional methods, along with additional pixel sensors for generating the fluorescence image data at different wavelengths of the electromagnetic spectrum. This may consume a relatively large physical space and necessitate a large pixel array to ensure that image resolution is satisfactory.
- the camera or cameras may be placed in an endoscope hand-unit or robotic-unit because the multiple wavelength-sensitive pixel sensors require too much physical space, and necessitate too large a pixel array, to be placed at the distal end of the endoscope within the body cavity.
- This disclosure relates generally to electromagnetic sensing and sensors that may be applicable to endoscope imaging.
- the disclosure also relates to low energy electromagnetic input conditions as well as low energy electromagnetic throughput conditions.
- the disclosure relates more particularly, but not necessarily entirely, to a system for producing an image in light deficient environments and associated structures, methods and features, which may include controlling a light source through duration, intensity or both, pulsing a component controlled light source during the blanking period of an image sensor, maximizing the blanking period to allow optimum light, and maintaining color balance.
- FIG. 1 is a schematic view of an embodiment of a system of a paired sensor and an electromagnetic emitter in operation for use in producing an image in a light deficient environment, according to one embodiment
- FIG. 2 is a schematic view of complementary system hardware
- FIGS. 2A to 2D are illustrations of the operational cycles of a sensor used to construct one image frame, according to embodiments of the disclosure.
- FIG. 3 is a graphical representation of the operation of an embodiment of an electromagnetic emitter, according to one embodiment
- FIG. 4 is a graphical representation of varying the duration and magnitude of the emitted electromagnetic pulse to provide exposure control, according to one embodiment
- FIG. 5 is a graphical representation of an embodiment of the disclosure combining the operational cycles of a sensor, the electromagnetic emitter and the emitted electromagnetic pulses of FIGS. 2A-4 , which demonstrate the imaging system during operation, according to one embodiment;
- FIG. 6 illustrates a schematic of two distinct processes over a period of time from t( 0 ) to t( 1 ) for recording a frame of video for full spectrum light and partitioned spectrum light, according to one embodiment
- FIGS. 7A-7E illustrate schematic views of the processes over an interval of time for recording a frame of video for both full spectrum light and partitioned spectrum light in accordance with the principles and teachings of the disclosure
- FIGS. 8-12 illustrate the adjustment of both the electromagnetic emitter and the sensor, wherein such adjustment may be made concurrently in some embodiments in accordance with the principles and teachings of the disclosure
- FIGS. 13-21 illustrate sensor correction methods and hardware schematics for use with a partitioned light system, according to embodiments of the disclosure
- FIGS. 22-23 illustrate method and hardware schematics for increasing the dynamic range within a closed or limited light environment, according to embodiments of the disclosure
- FIG. 24 illustrates the impact on signal to noise ratio of the color correction for a typical Bayer-based sensor compared with no color correction
- FIG. 25 illustrates the chromaticity of 3 monochromatic lasers compared to the sRGB gamut
- FIGS. 26-27B illustrate method and hardware schematics for increasing the dynamic range within a closed or limited light environment, according to embodiments of the disclosure
- FIGS. 28A-28C illustrate the use of a white light emission that is pulsed and/or synced with a corresponding color sensor, according to embodiments of the disclosure
- FIGS. 29A and 29B illustrate an implementation having a plurality of pixel arrays for producing a three-dimensional image, according to embodiments of the disclosure
- FIGS. 30A and 30B illustrate a perspective view and a side view, respectively, of an implementation of an imaging sensor built on a plurality of substrates, wherein a plurality of pixel columns forming the pixel array are located on the first substrate and a plurality of circuit columns are located on a second substrate and showing an electrical connection and communication between one column of pixels to its associated or corresponding column of circuitry;
- FIGS. 31A and 31B illustrate a perspective view and a side view, respectively, of an implementation of an imaging sensor having a plurality of pixel arrays for producing a three-dimensional image, wherein the plurality of pixel arrays and the image sensor are built on a plurality of substrates;
- FIGS. 32-36 illustrate embodiments of emitters comprising various mechanical filter and shutter configurations, according to embodiments of the disclosure
- FIG. 37 is a schematic diagram illustrating a system for providing illumination to a light deficient environment, according to one embodiment
- FIG. 38 is a schematic block diagram illustrating a light source having a plurality of emitters, according to one embodiment
- FIG. 39 is a schematic block diagram illustrating a light source having a plurality of emitters, according to another embodiment.
- FIG. 40 is a schematic block diagram illustrating a light source having a plurality of emitters, according to yet another embodiment
- FIG. 41 is a schematic diagram illustrating a single optical fiber outputting via a diffuser at an output to illuminate a scene, according to one embodiment
- FIG. 42 is a block diagram illustrating generating a filtered image using a filter, according to one embodiment
- FIG. 43 illustrates a portion of the electromagnetic spectrum divided into a plurality of different sub-spectrums which may be emitted by emitters of a light source, according to one embodiment
- FIG. 44 is a schematic diagram illustrating a timing diagram for emission and readout for generating a multispectral or hyperspectral image, according to one embodiment
- FIG. 45 is a block diagram illustrating generating a filtered image using a filter, according to one embodiment
- FIG. 46 is a block diagram illustrating generating a filtered image using a plurality of filters, according to one embodiment
- FIG. 47 is a schematic diagram illustrating a grid array for object and/or surface tracking, according to one embodiment
- FIG. 48 is a schematic flow chart diagram illustrating a method for emission and readout for generating a multispectral or hyperspectral image, according to one embodiment.
- FIG. 49 is a schematic flow chart diagram illustrating a method for emission and readout for generating a fluorescence image, according to one embodiment.
- the disclosure extends to methods, systems, and computer-based products for digital imaging that may be primarily suited to medical applications such as medical endoscopic imaging.
- Such methods, systems, and computer-based products as disclosed herein may provide imaging or diagnostic capabilities for use in medical robotics applications, such as the use of robotics for performing imaging procedures, surgical procedures, and the like.
- Endoscopes have a great variety of uses and may provide significant benefits in the medical field. Endoscopy is used in medicine to look inside a body and in some cases may provide imaging that would otherwise be impossible to see or would require invasive surgical procedures. Endoscopes may be used for medical diagnostics, investigation, or research, and may also be used to perform medical procedures in a minimally invasive manner Medical endoscopes may provide significant benefits to patients and medical practitioners by negating the need for painful and invasive corrective or exploratory surgeries.
- an endoscopic system for use in a light deficient environment may include an imaging device and a light engine.
- the light engine may include an illumination source for generating pulses of electromagnetic radiation and may further include a lumen for transmitting pulses of electromagnetic radiation to a distal tip of an endoscope.
- the lumen may transmit the pulses of electromagnetic radiation at particular wavelengths or bands of wavelengths of the electromagnetic spectrum.
- the lumen may transmit such pulses in a timed sequence and imaging data may be captured by a sensor during each of the pulses.
- the imaging data associated with the different wavelengths of the pulses may be used to generate a red green blue (RGB) image and/or fluorescence images.
- RGB red green blue
- fluorescence imaging may be overlaid on a black-and-white or RGB image.
- the systems, methods, and devices for an endoscopic image system may provide specialized image data of a light deficient environment.
- the specialized image data may be used to generate fluorescence imaging and/or identify certain materials, tissues, components, or processes within a light deficient environment.
- fluorescence imaging may be provided to a practitioner or computer-implemented program to enable the identification of certain structures or tissues within a body.
- Such fluorescence imaging data may be overlaid on black-and-white or RGB images to provide additional information and context.
- an endoscopic image system may be used in coordination with certain reagents or dyes.
- certain reagents or dyes may be administered to a patient, and those reagents or dyes may fluoresce or react to certain wavelengths of electromagnetic radiation.
- the endoscopic image system as disclosed herein may transmit electromagnetic radiation at specified wavelengths to fluoresce the reagents or dyes.
- the fluorescence of the reagents or dyes may be captured by an image sensor to generate imaging to aid in the identification of tissues or structures and/or to aid in diagnosis or research.
- a patient may be administered a plurality of reagents or dyes that are each configured to fluoresce at different wavelengths and/or provide an indication of different structures, tissues, chemical reactions, biological processes, and so forth.
- the endoscopic system as disclosed herein may emit each of the applicable wavelengths to fluoresce each of the applicable reagents or dyes. This may negate the historical need to perform individual imaging procedures for each of a plurality of reagents or dyes.
- Medical endoscopes may provide a continuous digital image stream of an interior space of a body where a distal end of the endoscope is inserted.
- the digital image stream provides full color imaging such that a medical practitioner may better differentiate between tissues and structures in the body.
- hyperspectral imaging may enable a medical practitioner or computer program to receive information about a condition in a human body that is not visible to the human eye or discernable in an RGB color image.
- a system of the disclosure includes an imaging device having a tube, one or more image sensors, and a lens assembly.
- the lens assembly may include at least one optical element that corresponds to at least one of the one or more image sensors.
- the system further includes a display to visual a scene and an image signal processing controller.
- the system may further include a light engine.
- the light engine includes an illumination source configured to generate one or more pulses of electromagnetic radiation and a lumen that transmits one or more pulses of electromagnetic radiation to a distal tip of an endoscope.
- At least a portion of the one or more pulses of electromagnetic radiation includes an excitation wavelength of electromagnetic radiation between 795 nm and 815 nm that cause one or more reagents to fluoresce at a wavelength that is different from the excitation wavelength of the portion of the one or more pulses of electromagnetic radiation.
- an endoscope system illuminates a source and pulses electromagnetic radiation at a certain wavelength for exciting an electron in a reagent or dye.
- the reagent or dye is configured to fluoresce in response to the certain wavelength of electromagnetic radiation that is emitted by the endoscope system.
- An image sensor in the endoscope system may read a fluorescence relaxation emission of the reagent or dye that may be of lower energy than the pulsed electromagnetic radiation for exciting the reagent or dye.
- the reagent or dye may be specialized for labeling a certain tissue, structure, biological process, and/or chemical process.
- Imaging reagents may enhance imaging capabilities in pharmaceutical, medical, biotechnology, diagnostic, and medical procedure industries. Many imaging techniques such as X-ray, computer tomography (CT), ultrasound, magnetic resonance imaging (MRI), and nuclear medicine, mainly analyze anatomy and morphology and are unable to detect changes at the molecular level. Fluorescent reagents, dyes, and probes, including quantum dot nanoparticles and fluorescent proteins, may assist medical imaging technologies by providing additional information about certain tissues, structures, chemical processes, and/or biological processes that are present within the imaging region. Imaging using fluorescent reagents may enable cell tracking and/or the tracking of certain molecular biomarkers. Fluorescent reagents may be applied for imaging cancer, infection, inflammation, stem cell biology, and others.
- fluorescent reagents and dyes are being developed and applied for visualizing and tracking biological processes in a non-destructive manner
- Such fluorescent reagents may be excited by a certain wavelength or band of wavelengths of electromagnetic radiation.
- those fluorescent reagents may emit relaxation energy at a certain wavelength or band of wavelengths when fluorescing, and the emitted relaxation energy may be read by a sensor to determine the location and/or boundaries of the reagent or dye.
- an endoscope system pulses electromagnetic radiation for exciting an electron in a fluorescent reagent or dye.
- the wavelength or band of wavelengths of the electromagnetic radiation may be particularly selected for fluorescing a certain reagent or dye.
- the endoscope system may pulse multiple different wavelengths of electromagnetic radiation for fluorescing multiple different reagents or dyes during a single imaging session.
- a sensor of the endoscope system may determine a location and/or boundary of a reagent or dye based on the relaxation emissions of the reagent or dye.
- the endoscope system may further pulse electromagnetic radiation in red, green, and blue bands of visible light.
- the endoscope system may determine data for an RGB image and a fluorescence image according to a pulsing schedule for the pulses of electromagnetic radiation.
- an endoscope system illuminates a source and pulses electromagnetic radiation for spectral or hyperspectral imaging.
- Spectral imaging uses multiple bands across the electromagnetic spectrum. This is different from conventional cameras that only capture light across the three wavelengths based in the visible spectrum that are discernable by the human eye, including the red, green, and blue wavelengths to generate an RGB image.
- Spectral imaging may use any wavelength bands in the electromagnetic spectrum, including infrared wavelengths, the visible spectrum, the ultraviolet spectrum, x-ray wavelengths, or any suitable combination of various wavelength bands.
- Spectral imaging may overlay imaging generated based on non-visible bands (e.g., infrared) on top of imaging based on visible bands (e.g. a standard RGB image) to provide additional information that is easily discernable by a person or computer algorithm.
- Hyperspectral imaging is a subcategory of spectral imaging.
- Hyperspectral imaging includes spectroscopy and digital photography.
- a complete spectrum or some spectral information is collected at every pixel in an image plane.
- a hyperspectral camera may use special hardware to capture any suitable number of wavelength bands for each pixel which may be interpreted as a complete spectrum.
- the goal of hyperspectral imaging may vary for different applications. In one application, the goal of hyperspectral imaging is to obtain the entire electromagnetic spectrum of each pixel in an image scene. This may enable certain objects to be found that might otherwise not be identifiable under the visible light wavelength bands. This may enable certain materials or tissues to be identified with precision when those materials or tissues might not be identifiable under the visible light wavelength bands. Further, this may enable certain processes to be detected by capturing an image across all wavelengths of the electromagnetic spectrum.
- Hyperspectral imaging may provide particular advantages over conventional imaging in medical applications.
