WO2016032729A1 - Système d'endoscope a imagerie simultanée à des longueurs d'onde visible et infrarouge - Google Patents

Système d'endoscope a imagerie simultanée à des longueurs d'onde visible et infrarouge Download PDF

Info

Publication number
WO2016032729A1
WO2016032729A1 PCT/US2015/044326 US2015044326W WO2016032729A1 WO 2016032729 A1 WO2016032729 A1 WO 2016032729A1 US 2015044326 W US2015044326 W US 2015044326W WO 2016032729 A1 WO2016032729 A1 WO 2016032729A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
nir
visible light
visible
intensity
Prior art date
Application number
PCT/US2015/044326
Other languages
English (en)
Inventor
Chunxin YANG
Xing HUI
Baiyu Wang
Claudio Immekus
Original Assignee
Reinroth Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US14/473,930 external-priority patent/US9547165B2/en
Application filed by Reinroth Gmbh filed Critical Reinroth Gmbh
Priority to EP15836583.3A priority Critical patent/EP3185745A4/fr
Priority to CN201580046233.8A priority patent/CN107072520B/zh
Priority claimed from US14/820,874 external-priority patent/US20170035280A1/en
Publication of WO2016032729A1 publication Critical patent/WO2016032729A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/043—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances for fluorescence imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0638—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements providing two or more wavelengths
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0655—Control therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/0661—Endoscope light sources
    • A61B1/0676—Endoscope light sources at distal tip of an endoscope