- the information obtained by hyperspectral imaging can enable medical practitioners and/or computer-implemented programs to precisely identify certain tissues or conditions that may lead to diagnoses that may not be possible or may be less accurate if using conventional imaging such as RGB imaging.
- hyperspectral imaging may be used during medical procedures to provide image-guided surgery that may enable a medical practitioner to, for example, view tissues located behind certain tissues or fluids, identify atypical cancerous cells in contrast with typical healthy cells, identify certain tissues or conditions, identify critical structures and so forth.
- Hyperspectral imaging may provide specialized diagnostic information about tissue physiology, morphology, and composition that cannot be generated with conventional imaging.
- Endoscopic hyperspectral imaging may present advantages over conventional imaging in various applications and implementations of the disclosure.
- endoscopic hyperspectral imaging may permit a practitioner or computer-implemented program to discern, for example, nervous tissue, muscle tissue, various vessels, the direction of blood flow, and so forth.
- Hyperspectral imaging may enable atypical cancerous tissue to be precisely differentiated from typical healthy tissue and may therefore enable a practitioner or computer-implemented program to discern the boundary of a cancerous tumor during an operation or investigative imaging.
- hyperspectral imaging in a light deficient environment as disclosed herein may be combined with the use of a reagent or dye to enable further differentiation between certain tissues or substances.
- a reagent or dye may be fluoresced by a specific wavelength band in the electromagnetic spectrum and therefore provide information specific to the purpose of that reagent or dye.
- the systems, methods, and devices as disclosed herein may enable any number of wavelength bands to be pulsed such that one or more reagents or dyes may be fluoresced at different times. In certain implementations, this may enable the identification or investigation of a number of medical conditions during a single imaging procedure.
- a medical endoscope may pulse electromagnetic radiation at wavelength bands outside the visible light spectrum to enable the generation of hyperspectral images.
- Endoscopic hyperspectral imaging is a contactless and non-invasive means for medical imaging that does not require a patient to undergo harmful radiation exposure common in other imaging methods.
- endoscopes used in, for example, robotics endoscopic procedures such as arthroscopy and laparoscopy, are designed such that the image sensors are typically placed within a hand-piece unit that is held by an endoscope operator and is not inserted into a cavity.
- an endoscope unit transmits incident light along the length of an endoscope tube toward the sensor via a complex set of precisely coupled optical components, with minimal loss and distortion.
- the cost of the endoscope unit is dominated by the optics because the optics components are expensive, and the manufacturing process of the optics components is labor intensive. Further, this type of endoscope is mechanically delicate and relatively minor impacts can easily damage the components or upset the relative alignments of those components.
- the pixel array may be too large, and the endoscope may no longer fit in tight spaces or may be obstructive or invasive when used in a medical implementation. Because the distal end of the endoscope must remain very small, it is challenging to place one or more image sensors at the distal end.
- An acceptable solution to this approach is by no means trivial and introduces its own set of engineering challenges, not the least of which is the fact that the sensors for color and/or hyperspectral imaging must fit within an area that is highly confined.
- a pixel array in conventional cameras include separate pixel sensors for each of red, green, and blue visible light bands, along with additional pixel sensors for other wavelength bands used for hyperspectral imaging.
- the area of the distal tip of the endoscope may be particularly confined side-to-side in the X and Y dimensions, while there is more space along the length of the endoscope tube in the Z dimension.
- Lowering the signal capacity reduces the dynamic range, i.e., the ability of the imaging device or camera to simultaneously capture all the useful information from scenes with large ranges of luminosity.
- dynamic range i.e., the ability of the imaging device or camera to simultaneously capture all the useful information from scenes with large ranges of luminosity.
- Reducing the sensitivity has the consequence that greater light power is required to bring the darker regions of the scene to acceptable signal levels.
- Lowering the F-number enlarging the aperture
- CMOS image sensors have largely displaced conventional charge-coupled device (“CCD”) image sensors in modern camera applications.
- CCD image sensors charge-coupled device
- CMOS image sensors have greater ease of integration and operation, superior or comparable image quality, greater versatility and lower cost, compared with CCD image sensors.
- CMOS image sensors may include the circuitry necessary to convert image information into digital data and have various levels of digital processing incorporated thereafter. This can range from basic algorithms for the purpose of correcting non-idealities, which may, for example, arise from variations in amplifier behavior, to full image signal processing (ISP) chains, providing video data in the standard red-green-blue (“RGB”) color space for example (cameras-on-chip).
- ISP image signal processing
- the control unit for an endoscope or image sensor may be located remotely from the image sensor and may be a significant physical distance away from the image sensor. When the control unit is remote from the sensor, it may be desirable to transmit the data in the digital domain because it is largely immune to interference noise and signal degradation when compared to transmitting an analog data stream.
- various electrical digital signaling standards may be used, such as LVDS (low voltage differential signaling), sub-LVDS, SLVS (scalable low voltage signaling) or other electrical digital signaling standards.
- CMOS image sensor CIS
- Some implementations of the disclosure may include aspects of a combined sensor and system design that allows for high definition imaging with reduced pixel counts in a highly controlled illumination environment. This may be accomplished by virtue of frame-by-frame pulsing of a single-color wavelength and switching or alternating each frame between a single, different color wavelength using a controlled light source in conjunction with high frame capture rates and a specially designed corresponding monochromatic sensor. Additionally, electromagnetic radiation outside the visible light spectrum may be pulsed to enable the generation of a hyperspectral image. The pixels may be color agnostic such that each pixel may generate data for each pulse of electromagnetic radiation, including pulses for red, green, and blue visible light wavelengths along with other wavelengths that may be used for hyperspectral imaging.
- monochromatic sensor refers to an unfiltered imaging sensor. Since the pixels are color agnostic, the effective spatial resolution is appreciably higher than for their color (typically Bayer-pattern filtered) counterparts in conventional single-sensor cameras. They may also have higher quantum efficiency since far fewer incident photons are wasted between the individual pixels. Moreover, Bayer based spatial color modulation requires that the modulation transfer function (MTF) of the accompanying optics be lowered compared with the monochrome modulation, to blur out the color artifacts associated with the Bayer pattern. This has a detrimental impact on the actual spatial resolution that can be realized with color sensors.
- MTF modulation transfer function
- the disclosure is also concerned with a system solution for endoscopy applications in which the image sensor is resident at the distal end of the endoscope.
- the image sensor In striving for a minimal area sensor-based system, there are other design aspects that can be developed, beyond reduction in pixel count.
- the area of the digital portion of the chip may be minimized
- the number of connections to the chip (pads) may also be minimized
- the disclosure describes novel methods that accomplish these goals for the realization of such a system. This involves the design of a full-custom CMOS image sensor with several novel features.
- proximal shall refer broadly to the concept of a portion nearest an origin.
- distal shall generally refer to the opposite of proximal, and thus to the concept of a portion farther from an origin, or a furthest portion, depending upon the context.
- color sensors or multi spectrum sensors are those sensors known to have a color filter array (CFA) thereon to filter the incoming electromagnetic radiation into its separate components.
- CFA color filter array
- a CFA may be built on a Bayer pattern or modification thereon to separate green, red and blue spectrum components of the light.
- FIG. 1 illustrates a schematic view of a paired sensor and an electromagnetic emitter in operation for use in producing an image in a light deficient environment.
- Such a configuration allows for increased functionality in a light controlled or ambient light deficient environment.
- the term “light” is both a particle and a wavelength and is intended to denote electromagnetic radiation that is detectable by a pixel array and may include wavelengths from the visible and non-visible spectrums of electromagnetic radiation.
- the term “partition” is used herein to mean a pre-determined range of wavelengths of the electromagnetic spectrum that is less than the entire spectrum, or in other words, wavelengths that make up some portion of the electromagnetic spectrum.
- an emitter is a light source that may be controllable as to the portion of the electromagnetic spectrum that is emitted or that may operate as to the physics of its components, the intensity of the emissions, or the duration of the emission, or all the above.
- An emitter may emit light in any dithered, diffused, or collimated emission and may be controlled digitally or through analog methods or systems.
- an electromagnetic emitter is a source of a burst of electromagnetic energy and includes light sources, such as lasers, LEDs, incandescent light, or any light source that can be digitally controlled.
- a pixel array of an image sensor may be paired with an emitter electronically, such that they are synced during operation for both receiving the emissions and for the adjustments made within the system.
- an emitter 100 may be tuned to emit electromagnetic radiation in the form of a laser, which may be pulsed to illuminate an object 110 .
- the emitter 100 may pulse at an interval that corresponds to the operation and functionality of a pixel array 122 .
- the emitter 100 may pulse light in a plurality of electromagnetic partitions 105 , such that the pixel array receives electromagnetic energy and produces a data set that corresponds (in time) with each specific electromagnetic partition 105 .
- FIG. 1 an emitter 100 may be tuned to emit electromagnetic radiation in the form of a laser, which may be pulsed to illuminate an object 110 .
- the emitter 100 may pulse at an interval that corresponds to the operation and functionality of a pixel array 122 .
- the emitter 100 may pulse light in a plurality of electromagnetic partitions 105 , such that the pixel array receives electromagnetic energy
- the light emitter 100 illustrated in the figure may be a laser emitter that is capable of emitting a red electromagnetic partition 105 a , a blue electromagnetic partition 105 b , and a green electromagnetic partition 105 c in any desired sequence.
- the light emitter 100 may pulse electromagnetic radiation at any wavelength in the electromagnetic spectrum such that a hyperspectral image may be generated. It will be appreciated that other light emitters 100 may be used in FIG. 1 without departing from the scope of the disclosure, such as digital or analog based emitters.
- the data created by the monochromatic sensor 120 for any individual pulse may be assigned a specific color or wavelength partition, wherein the assignment is based on the timing of the pulsed color or wavelength partition from the emitter 100 . Even though the pixels 122 are not color-dedicated, they can be assigned a color for any given data set based on a priori information about the emitter.
- the emitter 100 pulses electromagnetic radiation at specialized wavelengths. Such pulses may enable the generation of a specialized fluorescence image that is particularly suited for certain medical or diagnostic applications.
- at least a portion of the electromagnetic radiation emitted by the emitter 100 includes an excitation wavelength of electromagnetic radiation between 770 nm and 790 nm and between 795 nm and 815 nm that cause one or more reagents to fluoresce at a wavelength that is different from the excitation wavelength of the portion of the electromagnetic radiation.
- three data sets representing RED, GREEN and BLUE electromagnetic pulses may be combined to form a single image frame.
- One or more additional data sets representing other wavelength partitions may be overlaid on the single image frame that is based on the RED, GREEN, and BLUE pulses.
- the one or more additional data sets may represent, for example, fluorescence imaging responsive to the excitation wavelength between 770 nm and 790 nm and between 795 nm and 815 nm.
- the one or more additional data sets may represent fluorescence imaging and/or hyperspectral that may be overlaid on the single image frame that is based on the RED, GREEN, and BLUE pulses.
- the disclosure is not limited to any particular color combination or any particular electromagnetic partition, and that any color combination or any electromagnetic partition may be used in place of RED, GREEN and BLUE, such as Cyan, Magenta and Yellow; Ultraviolet; infra-red; any combination of the foregoing, or any other color combination, including all visible and non-visible wavelengths, without departing from the scope of the disclosure.
- the object 110 to be imaged contains a red portion 110 a, green portion 110 b and a blue portion 110 c.
- the reflected light from the electromagnetic pulses only contains the data for the portion of the object having the specific color that corresponds to the pulsed color partition. Those separate color (or color interval) data sets can then be used to reconstruct the image by combining the data sets at 130 .
- a plurality of data sets representing RED, GREEN, and BLUE electromagnetic pulses along with additional wavelength partitions along the electromagnetic spectrum may be combined to form a single image frame having an RGB image with hyperspectral image data overlaid on the RGB image.
- different combinations of wavelength data sets may be desirable.
- a data set representing specific wavelength partitions may be used to generate a specialized hyperspectral image for diagnosing a particular medical condition, investigating certain body tissues, and so forth.
- implementations of the present disclosure may comprise or utilize a special purpose or general-purpose computer, including computer hardware, such as, for example, one or more processors and system memory, as discussed in greater detail below. Implementations within the scope of the present disclosure may also include physical and other computer-readable media for carrying or storing computer-executable instructions and/or data structures. Such computer-readable media can be any available media that can be accessed by a general purpose or special purpose computer system. Computer-readable media that store computer-executable instructions are computer storage media (devices). Computer-readable media that carry computer-executable instructions are transmission media. Thus, by way of example, and not limitation, implementations of the disclosure can comprise at least two distinctly different kinds of computer-readable media: computer storage media (devices) and transmission media.
- Computer storage media includes RAM, ROM, EEPROM, CD-ROM, solid state drives (“SSDs”) (e.g., based on RAM), Flash memory, phase-change memory (“PCM”), other types of memory, other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store desired program code means in the form of computer-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer.
- SSDs solid state drives
- PCM phase-change memory
- a “network” is defined as one or more data links that enable the transport of electronic data between computer systems and/or modules and/or other electronic devices.
- a sensor and camera control unit may be networked to communicate with each other, and other components, connected over the network to which they are connected.
- Transmissions media can include a network and/or data links, which can be used to carry desired program code means in the form of computer-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer. Combinations of the above should also be included within the scope of computer-readable media.
- computer-executable instructions or data structures received over a network or data link can be buffered in RAM within a network interface module (e.g., a “NIC”), and then eventually transferred to computer system RAM and/or to less volatile computer storage media (devices) at a computer system.
- RAM can also include solid state drives (SSDs or PCIx based real time memory tiered storage, such as FusionIO).
- SSDs solid state drives
- PCIx real time memory tiered storage
- Computer-executable instructions comprise, for example, instructions and data which, when executed at a processor, cause a general-purpose computer, special purpose computer, or special purpose processing device to perform a certain function or group of functions.
- the computer executable instructions may be, for example, binaries, intermediate format instructions such as assembly language, or even source code.
- the disclosure may also be practiced in distributed system environments where local and remote computer systems, which are linked (either by hardwired data links, wireless data links, or by a combination of hardwired and wireless data links) through a network, both perform tasks.
- program modules may be located in both local and remote memory storage devices.
- ASICs application specific integrated circuits
- FPGAs field programmable gate arrays
- FIG. 2 is a block diagram illustrating an example computing device 150 .
- Computing device 150 may be used to perform various procedures, such as those discussed herein.
- Computing device 150 can function as a server, a client, or any other computing entity.
- Computing device 150 can perform various monitoring functions as discussed herein, and can execute one or more application programs, such as the application programs described herein.
- Computing device 150 can be any of a wide variety of computing devices, such as a desktop computer, a notebook computer, a server computer, a handheld computer, camera control unit, tablet computer and the like.
- Computing device 150 includes one or more processor(s) 152 , one or more memory device(s) 154 , one or more interface(s) 156 , one or more mass storage device(s) 158 , one or more Input/Output (I/O) device(s) 160 , and a display device 180 all of which are coupled to a bus 162 .
- Processor(s) 152 include one or more processors or controllers that execute instructions stored in memory device(s) 154 and/or mass storage device(s) 158 .
- Processor(s) 152 may also include various types of computer-readable media, such as cache memory.
- Memory device(s) 154 include various computer-readable media, such as volatile memory (e.g., random access memory (RAM) 164 ) and/or nonvolatile memory (e.g., read-only memory (ROM) 166 ). Memory device(s) 154 may also include rewritable ROM, such as Flash memory.
- volatile memory e.g., random access memory (RAM) 164
- ROM read-only memory
- Memory device(s) 154 may also include rewritable ROM, such as Flash memory.
- Mass storage device(s) 158 include various computer readable media, such as magnetic tapes, magnetic disks, optical disks, solid-state memory (e.g., Flash memory), and so forth. As shown in FIG. 2 , a particular mass storage device is a hard disk drive 174 . Various drives may also be included in mass storage device(s) 158 to enable reading from and/or writing to the various computer readable media. Mass storage device(s) 158 include removable media 176 and/or non-removable media.
- I/O device(s) 160 include various devices that allow data and/or other information to be input to or retrieved from computing device 150 .
- Example I/O device(s) 160 include digital imaging devices, electromagnetic sensors and emitters, cursor control devices, keyboards, keypads, microphones, monitors or other display devices, speakers, printers, network interface cards, modems, lenses, CCDs or other image capture devices, and the like.
- Display device 180 includes any type of device capable of displaying information to one or more users of computing device 150 .
- Examples of display device 180 include a monitor, display terminal, video projection device, and the like.
- Interface(s) 106 include various interfaces that allow computing device 150 to interact with other systems, devices, or computing environments.
- Example interface(s) 156 may include any number of different network interfaces 170 , such as interfaces to local area networks (LANs), wide area networks (WANs), wireless networks, and the Internet.
- Other interface(s) include user interface 168 and peripheral device interface 172 .
- the interface(s) 156 may also include one or more user interface elements 168 .
- the interface(s) 156 may also include one or more peripheral interfaces such as interfaces for printers, pointing devices (mice, track pad, etc.), keyboards, and the like.
- Bus 162 allows processor(s) 152 , memory device(s) 154 , interface(s) 156 , mass storage device(s) 158 , and I/O device(s) 160 to communicate with one another, as well as other devices or components coupled to bus 162 .
- Bus 162 represents one or more of several types of bus structures, such as a system bus, PCI bus, IEEE 1394 bus, USB bus, and so forth.
- programs and other executable program components are shown herein as discrete blocks, although it is understood that such programs and components may reside at various times in different storage components of computing device 150 , and are executed by processor(s) 152 .
- the systems and procedures described herein can be implemented in hardware, or a combination of hardware, software, and/or firmware.
- ASICs application specific integrated circuits
- FPGAs field programmable gate arrays
- FIG. 2 A illustrates the operational cycles of a sensor used in rolling readout mode or during the sensor readout 200 .
- the frame readout may start at and may be represented by vertical line 210 .
- the read-out period is represented by the diagonal or slanted line 202 .
- the sensor may be read out on a row by row basis, the top of the downwards slanted edge being the sensor top row 212 and the bottom of the downwards slanted edge being the sensor bottom row 214 .
- the time between the last row readout and the next readout cycle may be called the blanking time 216 .
- some of the sensor pixel rows might be covered with a light shield (e.g., a metal coating or any other substantially black layer of another material type).
- optical black rows 218 and 220 may be used as input for correction algorithms As shown in FIG. 2 A, these optical black rows 218 and 220 may be located on the top of the pixel array or at the bottom of the pixel array or at the top and the bottom of the pixel array.
- FIG. 2B illustrates a process of controlling the amount of electromagnetic radiation, e.g., light, that is exposed to a pixel, thereby integrated or accumulated by the pixel. It will be appreciated that photons are elementary particles of electromagnetic radiation. Photons are integrated, absorbed, or accumulated by each pixel and converted into an electrical charge or current.
- An electronic shutter or rolling shutter may be used to start the integration time by resetting the pixel. The light will then integrate until the next readout phase. The position of the electronic shutter 222 can be moved between two readout cycles 202 to control the pixel saturation for a given amount of light. It should be noted that this technique allows for a constant integration time between two different lines but introduces a delay when moving from top to bottom rows.
- FIG. 2C illustrates the case where the electronic shutter 222 has been removed. In this configuration, the integration of the incoming light may start during readout 202 and may end at the next readout cycle 202 , which also defines the start of the next integration.
- each row will start its integration in a dark environment, which may be at the optical black back row 220 of read out frame (m) for a maximum light pulse width, and will then receive a light strobe and will end its integration in a dark environment, which may be at the optical black front row 218 of the next succeeding read out frame (m+1) for a maximum light pulse width.
- the image generated from the light pulse will be solely available during frame (m+ 1 ) readout without any interference with frames (m) and (m+2).
- the condition to have a light pulse to be read out only in one frame and not interfere with neighboring frames is to have the given light pulse firing during the blanking time 216 .
- the optical black rows 218 , 220 are insensitive to light, the optical black back rows 220 time of frame (m) and the optical black front rows 218 time of frame (m+1) can be added to the blanking time 216 to determine the maximum range of the firing time of the light pulse 230 .
- a sensor may be cycled many times to receive data for each pulsed color or wavelength (e.g., Red, Green, Blue, or other wavelength on the electromagnetic spectrum). Each cycle may be timed.
- the cycles may be timed to operate within an interval of 16.67 ms. In another embodiment, the cycles may be timed to operate within an interval of 8 . 3 ms. It will be appreciated that other timing intervals are contemplated by the disclosure and are intended to fall within the scope of this disclosure.
- FIG. 3 graphically illustrates the operation of an embodiment of an electromagnetic emitter.
- An emitter may be timed to correspond with the cycles of a sensor, such that electromagnetic radiation is emitted within the sensor operation cycle and/or during a portion of the sensor operation cycle.
- FIG. 3 illustrates Pulse 1 at 302 , Pulse 2 at 304 , and Pulse 3 at 306 .
- the emitter may pulse during the read-out portion 202 of the sensor operation cycle.
- the emitter may pulse during the blanking portion 216 of the sensor operation cycle.
- the emitter may pulse for a duration that is during portions of two or more sensor operational cycles.
- the emitter may begin a pulse during the blanking portion 216 , or during the optical black portion 220 of the readout portion 202 , and end the pulse during the readout portion 202 , or during the optical black portion 218 of the readout portion 202 of the next succeeding cycle. It will be understood that any combination of the above is intended to fall within the scope of this disclosure as long as the pulse of the emitter and the cycle of the sensor correspond.
- FIG. 4 graphically represents varying the duration and magnitude of the emitted electromagnetic pulse (e.g., Pulse 1 at 402 , Pulse 2 at 404 , and Pulse 3 at 406 ) to control exposure.
- An emitter having a fixed output magnitude may be pulsed during any of the cycles noted above in relation to FIGS. 2D and 3 for an interval to provide the needed electromagnetic energy to the pixel array.
- An emitter having a fixed output magnitude may be pulsed at a longer interval of time, thereby providing more electromagnetic energy to the pixels or the emitter may be pulsed at a shorter interval of time, thereby providing less electromagnetic energy. Whether a longer or shorter interval time is needed depends upon the operational conditions.
- the magnitude of the emission itself may be increased to provide more electromagnetic energy to the pixels.
- decreasing the magnitude of the pulse provides less electromagnetic energy to the pixels.
- an embodiment of the system may have the ability to adjust both magnitude and duration concurrently, if desired.
- the sensor may be adjusted to increase its sensitivity and duration as desired for optimal image quality.
- FIG. 4 illustrates varying the magnitude and duration of the pulses.
- Pulse 1 at 402 has a higher magnitude or intensity than either Pulse 2 at 404 or Pulse 3 at 406 .
- Pulse 1 at 402 has a shorter duration than Pulse 2 at 404 or Pulse 3 at 406 , such that the electromagnetic energy provided by the pulse is illustrated by the area under the pulse shown in the illustration.
- Pulse 2 at 404 has a relatively low magnitude or intensity and a longer duration when compared to either Pulse 1 at 402 or Pulse 3 at 406 .
- Pulse 3 at 406 has an intermediate magnitude or intensity and duration, when compared to Pulse 1 at 402 and Pulse 2 at 404 .
- FIG. 5 is a graphical representation of an embodiment of the disclosure combining the operational cycles, the electromagnetic emitter and the emitted electromagnetic pulses of FIGS. 2-4 to demonstrate the imaging system during operation in accordance with the principles and teachings of the disclosure.
- the electromagnetic emitter pulses the emissions primarily during the blanking period 216 of the sensor, such that the pixels will be charged and ready to read during the read-out portion 202 of the sensor cycle.
- the dashed line portions in the pulse illustrate the potential or ability to emit electromagnetic energy during the optical black portions 220 and 218 of the read cycle (sensor cycle) 200 if additional time is needed or desired to pulse electromagnetic energy.
- FIG. 6 illustrates a schematic of two distinct processes over a period of time from t( 0 ) to t( 1 ) for recording a frame of video for full spectrum light and partitioned spectrum light.
- color sensors have a color filter array (CFA) for filtering out certain wavelengths of light per pixel commonly used for full spectrum light reception.
- CFA color filter array
- An example of a CFA is a Bayer pattern. Because the color sensor may comprise pixels within the array that are made sensitive to a single color from within the full spectrum, a reduced resolution image results because the pixel array has pixel spaces dedicated to only a single color of light within the full spectrum. Usually such an arrangement is formed in a checkerboard type pattern across the entire array.
- a sensor when partitioned spectrums of light are used a sensor can be made to be sensitive or responsive to the magnitude of all light energy because the pixel array will be instructed that it is sensing electromagnetic energy from a predetermined partition of the full spectrum of electromagnetic energy in each cycle. Therefore, to form an image the sensor need only be cycled with a plurality of differing partitions from within the full spectrum of light and then reassembling the image to display a predetermined mixture of color values for every pixel across the array. Accordingly, a higher resolution image is also provided because there are reduced distances as compared to a Bayer sensor between pixel centers of the same color sensitivity for each of the color pulses. As a result, the formed colored image has a higher modulation transfer function (MTF).
- MTF modulation transfer function
- the resultant image created when the partitioned light frames are combined into a full color frame also has a higher resolution.
- each and every pixel within the array (instead of, at most, every second pixel in a sensor with color filter) is sensing the magnitudes of energy for a given pulse and a given scene, just fractions of time apart, a higher resolution image is created for each scene with less derived (less accurate) data needing to be introduced.
- white or full spectrum visible light is a combination of red, green and blue light.
- the time to capture an image is t( 0 ) to t( 1 ).
- the full spectrum process 610 white light or full spectrum electromagnetic energy is emitted at 612 .
- the white or full spectrum electromagnetic energy is sensed.
- the image is processed and displayed.
- a first partition is emitted at 622 and sensed at 624 .
- a second partition is emitted and then sensed at 628 .
- a third partition is emitted and sensed at 632 .
- the image is processed and displayed. It will be appreciated that any system using an image sensor cycle that is at least two times faster than the white light cycle is intended to fall within the scope of the disclosure.
- the sensor for the partitioned spectrum system 620 has cycled three times for every one of the full spectrum system.
- the first of the three sensor cycles are for a green spectrum 622 and 624
- the second of the three is for a red spectrum 626 and 628
- the third is for a blue spectrum 630 and 632 .
- a partitioned light system should operate at 150-180 frames per second to maintain the continuity and smoothness of the displayed video.
- the average capture rate could be any multiple of the display rate.
- not all partitions be represented equally within the system frame rate.
- not all light sources have to be pulsed with the same regularity so as to emphasize and de-emphasize aspects of the recorded scene as desired by the users.
- non-visible and visible partitions of the electromagnetic spectrum may be pulsed together within a system with their respective data value being stitched into the video output as desired for display to a user.
- an electromagnetic partition may be emitted that is sensitive to dyes or materials that are used to highlight aspects of a scene. In the embodiment, it may be sufficient to highlight the location of the dyes or materials without need for high resolution. In such an embodiment, the dye sensitive electromagnetic partition may be cycled much less frequently than the other partitions in the system to include the emphasized data.
- the partition cycles may be divided so as to accommodate or approximate various imaging and video standards.
- the partition cycles may comprise pulses of electromagnetic energy in the Red, Green, Blue spectrum as follows as illustrated best in FIGS. 7A-7D .
- FIG. 7A the different light intensities have been achieved by modulating the light pulse width or duration within the working range shown by the vertical grey dashed lines.
- FIG. 7B the different light intensities have been achieved by modulating the light power or the power of the electromagnetic emitter, which may be a laser or LED emitter, but keeping the pulse width or duration constant.
- FIG. 7C shows the case where both the light power and the light pulse width are being modulated, leading to greater flexibility.
- the partition cycles may use CMY, IR and ultraviolet using a non-visible pulse source mixed with visible pulse sources and any other color space required to produce an image or approximate a desired video standard that is currently known or yet to be developed. It should also be understood that a system may be able to switch between the color spaces on the fly to provide the desired image output quality.
- Green-Blue-Green-Red it may be desirous to pulse the luminance components more often than the chrominance components because users are generally more sensitive to light magnitude differences than to light color differences.
- This principle can be exploited using a mono-chromatic sensor as illustrated in FIG. 7D .
- green which contains the most luminance information, may be pulsed more often or with more intensity in a (G-B-G-R-G-B-G-R . . . ) scheme to obtain the luminance data.
- a (G-B-G-R-G-B-G-R . . . ) scheme to obtain the luminance data.
- duplicating the pulse of a weaker partition may be used to produce an output that has been adjusted for the weaker pulse.
- blue laser light is considered weak relative to the sensitivity of silicon-based pixels and is difficult to produce in comparison to the red or green light, and therefore may be pulsed more often during a frame cycle to compensate for the weakness of the light.
- These additional pulses may be done serially over time or by using multiple lasers that simultaneously pulse to produce the desired compensation effect. It should be noted that by pulsing during a blanking period (time during which the sensor is not reading out the pixel array), the sensor is insensitive to differences/mismatches between lasers of the same kind and simply accumulates the light for the desired output.
- the sensor and/or light emitter may be adjusted to compensate for the differences in the energy values.
- the data obtained from the histogram from a previous frame may be analyzed.
- the sensor may be adjusted as noted below.
- the emitter may be adjusted.
- the image may be obtained from the adjusted sample time from the sensor or the image may be obtained with adjusted (either increased or decreased) emitted light, or a combination of the above.
- the senor can be adjusted to be less sensitive during the red partition cycle and more sensitive during the blue partition cycle because of the low Quantum Efficiency that the blue partition has with respect to silicon (illustrated best in FIG. 9 ).
- the emitter may be adjusted to provide an adjusted partition (e.g., higher or lower intensity and duration). Further, adjustments may be made at the sensor and emitter level both.
- the emitter may also be designed to emit at one specific frequency or may be changed to emit multiple frequencies of a specific partition to broaden the spectrum of light being emitted, if desired for a particular application.
- FIG. 10 shows a schematic of an unshared 4T pixel.
- the TX signal is used to transfer accumulated charges from the photo diode (PPD) to the floating diffusion (FD).
- the reset signal is used to reset the FD to the reset bus. If reset and TX signals are “On” at the same time, the PPD is constantly reset (each photo charge generated in the PPD is directly collected at the reset bus) and the PPD is always empty.
- Usual pixel array implementation includes a horizontal reset line that attaches the reset signals of all pixels within one row and a horizontal TX line that attaches the TX signals of all pixels within one row.
- timing of the sensor sensibility adjustment is illustrated, and sensor sensibility adjustment can be achieved using a global reset mechanism (i.e., a means of firing all pixel array reset signals at once) and a global TX mechanism (i.e., a means of firing all pixel array TX signals at once).
- a global reset mechanism i.e., a means of firing all pixel array reset signals at once
- a global TX mechanism i.e., a means of firing all pixel array TX signals at once
- the emitter may emit red light at a lesser intensity than blue light to produce a correctly exposed image (illustrated best in FIG. 12 ).
- the data obtained from the histogram from a previous frame may be analyzed.
- the emitter may be adjusted.
- the image may be obtained from the adjusted emitted light. Additionally, in an embodiment both the emitter and the sensor can be adjusted concurrently.
- Reconstructing the partitioned spectrum frames into a full spectrum frame for later output could be as simple as blending the sensed values for each pixel in the array in some embodiments. Additionally, the blending and mixing of values may be simple averages or may be tuned to a predetermined lookup table (LUT) of values for desired outputs. In an embodiment of a system using partitioned light spectrums, the sensed values may be post-processed or further refined remotely from the sensor by an image or secondary processor, and just before being output to a display.
- LUT lookup table
- the first stage is concerned with making corrections (see 1302 , 1304 and 1306 in FIG. 13 ) to account for any non-idealities in the sensor technology for which it is most appropriate to work in the raw data domain (see FIG. 21 ).
- the white balance coefficients at 1318 and color correction matrix at 1320 are applied before converting to YCbCr space at 1322 for subsequent edge enhancement at 1324 .
- images are transformed back to linear RGB at 1326 for scaling at 1328 , if applicable.
- the gamma transfer function at 1330 would be applied to translate the data into the sRGB domain at 1332 .
- FIG. 14 is an embodiment example of color fusion hardware.
- the color fusion hardware takes in an RGBGRGBGRGBG video data stream at 1402 and converts it to a parallel RGB video data stream at 1405 .
- the bit width on the input side may be, e.g., 12 bits per color.
- the output width for that example would be 36 bits per pixel.
- Other embodiments may have different initial bit widths and 3 times that number for the output width.
- the memory writer block takes as its input the RGBG video stream at 1402 and writes each frame to its correct frame memory buffer at 1404 (the memory writer triggers off the same pulse generator 1410 that runs the laser light source). As illustrated at 1404 , writing to the memory follows the pattern, Red, Green 1 , Blue, Green 2 , and then starts back with Red again.
- the memory reader reads three frames at once to construct an RGB pixel. Each pixel is three times the bit width of an individual color component.
- the reader also triggers off the laser pulse generator at 1410 . The reader waits until Red, Green 1 and Blue frames have been written, then proceeds to read them out in parallel while the writer continues writing Green 2 and starts back on Red. When Red completes the reader begins reading from Blue, Green 2 and Red. This pattern continues indefinitely.
- the RG 1 BG 2 RG 1 BG 2 pattern reconstruction illustrated in FIG. 16 allows 60 fps output with 120 fps input in an embodiment.
- Each consecutive frame contains either a red or blue component from the previous frame.
- each color component is available in 8.3 ms and the resulting reconstructed frame has a period of 16.67 ms.
- the reconstructed frame has a period twice of that of the incoming colored frame as shown in FIG. 15 .
- different pulsing schemes may be employed.
- embodiments may be based on the timing of each color component or frame (T 1 ) and the reconstructed frame having a period twice that of the incoming color frame (2 ⁇ T 1 ). Different frames within the sequence may have different frame periods and the average capture rate could be any multiple of the final frame rate.
- FIGS. 17-20 illustrate color correction methods and hardware schematics for use with a partitioned light system. It is common in digital imaging to manipulate the values within image data to correct the output to meet user expectations or to highlight certain aspects of the imaged object. Most commonly this is done in satellite images that are tuned and adjusted to emphasize one data type over another. Most often, in satellite acquired data there is the full spectrum of electromagnetic energy available because the light source is not controlled, i.e., the sun is the light source. In contrast, there are imaging conditions where the light is controlled and even provided by a user. In such situations, calibration of the image data is still desirable, because without calibration improper emphasis may be given to certain data over other data.
- One method of calibration can be a table of expected values for a given imaging condition that can be compared to the data from the sensor.
- An embodiment may include a color neutral scene having known values that should be output by the imaging device and the device may be adjusted to meet those known values when the device samples the color neutral scene.
- the system may sample a color neutral scene at 1710 (as illustrated in FIG. 17 ) by running a full cycle of a plurality of electromagnetic spectrum partitions at 1702 .
- a table of values 1708 may be formed to produce a histogram for the frame at 1704 .
- the values of the frame can be compared to the known or expected values from the color neutral scene at 1706 .
- the imaging device may then be adjusted to meet the desired output at 1712 .
- the system may comprise an image signal processor (ISP) that may be adjusted to color correct the imaging device.
- ISP image signal processor
- adjustment of those light emissions can be made to color correct an image at 1800 . Adjustments may be made to any aspect of the emitted light such as magnitude, duration (i.e., time-on), or the range within the spectrum partition. Additionally, both the emitter and the sensor can be adjusted concurrently in some embodiments as shown in FIG. 19 .
- fractionalized adjustments may be made to the sensor or emitter within the system as can be seen in FIG. 20 .
- Illustrated in FIG. 20 is a system 2000 where both the emitter 2006 and the sensor 2008 can be adjusted, but an imaging device where either the emitter or sensor is adjusted during use or for a portion of use is also contemplated and is within the scope of this disclosure. It may be advantageous to adjust only the emitter during one portion of use and adjust only the sensor during another portion of use, while further yet adjusting both concurrently during a portion of use. In any of the above embodiments, improved image quality may be obtained by limiting the overall adjustments that the system can make between frame cycles.
- a fractional adjustment of the components within the system may be performed, for example, at about . 1 dB of the operational range of the components to correct the exposure of the previous frame.
- the 0.1 dB is merely an example and it should be noted that is other embodiments the allowed adjustment of the components may be any portion of their respective operational ranges.
- the components of the system can change by intensity or duration adjustment that is generally governed by the number of bits (resolution) output by the component.
- the component resolution may be typically between a range of about 10-24 bits but should not be limited to this range as it is intended to include resolutions for components that are yet to be developed in addition to those that are currently available.
- the emitter may be adjusted to decrease the magnitude or duration of the pulse of the blue light during the blue cycle of the system by a fractional adjustment as discussed above, such as about 0.1 dB.
- a single frame buffer may be used to make a running average of the whole frame without light using, e.g., simple exponential smoothing. This dark average frame would be subtracted from every illuminated frame during regular operation.
- Line-Noise is a stochastic temporal variation in the offsets of pixels within each row. Since it is temporal, the correction must be computed anew for each line and each frame. For this purpose, there are usually many optically blind (OB) pixels within each row in the array, which must first be sampled to assess the line offset before sampling the light sensitive pixels. The line offset is then simply subtracted during the line noise correction process.
- OB optically blind
- FIGS. 22 and 23 illustrate method and hardware schematics for increasing the dynamic range within a closed or limited light environment.
- exposure inputs may be input at different levels over time and combine to produce greater dynamic range.
- an imaging system may be cycled at a first intensity for a first cycle at 2202 and then subsequently cycled at a second intensity for a second cycle at 2204 , and then by combining those first and second cycles into a single frame at 2206 so that greater dynamic range can be achieved.
- Greater dynamic range may be especially desirable because of the limited space environment in which an imaging device is used.
- limited space environments that are light deficient or dark except for the light provided by the light source, and where the light source is close to the light emitter, exposure has an exponential relationship to distance. For example, objects near the light source and optical opening of the imaging device tend to be over exposed, while objects farther away tend to be extremely under exposed because there is very little (in any) ambient light present.
- the cycles of a system having emissions of electromagnetic energy in a plurality of partitions may be serially cycled according to the partitions of electromagnetic spectrum at 2300 .
- the two cycle data sets that are going to be combined may be in the form of:
- the system may be cycled in the form of:
- a first image may be derived from the intensity one values
- a second image may be derived from the intensity two values, and then combined or processed as complete image data sets at 2310 rather than their component parts.
- any number of emission partitions may be used in any order.
- “n” is used as a variable to denote any number of electromagnetic partitions and “m” is used to denote any level of intensity for the “n” partitions.
- Such a system may be cycled in the form of:
- any pattern of serialized cycles can be used to produce the desired image correction wherein “i” and “j” are additional values within the operation range of the imaging system.
- CCM Color Correction Matrix
- the terms in the CCM are tuned using a set of reference colors (e.g., from a Macbeth chart) to provide the best overall match to the sRGB standard color space.
- the diagonal terms, a, e and i, are effectively white balance gains.
- the white balance is applied separately, and the sums of horizontal rows are constrained to be unity, in order no net gain is applied by the CCM itself.
- the off-diagonal terms effectively deal with color crosstalk in the input channels. Therefore, Bayer sensors have higher off-diagonals than 3-chip cameras since the color filer arrays have a lot of response overlap between channels.
- the signal to noise ratio evaluated in the green channel, for a perfect white photo signal of 10,000 e-per pixel (neglecting read noise) for this case would be:
- FIG. 24 shows the result of a full SNR simulation using D 65 illumination for a typical Bayer sensor CCM for the case of using the identity matrix versus the tuned CCM.
- the SNR evaluated for the luminance component is about 6 dB worse as a consequence of the color correction.
- the system described in this disclosure uses monochromatic illumination at a plurality of discrete wavelengths, therefore there is no color crosstalk per se.
- the crosses in FIG. 25 indicate the positions of three wavelengths which are available via laser diode sources (465, 532 & 639 nm), compared the sRGB gamut which is indicated by the triangle.
- the off-diagonal terms for the CCM is in this case are drastically reduced, compared with Bayer sensors, which provides a significant SNR advantage.
- FIG. 26 illustrates an imaging system having increased dynamic range as provided by the pixel configuration of the pixel array of the image sensor.
- adjacent pixels 2602 and 2604 may be set at differing sensitivities such that each cycle includes data produced by pixels that are more and less sensitive with respect to each other. Because a plurality of sensitivities can be recorded in a single cycle of the array the dynamic range may be increased if recorded in parallel, as opposed to the time dependent serial nature of other embodiments.
- an array may comprise rows of pixels that may be placed in rows based on their sensitivities.
- pixels of differing sensitivities may alternate within a row or column with respect to its nearest neighboring pixels to from a checkerboard pattern throughout the array based on those sensitivities. The above may be accomplished through any pixel circuitry share arrangement or in any stand-alone pixel circuit arrangement.
- Wide dynamic range can be achieved by having multiple global TX, each TX firing only on a different set of pixels.
- a global TX 1 signal is firing a set 1 of pixels
- a global TX 2 signal is firing a set 2 of pixels . . .
- a global TXn signal is firing a set n of pixels.
- FIG. 27A shows a timing example for 2 different pixel sensitivities (dual pixel sensitivity) in the pixel array.
- global TX 1 signal fires half of the pixels of the array and global TX 2 fires the other half of the pixels. Because global TX 1 and global TX 2 have different “on” to “off” edge positions, integrated light is different between the TX 1 pixels and the TX 2 pixels.
- FIG. 27B shows a different embodiment of the timing for dual pixel sensitivity. In this case, the light pulse is modulated twice (pulse duration and/or amplitude). TX 1 pixels integrate P 1 pulse and TX 2 pixels integrate P 1 +P 2 pulses. Separating global TX signals can be done many ways. The following are examples:
- a means of providing wide-dynamic range video is described, which exploits the color pulsing system described in this disclosure.
- the basis of this is to have multiple flavors of pixels, or pixels that may be tuned differently, within the same monochrome array that are able to integrate the incident light for different durations within the same frame.
- An example of the pixel arrangement in the array of such a sensor would be a uniform checkerboard pattern throughout, with two independently variable integration times. For such a case, it is possible to provide both red and blue information within the same frame. In fact, it is possible to do this at the same time as extending the dynamic range for the green frame, where it is most needed, since the two integration times can be adjusted on a frame by frame basis.
- the color motion artifacts are less of an issue if all the data is derived from two frames versus three. There is of course a subsequent loss of spatial resolution for the red and blue data, but that is of less consequence to the image quality compared with green, since the luminance component is dominated by green data.
- WDR monochrome wide-dynamic range
- the two flavors of pixels are separated into two buffers.
- the empty pixels are then filled in using, e.g., linear interpolation.
- one buffer contains a full image of blue data and the other red+blue.
- the blue buffer may be subtracted from the second buffer to give pure red data.
- FIGS. 28A-28C illustrate the use of a white light emission that is pulsed and/or synced, or held constant, with a corresponding color sensor.
- a white light emitter may be configured to emit a beam of light during the blanking period of a corresponding sensor to provide a controlled light source in a controlled light environment.
- the light source may emit a beam at a constant magnitude and vary the duration of the pulse as seen in FIG. 28A , or may hold the pulse constant with varying the magnitude to achieve correctly exposed data as illustrated in FIG. 28B .
- Illustrated in FIG. 28C is a graphical representation of a constant light source that can be modulated with varying current that is controlled by and synced with a sensor.
- white light or multi-spectrum light may be emitted as a pulse, if desired, to provide data for use within the system (illustrated best in FIGS. 28A-28C ).
- White light emissions in combination with partitions of the electromagnetic spectrum may be useful for emphasizing and de-emphasizing certain aspects within a scene.
- Such an embodiment might use a pulsing pattern of:
- FIGS. 29A and 29B illustrate a perspective view and a side view, respectively, of an implementation of a monolithic sensor 2900 having a plurality of pixel arrays for producing a three-dimensional image in accordance with the teachings and principles of the disclosure.
- Such an implementation may be desirable for three-dimensional image capture, wherein the two pixel arrays 2902 and 2904 may be offset during use.
- a first pixel array 2902 and a second pixel array 2904 may be dedicated to receiving a predetermined range of wave lengths of electromagnetic radiation, wherein the first pixel array is dedicated to a different range of wave length electromagnetic radiation than the second pixel array.
- FIGS. 30A and 30B illustrate a perspective view and a side view, respectively, of an implementation of an imaging sensor 3000 built on a plurality of substrates.
- a plurality of pixel columns 3004 forming the pixel array are located on the first substrate 3002 and a plurality of circuit columns 3008 are located on a second substrate 3006 .
- the electrical connection and communication between one column of pixels to its associated or corresponding column of circuitry may be implemented in one implementation, an image sensor, which might otherwise be manufactured with its pixel array and supporting circuitry on a single, monolithic substrate/chip, may have the pixel array separated from all or a majority of the supporting circuitry.
- the disclosure may use at least two substrates/chips, which will be stacked together using three-dimensional stacking technology.
- the first 3002 of the two substrates/chips may be processed using an image CMOS process.
- the first substrate/chip 3002 may be comprised either of a pixel array exclusively or a pixel array surrounded by limited circuitry.
- the second or subsequent substrate/chip 3006 may be processed using any process and does not have to be from an image CMOS process.
- the second substrate/chip 3006 may be, but is not limited to, a highly dense digital process to integrate a variety and number of functions in a very limited space or area on the substrate/chip, or a mixed-mode or analog process to integrate for example precise analog functions, or a RF process to implement wireless capability, or MEMS (Micro-Electro-Mechanical Systems) to integrate MEMS devices.
- the image CMOS substrate/chip 3002 may be stacked with the second or subsequent substrate/chip 3006 using any three-dimensional technique.
- the second substrate/chip 3006 may support most, or a majority, of the circuitry that would have otherwise been implemented in the first image CMOS chip 3002 (if implemented on a monolithic substrate/chip) as peripheral circuits and therefore have increased the overall system area while keeping the pixel array size constant and optimized to the fullest extent possible.
- the electrical connection between the two substrates/chips may be done through interconnects 3003 and 3005 , which may be wire bonds, bump and/or TSV (Through Silicon Via).
- FIGS. 31A and 31B illustrate a perspective view and a side view, respectively, of an implementation of an imaging sensor 3100 having a plurality of pixel arrays for producing a three-dimensional image.
- the three-dimensional image sensor may be built on a plurality of substrates and may comprise the plurality of pixel arrays and other associated circuitry, wherein a plurality of pixel columns 3104 a forming the first pixel array and a plurality of pixel columns 3104 b forming a second pixel array are located on respective substrates 3102 a and 3102 b , respectively, and a plurality of circuit columns 3108 a and 3108 b are located on a separate substrate 3106 . Also illustrated are the electrical connections and communications between columns of pixels to associated or corresponding column of circuitry.
- teachings and principles of the disclosure may be used in a reusable device platform, a limited use device platform, a re-posable use device platform, or a single-use/disposable device platform without departing from the scope of the disclosure. It will be appreciated that in a re-usable device platform an end-user is responsible for cleaning and sterilization of the device. In a limited use device platform, the device can be used for some specified amount of times before becoming inoperable. Typical new device is delivered sterile with additional uses requiring the end-user to clean and sterilize before additional uses.
- a third-party may reprocess the device (e.g., cleans, packages and sterilizes) a single-use device for additional uses at a lower cost than a new unit.
- a device is provided sterile to the operating room and used only once before being disposed of.
- An embodiment of an emitter may employ the use of a mechanical shutter and filters to create pulsed color light.
- a mechanical shutter and filters to create pulsed color light.
- FIG. 32 an alternate method to produce pulsed color light, using a white light source and a mechanical color filter and shutter system 3200 .
- the wheel could contain a pattern of translucent color filter windows and opaque sections for shuttering. The opaque sections would not allow light through and would create a period of darkness in which the sensor read-out could occur.
- the white light source could be based on any technology: laser, LED, xenon, halogen, metal halide, or other.
- the white light can be projected through a series of color filters 3207 , 3209 and 3211 of the desired pattern of colored light pulses.
- One embodiment pattern could be Red filter 3207 , Green filter 3209 , Blue filter 3211 , Green filter 3209 .
- the filters and shutter system 3200 could be arranged on a wheel that spins at the required frequency to be in sync with the sensor such that knowledge of the arch length and rate of rotation of the mechanical color filters 3207 , 3209 and 3211 and shutters 3205 system would provide timing information for the operation of a corresponding monochromatic image sensor.
- an embodiment may comprise a pattern of only translucent color filters 3307 , 3309 and 3311 on a filter wheel 3300 .
- a different shutter may be used.
- the shutter could be mechanical and could dynamically adjust the “pulse” duration by varying is size.
- the shutter could be electronic and incorporated into the sensor design.
- a motor spinning the filter wheel 3300 will need to communicate with or be controlled in conjunction with the sensor such that knowledge of the arch length and rate of rotation of the mechanical color filters 3307 , 3309 and 3311 system would provide timing information for the operation of the corresponding monochromatic image sensor.
- the control system will need to know the proper color filter for each frame captured by the sensor so that the full-color image can be reconstructed properly in the ISP.
- a color pattern of RGBG is shown, but other colors and/or patterns could be used if advantageous.
- the relative size of the color sections is shown as equal but could be adjusted if advantageous.
- the mechanical structure of the filter is shown as a circle moving rotationally, but could be rectangular with a linear movement, or a different shape with a different movement pattern.
- an embodiment for pulsing color light may consist of a mechanical wheel or barrel that holds the electronics and heat sinks for Red, Green, Blue or White LEDS.
- the LEDs would be spaced at the distance that would be related to the rate of spin or twist of the barrel or wheel to allow for timing of light pulsing consistent with other embodiments in the patent.
- the wheel or barrel would be spun using an electrical motor and a mechanical bracket attaching the wheel or barrel to the electrical motor.
- the motor would be controlled using a microcontroller, FPGA, DSP, or other programmable device that would contain a control algorithm for proper timing as described in the patent.
- Illustrated in FIG. 35 is an embodiment of an emitter 3502 comprising a linear filter 3504 and shutter mechanism to provide pulsed electromagnetic radiation.
- the linear filter 3504 and shutter mechanism moves horizontally at a required frequency to filter the appropriate wavelengths of light.
- Illustrating in FIG. 36 is an embodiment of an emitter 3602 comprising a prism filter 3604 and shutter mechanism to provide pulsed electromagnetic radiation.
- the prism filter 3604 filters light and delivers an output can that may include a shutter.
- the prism filter 3604 moves at a required frequency to provide a correct color output pattern.
- teachings and principles of the disclosure may include any and all wavelengths of electromagnetic energy, including the visible and non-visible spectrums, such as infrared (IR), ultraviolet (UV), and X-ray.
- IR infrared
- UV ultraviolet
- X-ray X-ray
- FIG. 37 is a schematic diagram illustrating a system 3700 for providing illumination to a light deficient environment, such as for endoscopic imaging.
- the system 3700 may be used in combination with any of the systems, methods, or devices disclosed herein.
- the system 3700 includes a light source 3702 , a controller 3704 , a jumper waveguide 3706 , a waveguide connector 3708 , a lumen waveguide 3710 , a lumen 3712 , and an image sensor 3714 with accompanying optical components (such as a lens).
- the light source 3702 generates light that travels through the jumper waveguide 3706 and the lumen waveguide 3710 to illuminate a scene at a distal end of the lumen 3712 .
- the light source 3700 may be used to emit any wavelength of electromagnetic energy including visible wavelengths, infrared, ultraviolet, or other wavelengths.
- the lumen 3712 may be inserted into a patient's body for imaging, such as during a procedure or examination.
- the light is output as illustrated by dashed lines 3716 .
- a scene illuminated by the light may be captured using the image sensor 3714 and displayed for a doctor or some other medical personnel.
- the controller 3704 may provide control signals to the light source 3702 to control when illumination is provided to a scene.
- the light source 3702 and controller 3704 are located within a camera control unit (CCU) or external console to which an endoscope is connected.
- CCU camera control unit
- the image sensor 3714 includes a CMOS sensor
- light may be periodically provided to the scene in a series of illumination pulses between readout periods of the image sensor 3714 during what is known as a blanking period.
- the light may be pulsed in a controlled manner to avoid overlapping into readout periods of the image pixels in a pixel array of the image sensor 3714 .
- the lumen waveguide 3710 includes a one or a plurality of optical fibers.
- the optical fibers may be made of a low-cost material, such as plastic to allow for disposal of the lumen waveguide 3710 and/or other portions of an endoscope.
- a single glass fiber having a diameter of 500 microns may be used.
- the jumper waveguide 3706 may be permanently attached to the light source 3702 .
- a jumper waveguide 3706 may receive light from an emitter within the light source 3702 and provide that light to the lumen waveguide 3710 at the location of the connector 3708 .
- the jumper waveguide 106 may include one or more glass fibers.
- the jumper waveguide may include any other type of waveguide for guiding light to the lumen waveguide 3710 .
- the connector 3708 may selectively couple the jumper waveguide 3706 to the lumen waveguide 3710 and allow light within the jumper waveguide 3706 to pass to the lumen waveguide 3710 .
- the lumen waveguide 3710 may be directly coupled to a light source without any intervening jumper waveguide 3706 .
- FIGS. 38-40 are schematic block diagrams illustrating a light source 3800 having a plurality of emitters.
- the emitters include a first emitter 3802 , a second emitter 3804 , and a third emitter 3806 . Additional emitters may be included, as discussed further below.
- the emitters 3802 , 3804 , and 3806 may include one or more laser emitters that emit light having different wavelengths. For example, the first emitter 3802 may emit a wavelength that is consistent with a blue laser, the second emitter 3804 may emit a wavelength that is consistent with a green laser, and the third emitter 3806 may emit a wavelength that is consistent with a red laser.
- the first emitter 3802 may include one or more blue lasers
- the second emitter 3804 may include one or more green lasers
- the third emitter 3806 may include one or more red lasers.
- the emitters 3802 , 3804 , 3806 emit laser beams toward a collection region 3808 , which may be the location of a waveguide, lens, or other optical component for collecting and/or providing light to a waveguide, such as the jumper waveguide 3706 or lumen waveguide 3710 of FIG. 37 .
- the emitters 3802 , 3804 , and 3806 may emit wavelength(s) for fluorescing the reagents or dyes. Such wavelength(s) may be determined based on the reagents or dyes administered to the patient. In such an embodiment, the emitters may need to be highly precise for emitting desired wavelength(s) to fluoresce or activate certain reagents or dyes.
- the emitters 3802 , 3804 , 3806 each deliver laser light to the collection region 3808 at different angles.
- the variation in angle can lead to variations where electromagnetic energy is located in an output waveguide. For example, if the light passes immediately into a fiber bundle (glass or plastic) at the collection region 3808 , the varying angles may cause different amounts of light to enter different fibers. For example, the angle may result in intensity variations across the collection region 3808 .
- light from the different emitters may not be homogenously mixed so some fibers may receive different amounts of light of different colors. Variation in the color or intensity of light in different fibers can lead to non-optimal illumination of a scene. For example, variations in delivered light or light intensities may result at the scene and captured images.
- an intervening optical element may be placed between a fiber bundle and the emitters 3802 , 3804 , 3806 to mix the different colors (wavelengths) of light before entry into the fibers or other waveguide.
- Example intervening optical elements include a diffuser, mixing rod, one or more lenses, or other optical components that mix the light so that a given fiber receive a same amount of each color (wavelength).
- each fiber in the fiber bundle may have a same color. This mixing may lead to the same color in each fiber but may, in some embodiments, still result in different total brightness delivered to different fibers.
- the intervening optical element may also spread out or even out the light over the collection region so that each fiber carries the same total amount of light (e.g., the light may be spread out in a top hat profile).
- a diffuser or mixing rod may lead to loss of light.
- the collection region 3808 may simply be a region where light from the emitters 3802 , 3804 , and 3806 is delivered.
- the collection region 3808 may include an optical component such as a diffuser, mixing rod, lens, or any other intervening optical component between the emitters 3802 , 3804 , 3806 and an output waveguide.
- FIG. 39 illustrates an embodiment of a light source 3800 with emitters 3802 , 3804 , 3806 that provide light to the collection region 3808 at the same or substantially same angle. The light is provided at an angle substantially perpendicular to the collection region 3808 .
- the light source 3800 includes a plurality of dichroic mirrors including a first dichroic mirror 3902 , a second dichroic mirror 3904 , and a third dichroic mirror 3906 .
- the dichroic mirrors 3902 , 3904 , 3906 include mirrors that reflect a first wavelength of light but transmit (or are transparent to) a second wavelength of light.
- the third dichroic mirror 3906 may reflect blue laser light provided by the third emitter, while being transparent to the red and green light provided by the first emitter 3802 and the second emitter 3804 , respectively.
- the second dichroic mirror 3904 may be transparent to red light from the first emitter 3802 , but reflective to green light from the second emitter 3804 . If other colors or wavelengths are included dichroic mirrors may be selected to reflect light corresponding to at least one emitter and be transparent to other emitters.
- the third dichroic mirror 3906 reflect the light form the third emitter 3806 but is to emitters “behind” it, such as the first emitter 3802 and the second emitter 3804 .
- each dichroic mirror may be reflective to a corresponding emitter and emitters in front of it while being transparent to emitters behind it. This may allow for tens or hundreds of emitters to emit electromagnetic energy to the collection region 3808 at a substantially same angle.
- each of the wavelengths may arrive at the collection region 3808 from a same angle and/or with the same center or focal point.
- Providing light from the same angle and/or same focal/center point can significantly improve reception and color mixing at the collection region 3808 .
- a specific fiber may receive the different colors in the same proportions they were transmitted/reflected by the emitters 3802 , 3804 , 3806 and mirrors 3902 , 3904 , 3906 .
- Light mixing may be significantly improved at the collection region compared to the embodiment of FIG. 38 .
- any optical components discussed herein may be used at the collection region 3808 to collect light prior to providing it to a fiber or fiber bundle.
- FIG. 40 illustrates an embodiment of a light source 3800 with emitters 3802 , 3804 , 3806 that also provide light to the collection region 3808 at the same or substantially same angle.
- the light incident on the collection region 3808 is offset from being perpendicular.
- Angle 4002 indicates the angle offset from perpendicular.
- the laser emitters 3802 , 3804 , 3806 may have cross sectional intensity profiles that are Gaussian. As discussed previously, improved distribution of light energy between fibers may be accomplished by creating a more flat or top-hat shaped intensity profile.
- the intensity across the collection region 3808 approaches a top hat profile. For example, a top-hat profile may be approximated even with a non-flat output beam by increasing the angle 4002 until the profile is sufficiently flat.
- the top hat profile may also be accomplished using one or more lenses, diffusers, mixing rods, or any other intervening optical component between the emitters 3802 , 3804 , 3806 and an output waveguide, fiber, or fiber optic bundle.
- FIG. 41 is a schematic diagram illustrating a single optical fiber 4102 outputting via a diffuser 4104 at an output.
- the optical fiber 4102 may have a diameter of 500 microns and have a numerical aperture of 0.65 and emit a light cone 4106 of about 70 or 80 degrees without a diffuser 4104 .
- the light cone 4106 may have an angle of about 110 or 120 degrees.
- the light cone 4106 may be a majority of where all light goes and is evenly distributed.
- the diffuser 4104 may allow for more even distribution of electromagnetic energy of a scene observed by an image sensor.
- the lumen waveguide 4102 may include a single plastic or glass optical fiber of about 500 microns.
- the plastic fiber may be low cost, but the width may allow the fiber to carry a sufficient amount of light to a scene, with coupling, diffuser, or other losses. For example, smaller fibers may not be able to carry as much light or power as a larger fiber.
- the lumen waveguide 3710 may include a single or a plurality of optical fibers.
- the lumen waveguide 3702 may receive light directly from the light source or via a jumper waveguide (e.g., see the jumper waveguide 3706 of FIG. 37 ).
- a diffuser may be used to broaden the light output 3706 for a desired field of view of the image sensor 3714 or other optical components.
- emitters numbering from one into the hundreds or more may be used in some embodiments.
- the emitters may have different wavelengths or spectrums of light that they emit, and which may be used to contiguously cover a desired portion of the electromagnetic spectrum (e.g., the visible spectrum as well as infrared and ultraviolet spectrums).
- a light source with a plurality of emitters may be used for multispectral or hyperspectral imaging in a light deficient environment.
- different chemicals, materials, or tissue may have different responses to different colors or wavelengths of electromagnetic energy.
- Some tissues have their own spectral signature (how they respond or vary in reflecting wavelengths of electromagnetic radiation).
- a specific type of tissues may be detected based on how it responds to a specific wavelength or a specific combination of wavelengths.
- blood vessel tissues may absorb and reflect different wavelengths or spectrums of electromagnetic energy in a unique way to distinguish it from muscle, fat, bone, nerve, ureter,or other tissues or materials in the body.
- specific types of muscle or other types of tissue may be distinguished based on their spectral response. Disease states of tissue may also be determined based on spectral information. See U.S. Pat. No. 8,289,503. See also U.S. Pat. No. 8,158,957.
- fluorescent image data, and/or multispectral or hyperspectral image data may be obtained using one or more filters to filter out all light or electromagnetic energy, except that in the desired wavelength or spectrum.
- FIG. 42 is a block diagram illustrating a filter 4202 for filtering out unwanted wavelengths before light 4208 (or other electromagnetic radiation) encounters an imaging sensor 4204 or other imaging medium (e.g., film).
- white light 4208 passes through the filter 4202 and filtered light 4210 passes through a lens 4206 to be focused onto the imaging sensor 4204 for image capture and readout.
- the filter may be located anywhere in the system or may be an attribute of the lens 4206 or image sensor 4204 .
- the light 4208 may include white light emitted by an emitter in the light deficient environment.
- the filter 4202 may be selected for the desired examination. For example, if it is desired to detect or highlight a specific tissue, the filter 4202 may be selected to allow wavelengths corresponding to the spectral response of the specific tissue or the fluorescence emission of a specific reagent to pass through.
- the image sensor 4204 which may include a monochromatic image sensor, may generate an image. Pixels of the captured image that exceed a threshold or fall below a threshold may then be characterized as corresponding to the specific tissue. This data may then be used to generate an image that indicates the location of the specific tissue.
- a fluorescing dye or reagent may be used for imaging specific tissue types, pathways, or the like in a body.
- a fluorescing dye may be administered to a patient and then an image of the dye may be captured.
- fluorescing of the dye may be triggered using a specific wavelength of electromagnetic energy.
- the dye may only fluoresce when the electromagnetic energy is present.
- both filters and fluorescing dyes significantly constrain examination.
- the desired spectral response that can be detected, and thus the material or tissue that can be detected is limited by the available filters.
- the filters may need to be swapped or replaced.
- the dye With regard to dyes, the dye must be administered before imaging and there may be conflicts between administering different dyes for different purposes during the same examination. Thus, examinations using filters and dyes can take a long time and may require many different examinations to get the desired information.
- multispectral or hyper spectral imaging in a light deficient environment may be achieved using a monochrome image sensor and emitters that emit a plurality of different wavelengths or spectrums of electromagnetic energy.
- a light source or other electromagnetic source (such as a light source 3800 in any of FIGS. 38-40 ) may include a plurality of emitters to cover desired spectrums.
- FIG. 43 illustrates a portion of the electromagnetic spectrum 4300 divided into twenty different sub-spectrums.
- the number of sub-spectrums is illustrative only.
- the spectrum 4300 may be divided into hundreds of sub-spectrums, each with a small waveband.
- the spectrum may extend from the infrared spectrum 4302 , through the visible spectrum 4304 , and into the ultraviolet spectrum 4306 .
- the sub-spectrums each have a waveband 4308 that covers a portion of the spectrum 4300 .
- Each waveband may be defined by an upper wavelength and a lower wavelength.
- At least one emitter may be included in a light source (such as the light sources 3702 , 3800 in FIGS. 37-40 ) for each sub-spectrum to provide complete and contiguous coverage of the whole spectrum 4300 .
- a light source for providing coverage of the illustrated sub-spectrums may include at least 20 different emitters, at least one for each sub-spectrum.
- each emitter may cover a spectrum covering 40 nanometers. For example, one emitter may emit light within a waveband from 500 nm to 540 nm while another emitter may emit light within a waveband from 540 nm to 580 nm.
- emitters may cover other sizes of wavebands, depending on the types of emitters available or the imaging needs.
- a plurality of emitters may include a first emitter that covers a waveband from 500 to 540 nm, a second emitter that covers a waveband from 540 nm to 640 nm, and a third emitter that covers a waveband from 640 nm to 650 nm.
- Each emitter may cover a different slice of the electromagnetic spectrum ranging from far infrared, mid infrared, near infrared, visible light, near ultraviolet and/or extreme ultraviolet.
- a plurality of emitters of the same type or wavelength may be included to provide sufficient output power for imaging. The number of emitters needed for a specific waveband may depend on the sensitivity of a monochrome sensor to the waveband and/or the power output capability of emitters in that waveband.
- the waveband widths and coverage provided by the emitters may be selected to provide any desired combination of spectrums. For example, contiguous coverage of a spectrum using very small waveband widths (e.g., 10 nm or less) may allow for highly selective hyperspectral imaging. Because the wavelengths come from emitters which can be selectively activated, extreme flexibility in determining spectral responses of a material during an examination can be achieved. Thus, much more information about spectral response may be achieved in less time and within a single examination which would have required multiple examinations, delays because of the administration of dyes or stains, or the like. In one embodiment, a system may capture hyperspectral image data and process that data to identify what type of tissue exists at each pixel.
- FIG. 44 is a schematic diagram illustrating a timing diagram 4400 for emission and readout for generating a multispectral or hyperspectral image, according to one embodiment.
- the solid line represents readout (peaks 4402 ) and blanking periods (valleys) for capturing a series of frames 4404 - 4414 .
- the series of frames 4404 - 4414 may include a repeating series of frames which may be used for generating hyperspectral data for a video feed.
- the series of frames include a first frame 404 , a second frame 4406 , a third frame 4408 , a fourth frame 4410 , a fifth frame 4412 , and an Nth frame 4426 .
- each frame is generated based on at least one pulse of electromagnetic energy.
- the pulse of electromagnetic energy is reflected and detected by an image sensor and then read out in a subsequent readout ( 4402 ).
- each blanking period and readout results in an image frame for a specific spectrum of electromagnetic energy.
- the first frame 404 may be generated based on a spectrum of a first one or more pulses 4416
- a second frame 4406 may be generated based on a spectrum of a second one or more pulses 4418
- a third frame 4408 may be generated based on a spectrum of a third one or more pulses 4420
- a fourth frame 4410 may be generated based on a spectrum of a fourth one or more pulses 4422
- a fifth frame 4412 may be generated based on a spectrum of a fifth one or more pulses 4424
- an Nth frame 4426 may be generated based on a spectrum of an Nth one or more pulses 4426 .
- the pulses 4416 - 4426 may include energy from a single emitter or from a combination of two or more emitters.
- the spectrum included in a single readout period or within the plurality of frames 4404 - 4414 may be selected for a desired examination or detection of a specific tissue or condition.
- one or more pulses may include visible spectrum light for generating a color or black and white image while one or more additional pulses are used to obtain spectral response to classify a type of tissue.
- pulse 4416 may include red light
- pulse 4418 may include blue light
- pulse 4420 may include green light while the remaining pulses 4422 - 4426 may include wavelengths and spectrums for detecting a specific tissue type.
- pulses for a single readout period may include a spectrum generated from multiple different emitters (e.g., different slices of the electromagnetic spectrum) that can be used to detect a specific tissue type. For example, if the combination of wavelengths results in a pixel having a value exceeding or falling below a threshold, that pixel may be classified as corresponding to a specific type of tissue.
- Each frame may be used to further narrow the type of tissue that is present at that pixel (e.g., and each pixel in the image) to provide a very specific classification of the tissue and/or a state of the tissue (diseased/healthy) based on the spectral response.
- the plurality of frames 4404 - 4414 is shown having varying lengths in readout periods and pulses having different lengths or intensities.
- the blanking period, pulse length or intensity, or the like may be selected based on the sensitivity of a monochromatic sensor to the specific wavelength, the power output capability of the emitter(s), and/or the carrying capacity of the waveguide.
- a hyperspectral image or hyperspectral image data obtained in a manner illustrated in FIG. 44 may result in a plurality of frames, each based on a different spectrum or combination of spectrums. In some cases, tens or hundreds of different frames may be obtained. In other cases, such as for video streams, the number of frames may be limited to provide a viewable frame rate. Because combinations of different spectrums may be provided in a single readout period, useful and dynamic spectral information may still be obtained even in a video stream.
- a video or other image may include a black and white or color image overlaid with information derived from the spectral response for each pixel. For example, pixels that correspond to a specific tissue or state may be shown in a bright green or other color to assist a doctor or other medical expert during an examination.
- dual image sensors may be used to obtain three-dimensional images or video feeds.
- a three-dimensional examination may allow for improved understanding of a three-dimensional structure of the examined region as well as a mapping of the different tissue or material types within the region.
- multispectral or hyperspectral imaging may be used to look through materials or substances.
- infrared wavelengths may pass through some tissues, such as muscle or fat, while reflecting off blood vessels.
- infrared waves may penetrate 5, 8 or 10 mm or more into a tissue.
- Obtaining a series of frames that includes at least one infrared frame may allow an examination to provide information about the location of blood vessels below the surface. This can be extremely helpful for surgical procedures where it may be desirable to perform incisions that avoid blood vessels.
- a color or greysc ale image may be overlaid with a green color that indicates the location of blood vessels below the surface.
- a known spectral response of blood may be used to look through the blood and see the tissues or structures of interest in an examination.
- Assembly of the subframes into a single frame for display on a monitor or other display device may take place after capturing the series of frames 4404 - 4414 .
- a color or greyscale image may be generated from one or more of the frames and overlay information for pixels may be determined based on all or the remaining frames.
- the color or greysc ale image mat be combined with the overlay information to generate a single frame.
- the single frame may be displayed as a single image or as an image in a video stream.
- the hyperspectral data obtained as illustrated in FIG. 44 may be provided for analysis by a third-party algorithm to classify a tissue or material captured in the image.
- the third-party algorithm may be used to select the spectrums or wavebands to be used during imaging so that a desired spectral response analysis can be performed.
- the spectral response analysis may be performed in real-time during a medical imaging procedure or other medical procedure.
- the spectral data may be overlaid on an RGB or black and white image such that a user may readily differentiate certain types of tissues, organs, chemical processes, diseases, and so forth.
- the spectral data may be provided to a computer-operated system, such as a robotics system, for automation of medical imaging or medical procedures.
- FIG. 45 is a schematic diagram of an imaging system 4500 having a single cut filter.
- the system 4500 includes an endoscope 4506 or other suitable imaging device having a light source 4508 for use in a light deficient environment.
- the endoscope 4506 includes an image sensor 4504 and a filter 4502 for filtering out unwanted wavelengths of light or other electromagnetic radiation before reaching the image sensor 4504 .
- the light source 4508 transmits light that may illuminate the surface 4512 in a light deficient environment such as a body cavity.
- the light 4510 is reflected off the surface 4512 and passes through the filter 4502 before hitting the image sensor 4504 .
- the filter 4502 may be used in an implementation where a fluorescent reagent or dye has been administered.
- the filter 4502 is configured to filter out all light other than one or more desired wavelengths or spectral bands of light or other electromagnetic radiation.
- the filter 4502 is configured to filter out an excitation wavelength of electromagnetic radiation that causes a reagent or dye to fluoresce such that only the expected relaxation wavelength of the fluoresced reagent or dye is permitted to pass through the filter 4502 and reach the image sensor 4504 .
- the filter 4502 filters out at least a fluorescent reagent excitation wavelength between 770 nm and 790 nm.
- the filter 4502 filters out at least a fluorescent reagent excitation wavelength between 795 nm and 815 nm. In an embodiment, the filter 4502 filters out at least a fluorescent reagent excitation wavelength between 770 nm and 790 nm and between 795 nm and 815 nm. In these embodiments, the filter 4502 filters out the excitation wavelength of the reagent and permits only the relaxation wavelength of the fluoresced reagent to be read by the image sensor 4504 .
- the image sensor 4504 may be a wavelength-agnostic image sensor and the filter 4502 may be configured to permit the image sensor 4504 to only receive the relaxation wavelength of the fluoresced reagent and not receive the emitted excitation wavelength for the reagent.
- the data determined by the image sensor 4504 may then indicate a presence of a critical body structure, tissue, biological process, or chemical process as determined by a location of the reagent or dye.
- the filter 4502 may further be used in an implementation where a fluorescent reagent or dye has not been administered.
- the filter 4502 may be selected to permit wavelengths corresponding to a desired spectral response to pass through and be read by the image sensor 4504 .
- the image sensor 4504 may be a monochromatic image sensor such that pixels of the captured image that exceed a threshold or fall below a threshold may be characterized as corresponding to a certain spectral response or fluorescence emission.
- the spectral response or fluorescence emission as determined by the pixels captured by the image sensor 4504 , may indicate the presence of a certain body tissue or structure, a certain condition, a certain chemical process, and so forth.
- the light source 4508 transmits white light that contacts the surface 4512 and is reflected back where it is filtered by the filter 4502 before it hits the image sensor 4504 .
- the light source 4508 transmits white light that passes through the filter 4502 such that filtered light of only one or more desired wavelengths emerges from the filter 4502 to be reflected off the surface 4512 and read by the image sensor 4504 .
- the filter 4502 permits only light having a wavelength of 795 nm to pass through the filter 4502 and contact the image sensor 4504 . Further in an embodiment, the filter 4502 permits only certain wavelengths of light to be reflected back to the image sensor 4504 of the endoscope 4506 or other imaging device.
- the filter 4502 may be located anywhere in the system 4500 or may be an attribute of a lens or the image sensor 4504 .
- the filter 4502 may be located in front of and/or behind the image sensor 4504 .
- light emitted by the light source 4508 is filtered before it reaches the surface 4512 and the reflected light is filtered by an additional filter before it is ready by the image sensor 4504 .
- the light source 4508 may be an emitter that may be configured to emit white light or electromagnetic radiation of one or more specific wavelengths.
- the light source 4508 may include a plurality of lasers configured to emit or pulse light of specified wavelengths.
- the light source 4508 emits white light and the filter 4502 is selected to filter all unwanted light other than one or more desired wavelengths of light or other electromagnetic radiation.
- the filter 4502 may be selected for a specific examination or purpose, for example to highlight a type of body tissue or structure, or to highlight a certain condition or chemical process.
- FIG. 46 is a schematic diagram of an imaging system 4600 having multiple cut filters.
- the system 4600 includes an endoscope 4606 or other suitable imaging device having a light source 4608 for use in a light deficient environment.
- the endoscope 4606 includes an image sensor 4604 and two filters 4602 a , 4602 b .
- the system 4600 may include any number of filters, and the number of filters and the type of filters may be selected for a certain purpose e.g., for gathering imaging information of a particular body tissue, body condition, chemical process, and so forth.
- the filters 4602 a , 4602 b are configured for filtering out unwanted wavelengths of light or other electromagnetic radiation.
- the filters 4602 a , 4602 b may be configured to filter out unwanted wavelengths from white light or other electromagnetic radiation that may be emitted by the light source 4608 .
- the filtered light may hit the surface 4612 (e.g. body tissue) and be reflected back on to the image sensor 4604 .
- the filters 4602 a , 4602 b may be used in an implementation where a fluorescent reagent or dye has been administered.
- the filters 4602 a , 4602 b may be configured for blocking an emitted excitation wavelength for the reagent or dye and permitting the image sensor 4604 to only read the relaxation wavelength of the reagent or dye.
- the filters 4602 a , 4602 b may be used in an implementation where a fluorescent reagent or dye has not been administered.
- the filters 4602 a , 4602 b may be selected to permit wavelengths corresponding to a desired spectral response to pass through and be read by the image sensor 4604 .
- the multiple filters 4602 a , 4602 b may each be configured for filtering out a different range of wavelengths of the electromagnetic spectrum. For example, one filter may be configured for filtering out wavelengths longer than a desired wavelength range and the additional filter may be configured for filtering out wavelengths shorter than the desired wavelength range. The combination of the two or more filters may result in only a certain wavelength or band of wavelengths being read by the image sensor 4604 .
- the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 513 nm and 545 nm contacts the image sensor 4604 . In an embodiment, the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 565 nm and 585 nm contacts the image sensor 4604 . In an embodiment, the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 900 nm and 1000 nm contacts the image sensor 4604 . In an embodiment, the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 425 nm and 475 nm contacts the image sensor 4604 .
- the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 520 nm and 545 nm contacts the image sensor 4604 . In an embodiment, the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 625 nm and 645 nm contacts the image sensor 4604 . In an embodiment, the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 760 nm and 795 nm contacts the image sensor 4604 . In an embodiment, the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 795 nm and 815 nm contacts the image sensor 4604 .
- the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 370 nm and 420 nm contacts the image sensor 4604 . In an embodiment, the filters 4602 a , 4602 b are customized such that electromagnetic radiation between 600 nm and 670 nm contacts the image sensor 4604 . In an embodiment, the filters 4602 a , 4602 b are configured for permitting only a certain fluorescence relaxation emission to pass through the filters 4602 a , 4602 b and contact the image sensor 4604 .
- the system 4600 includes multiple image sensors 4604 and may particularly include two image sensors for use in generating a three-dimensional image.
- the image sensor(s) 4604 may be color/wavelength agnostic and configured for reading any wavelength of electromagnetic radiation that is reflected off the surface 4612 .
- the image sensors 4604 are each color dependent or wavelength dependent and configured for reading electromagnetic radiation of a particular wavelength that is reflected off the surface 4612 and back to the image sensors 4604 .
- the image sensor 4604 may include a single image sensor with a plurality of different pixel sensors configured for reading different wavelengths or colors of light, such as a Bayer filter color filter array.
- the image sensor 4604 may include one or more color agnostic image sensors that may be configured for reading different wavelengths of electromagnetic radiation according to a pulsing schedule such as those illustrated in FIGS. 5-7E and 15-16 , for example.
- FIG. 47 is a schematic diagram illustrating a system 4700 for mapping a surface and/or tracking an object in a light deficient environment.
- an endoscope 4702 in a light deficient environment pulses a grid array 4706 (may be referred to as a laser map pattern) on a surface 4704 .
- the grid array 4706 may include vertical hashing 4708 and horizontal hashing 4710 in one embodiment as illustrated in FIG. 47 .
- the grid array 4706 may include any suitable array for mapping a surface 4704 , including, for example, a raster grid of discrete points, an occupancy grid map, a dot array, and so forth.
- the endoscope 4702 may pulse multiple grid arrays 4706 and may, for example, pulse one or more individual grid arrays on each of a plurality of objects or structures within the light deficient environment.
- the system 4700 pulses a grid array 4706 that may be used for determining a three-dimensional surface and/or tracking a location of an object such as a tool or another device in a light deficient environment.
- the system 4700 may provide data to a third party system or computer algorithm for determining surface dimensions and configurations by way of light detection and ranging (LIDAR) mapping.
- LIDAR light detection and ranging
- the system 4700 may pulse any suitable wavelength of light or electromagnetic radiation in the grid array 4706 , including, for example, ultraviolet light, visible, light, and/or infrared or near infrared light.
- the surface 4704 and/or objects within the environment may be mapped and tracked at very high resolution and with very high accuracy and precision.
- the system 4700 includes an imaging device having a tube, one or more image sensors, and a lens assembly having an optical element corresponding to the one or more image sensors.
- the system 4700 may include a light engine having an illumination source generating one or more pulses of electromagnetic radiation and a lumen transmitting the one or more pulses of electromagnetic radiation to a distal tip of an endoscope within a light deficient environment such as a body cavity.
- at least a portion of the one or more pulses of electromagnetic radiation includes a laser map pattern that is emitted onto a surface within the light deficient environment, such as a surface of body tissue and/or a surface of tools or other devices within the body cavity.
- the endoscope 4702 may include a two-dimensional, three-dimensional, or n-dimensional camera for mapping and/or tracking the surface, dimensions, and configurations within the light deficient environment.
- the system 4700 includes a processor for determining a distance of an endoscope or tool from an object such as the surface 4704 .
- the processor may further determine an angle between the endoscope or tool and the object.
- the processor may further determine surface area information about the object, including for example, the size of surgical tools, the size of structures, the size of anatomical structures, location information, and other positional data and metrics.
- the system 4700 may include one or more image sensors that provide image data that is output to a control system for determining a distance of an endoscope or tool to an object such as the surface 4704 .
- the image sensors may output information to a control system for determining an angle between the endoscope or tool to the object.
- the image sensors may output information to a control system for determining surface area information about the object, the size of surgical tools, size of structures, size of anatomical structures, location information, and other positional data and metrics.
- the grid array 4706 is pulsed by an illumination source of the endoscope 4702 at a sufficient speed such that the grid array 4706 is not visible to a user. In various implementations, it may be distracting to a user to see the grid array 4706 during an endoscopic imaging procedure and/or endoscopic surgical procedure.
- the grid array 4706 may be pulsed for sufficiently brief periods such that the grid array 4706 cannot be detected by a human eye.
- the endoscope 4702 pulses the grid array 4706 at a sufficient recurring frequency such that the grid array 4706 may be viewed by a user. In such an embodiment, the grid array 4706 may be overlaid on an image of the surface 4704 on a display.
- the grid array 4706 may be overlaid on a black-and-white or RGB image of the surface 4704 such that the grid array 4706 may be visible by a user during use of the system 4700 .
- a user of the system 4700 may indicate whether the grid array 4706 should be overlaid on an image of the surface 4704 and/or whether the grid array 4706 should be visible to the user.
- the system 4700 may include a display that provides real-time measurements of a distance from the endoscope 4702 to the surface 4704 or another object within the light deficient environment.
- the display may further provide real-time surface area information about the surface 4704 and/or any objects, structures, or tools within the light deficient environment. The accuracy of the measurements may be accurate to less than one millimeter.
- the endoscope 4702 may pulse electromagnetic radiation according to a pulsing schedule such as those illustrated in FIGS. 5-7E and 15-16 , for example, that may further include pulsing of the grid array 4706 along with pulsing Red, Green, and Blue light for generating an RGB image and further generating a grid array 4706 that may be overlaid on the RGB image and/or used for mapping and tracking the surface 4704 and objects within the light deficient environment.
- a pulsing schedule such as those illustrated in FIGS. 5-7E and 15-16 , for example, that may further include pulsing of the grid array 4706 along with pulsing Red, Green, and Blue light for generating an RGB image and further generating a grid array 4706 that may be overlaid on the RGB image and/or used for mapping and tracking the surface 4704 and objects within the light deficient environment.
- the endoscope 4702 includes one or more color agnostic image sensors.
- the endoscope 4702 includes two color agnostic image sensors for generating a three-dimensional image or map of the light deficient environment.
- the image sensors may generate an RGB image of the light deficient environment according to a pulsing schedule as disclosed herein. Additionally, the image sensors may determine data for mapping the light deficient environment and tracking one or more objects within the light deficient environment based on data determined when the grid array 4706 is pulsed. Additionally, the image sensors may determine spectral or hyperspectral data along with fluorescence imaging data according to a pulsing schedule that may be modified by a user to suit the particular needs of an imaging procedure.
- a pulsing schedule includes Red, Green, and Blue pulses along with pulsing of a grid array 4706 and/or pulsing for generating hyperspectral image data and/or fluorescence image data.
- the pulsing schedule may include any suitable combination of pulses of electromagnetic radiation according to the needs of a user. The recurring frequency of the different wavelengths of electromagnetic radiation may be determined based on, for example, the energy of a certain pulse, the needs of the user, whether certain data (for example, hyperspectral data and/or fluorescence imaging data) needs to be continuously updated or may be updated less frequently, and so forth.
- the pulsing schedule may be modified in any suitable manner, and certain pulses of electromagnetic radiation may be repeated at any suitable frequency, according to the needs of a user or computer-implemented program for a certain imaging procedure.
- the grid array 4706 may be pulsed more frequently than if the surface tracking data is provided to a user who is visualizing the scene during the imaging procedure.
- the surface tracking data may need to be updated more frequently or may need to be exceedingly accurate such that the computer-implemented program may execute the robotic surgical procedure with precision and accuracy.
- the system 4700 is configured to generate an occupancy grid map comprising an array of cells divided into grids.
- the system 4700 is configured to store height values for each of the respective grid cells to determine a surface mapping of a three-dimensional environment in a light deficient environment.
- FIG. 48 is a schematic flow chart diagram for a method 4800 for hyperspectral imaging in a light deficient environment.
- the method 4800 may be performed by an imaging system, such as an endoscopic imaging system illustrated in FIG. 37 .
- the method 4800 includes emitting at 4802 a plurality of narrow band pulses during readout periods of a monochromatic image sensor.
- the pulses may be emitted at 4802 using a light source that includes a plurality of emitters that emit electromagnetic energy within the narrow frequency bands.
- the light source may include at least one emitter for a plurality of frequency bands covering a desired spectrum.
- a monochromatic image sensor reads out at 4804 pixel data from the monochromatic image sensor following the readout periods to generate a plurality of frames. Each frame may include a different spectral content. These frames may include a plurality of repeating frames that may be used for generating a digital video stream. Each frame may be based energy emitted by one or more emitters of the light source.
- a frame may be based on a combination of light emitted by light sources to generate a combination of frequencies to match a frequency response of a desired tissue or substance.
- a controller, CCU, or other system determines at 4806 a spectral response of a tissue for one or more pixels based on the plurality of frames. For example, the pixel values and knowledge about the frequencies of light emitted for each frame may be used to determine a frequency response for a specific pixel, based on the values for the pixel in the plurality of frames.
- the system may generate at 4808 a combined image based on the plurality of frames, the combined image comprising an overlay indicating the spectral response for the one or more pixels.
- the combined image may be a greyscale or color image where pixels corresponding to a specific tissue or classification are shown in bright green.
- FIG. 49 is a schematic flow chart diagram for a method 4900 for fluorescence imaging in a light deficient environment.
- the method 4900 may be performed by an imaging system, such as an endoscopic imaging system illustrated in FIG. 37 .
- the method 4900 includes emitting at 4902 a plurality of narrow band pulses during readout periods of a monochromatic image sensor.
- the pulses may be emitted at 4902 using a light source that includes a plurality of emitters that emit electromagnetic energy within the narrow frequency bands.
- the light source may include at least one emitter for a plurality of frequency bands covering a desired spectrum.
- a monochromatic image sensor reads out at 4904 pixel data from the monochromatic image sensor following the readout periods to generate a plurality of frames. Each frame may include a different spectral content. These frames may include a plurality of repeating frames that may be used for generating a digital video stream. Each frame may be based energy emitted by one or more emitters of the light source.
- a frame may be based on a combination of light emitted by light sources to generate a combination of frequencies to match a frequency response of a desired tissue or substance.
- a controller, CCU, or other system determines at 4906 a fluorescence relaxation emission of a reagent for one or more pixels based on the plurality of frames. For example, the pixel values and knowledge about the frequencies of light emitted for each frame may be used to determine a frequency response for a specific pixel, based on the values for the pixel in the plurality of frames.
- the system may generate at 4908 a combined image based on the plurality of frames, the combined image comprising an overlay indicating the fluorescence relaxation emission for the one or more pixels.
- the combined image may be a greysc ale or color image where pixels corresponding to a specific tissue or classification are shown in bright green.
- Example 1 is an endoscopic system for use in a light deficient environment.
- the system includes an imaging device.
- the imaging device includes a tube, one or more image sensors, and a lens assembly comprising at least one optical element corresponding to the image sensor.
- the system includes a display for a user to visualize a scene and an image signal processing controller.
- the system includes a light engine.
- the light engine includes an illumination source generating one or more pulses of electromagnetic radiation.
- the light engine further includes a lumen transmitting one or more pulses of electromagnetic radiation to a distal tip of an endoscope, wherein at least a portion of the one or more pulses of electromagnetic radiation includes an excitation wavelength of electromagnetic radiation between 795 nm and 815 nm that causes a reagent to fluoresce at a wavelength that is different from the excitation wavelength of the portion of the one or more pulses of electromagnetic radiation.
- Example 2 is a system as in Example 1, wherein the system further comprises a filter that blocks the excitation wavelength of electromagnetic radiation between 795 nm and 815 nm.
- Example 3 is a system as in any of Examples 1-2, wherein the filter is located on the at least one optical element of the lens assembly, such that the filter blocks the excitation wavelength and allows a wavelength of the fluorescing reagent through the filter.
- Example 4 is a system as in any of Examples 1-3, wherein each pulse of electromagnetic radiation results in an exposure frame created by the image sensor; wherein one or more exposure frames are displayed to a user as a single image on the display.
- Example 5 is a system as in any of Examples 1-4, wherein the single image is assigned a visible color for use on the display; wherein the visible color is 8-bit or 16-bit or n-bit.
- Example 6 is a system as in any of Examples 1-5, wherein each pulse of electromagnetic radiation results in an exposure frame created by the image sensor; wherein one or more exposure frames are displayed to a user as an overlay image on the display.
- Example 7 is a system as in any of Examples 1-6, wherein the overlay image is assigned a visible color for use on the display; wherein the visible color is 8-bit or 16-bit or n-bit.
- Example 8 is a system as in any of Examples 1-7, the image sensor detects a wavelength of the fluorescing reagent to provide an image of one or more critical structures in a human body.
- Example 9 is a system as in any of Examples 1-8, wherein the critical structures in a human body include one of a nerve, a ureter, a blood vessel, an artery, a blood flow, and a tumor.
- Example 10 is a system as in any of Examples 1-9, wherein the one or more critical structures are cancer cells, and wherein the system receives fluoresced electromagnetic radiation from a molecule that attaches a fluorophore that fluoresces when exposed to electromagnetic radiation having a wavelength between 795-815 nm to one or more of the cancer cells.
- Example 11 is a system as in any of Examples 1-10, wherein each pulse of electromagnetic radiation results in an exposure frame created by the image sensor; wherein one or more exposure frames are displayed to a user as a single image on the display.
- Example 12 is a system as in any of Examples 1-11, wherein the single image is assigned a visible color for use on the display; wherein the visible color is 8-bit or 16-bit or n-bit.
- Example 13 is a system as in any of Examples 1-12, wherein each pulse of electromagnetic radiation results in an exposure frame created by the image sensor; wherein one or more exposure frames are displayed to a user as an overlay image on the display.
- Example 14 is a system as in any of Examples 1-13, wherein the overlay image is assigned a visible color for use on the display; wherein the visible color is 8-bit or 16-bit or n-bit.
- Example 15 is a system as in any of Examples 1-14, wherein the illumination source generates one or more pulses of electromagnetic radiation at a wavelength of 370 nm-420 nm.
- Example 16 is a system as in any of Examples 1-15, wherein each pulse of electromagnetic radiation results in an exposure frame created by the image sensor; wherein one or more exposure frames are displayed to a user as a single image on the display.
- Example 17 is a system as in any of Examples 1-16, wherein the single image is assigned a visible color for use on the display; wherein the visible color is 8-bit or 16-bit or n-bit.
- Example 18 is a system as in any of Examples 1-17, wherein each pulse of electromagnetic radiation results in an exposure frame created by the image sensor; wherein one or more exposure frames are displayed to a user as an overlay image on the display.
- Example 19 is a system as in any of Examples 1-18, wherein the overlay image is assigned a visible color for use on the display; wherein the visible color is 8-bit or 16-bit or n-bit.
- Example 20 is a system as in any of Examples 1-19, wherein the illumination source generates one or more pulses of electromagnetic radiation at a wavelength of 600 nm-670 nm.
- Example 21 is a system as in any of Examples 1-20, wherein each pulse of electromagnetic radiation results in an exposure frame created by the image sensor; wherein one or more exposure frames are displayed to a user as a single image on the display.
- Example 22 is a system as in any of Examples 1-21, the single image is assigned a visible color for use on the display; wherein the visible color is 8-bit or 16-bit or n-bit.
- Example 24 is a system as in any of Examples 1-23, wherein the overlay image is assigned a visible color for use on the display; wherein the visible color is 8-bit or 16-bit or n-bit.
- Example 25 is a system as in any of Examples 1-24, wherein the light engine comprises a polarization filter.
- Example 26 is a system as in any of Examples 1-25, wherein the polarization filter is located in a path of the electromagnetic radiation.
- Example 27 is a system as in any of Examples 1-26, wherein the polarization filter is located at a proximal end of the lumen.
- Example 28 is a system as in any of Examples 1-27, wherein the polarization filter is located at a distal end of the lumen.
- Example 29 is a system as in any of Examples 1-28, wherein the lens assembly comprises an electromagnetic radiation filter.
- Example 30 is a system as in any of Examples 1-29, wherein the lens assembly comprises a polarization filter.
- Example 31 is a system as in any of Examples 1-30, wherein each pulse of electromagnetic radiation results in an exposure frame created by the image sensor; wherein one or more exposure frames is fed to a corresponding system that will provide location of critical tissue structures.
- Example 32 is a system as in any of Examples 1-31, wherein the location of critical structures is received by the endoscopic system and overlaid on a display, wherein the critical structures are encoded to any color selected by either an algorithm or a user.
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