Definitions

  • NIR fluorescence imaging in which NIR light is used to illuminates tissue, exogenously applied fluorophores in the tissue emit fluorescence, and an imaging system captures a fluorescent image.
  • normal diagnostic and surgical procedures utilize endoscopy with conventional visible light imaging,
  • the present invention relates generally to endoscopy systems. More particularly, embodiments of the present invention relate to an apparatus and method for concurrent imaging of both visible light and NIR fluorescence during endoscopy.
  • an endoscope system with concurrent visible light imaging and NIR fluorescence imaging is provided.
  • the endoscope system disclosed comprising an endoscope working from visible to NIR spectra, a light source generating independently controllable visible light and NIR excitation light, a single image sensor camera, a controller for image processing and light source control, and a display device.
  • the fluorescence imaging mode starts with an initialization process which adjusts intensity of the NIR excitation light and visible light independently until the brightness of fluorescence image and the contrast between fluorescence image and visible light image are ideal for observation.
  • a stereoscopic endoscope system for concurrently imaging at both visible and NIR wavelengths.
  • the stereoscopic endoscope system includes an endoscope operable to transmit both visible and NIR wavelengths and a light source operable to generate visible light and NIR excitation light. An intensity of the visible light is independent of an intensity of the NIR excitation light.
  • the stereoscopic endoscope system also includes a stereoscopic camera having a single image sensor operable to detect a left eye image or a right eye image at both visible and NIR wavelengths, a controller coupled to the light source and the stereoscopic camera, and a display device operable to be viewed using stereoscopic spectacles.
  • a method of operating a stereoscopic endoscopy system includes concurrently illuminating a tissue with NIR excitation light and visible light and independently adjusting an intensity of the NIR excitation light and an intensity of the visible light.
  • the method also includes imaging the tissue using a stereoscopic camera having a single detector, concurrently acquiring a left eye image at both visible and NIR wavelengths using the single detector, and concurrently acquiring a right eye image at both visible and NIR wavelengths using the single detector.
  • the method further includes displaying the left eye image and the right eye image consecutively on a display device.
  • an endoscope system for concurrently imaging at both visible and NIR wavelengths.
  • the endoscope system includes an endoscope operable to transmit both visible and NIR wavelengths and a light source operable to generate visible light and NIR excitation light.
  • An intensity of the visible light is independent of an intensity of the NIR excitation light.
  • the endoscope system also includes a camera having a single image sensor, a controller coupled to the visible light and the NIR excitation light, and a display device.
  • a method of operating an endoscopy system is provided. The method includes concurrently illuminating a tissue with NIR excitation light and visible light, imaging the tissue using a single detector, and independently adjusting an intensity of the NIR excitation light and an intensity of the visible light.
  • a method of initializing an endoscope includes illuminating tissue with NIR excitation light and imaging fluorescent emission from the tissue with a single image sensor. The method also includes adjusting an intensity of the NIR excitation light until a
  • fluorescence image intensity is within a predetermined rage and determining fluorescence active pixels and fiuorescence non-active pixels.
  • the method further includes illuminating the tissue with visible light, imaging both the fluorescent emission from the tissue and reflected visible light with the single image sensor, computing a ratio between an average signal value of the fiuorescence active pixels and the fiuorescence non-active pixels, and adjusting an intensity of the visible light.
  • an endoscope system for simultaneous imaging in both the visible and the NIR regions.
  • the endoscope system includes an endoscope with desired image quality over the visible and the NIR spectrum and a light source generating visible light and NIR excitation light.
  • the light source is configured such that intensity of the visible light and the intensity of the NIR excitation light can be independently controlled.
  • the endoscope system also includes a camera with a single image sensor that is operable to capture images and output image signals, a controller capable of controlling visible light and NIR excitation light independently, and a display device. The controller is configured to process the image signals and adjust the light intensity based on image processing.
  • the camera of the endoscope system includes an optical filter that blocks the excitation light and passes visible light and fluorescent emission.
  • the light source can include a plurality of solid state light sources, each of which is independently controlled.
  • the controller can be further capable of attenuating the intensity of the visible light through optical or electrical approaches.
  • a method for simultaneously imaging visible light and NIR fluorescent emission with a single image sensor includes an initialization process that includes illuminating tissue only with NIR excitation light, capturing and imaging fluorescent emission with a single image sensor, and adjusting the intensity of the NIR excitation light until the brightness of the fluorescence image is at a desired level.
  • the method also includes adding visible light with attenuated intensity for illumination, capturing and imaging fluorescent emission and reflected visible light with the single image sensor, and adjusting the intensity of visible light until the contrast between the fluorescent emission and the reflected visible light is at a desired level.
  • the method also includes distinguishing fluorescence active pixels and fluorescence non-active pixels by applying a threshold to the fluorescence image when illuminating tissue only with the NIR excitation light.
  • the method can also include determining a ratio between an average signal value of the fluorescence active pixels and an average signal value of the fluorescence non-active pixels when illuminating tissue with both NIR excitation light and visible light.
  • an endoscope system for simultaneous visible light imaging and NIR fluorescence imaging.
  • the endoscope system includes an endoscope working from visible to NIR spectra, a light source generating independently controllable visible light and NIR excitation light, a single image sensor camera, a controller for image processing and light source control, and a display device.
  • the fluorescence imaging mode starts with an initialization process that adjusts the intensity of the NIR excitation light and the visible light independently until the brightness of fluorescence image and the contrast between the fluorescence image and the visible light image are suitable for observation.
  • embodiments of the present invention provide endoscopy systems that utilize concurrent illumination in both the NIR spectrum and the visible spectrum and imaging in both the fluorescent emission spectrum and the reflected visible spectrum to provide information for medical procedures that is not available using conventional techniques.
  • FIG. 1 is a simplified schematic diagram of an endoscope system for concurrent imaging in both the visible and NIR regions according to an embodiment of the present invention.
  • FIG. 2 is a simplified schematic diagram of a first embodiment of a light source for an endoscope according to an embodiment of the present invention.
  • FIG. 3 is a simplified schematic diagram of a second embodiment of a light source for an endoscope according to an embodiment of the present invention.
  • FIG. 4 is a simplified schematic diagram illustrating an optical system of a camera according to an embodiment of the present invention.
  • FIG. 5A is a simplified flowchart illustrating a method of operating an endoscope with concurrent imaging according to an embodiment of the present invention.
  • FIG. 5B is a simplified flowchart illustrating a method of initializing a concurrent imaging endoscope according to an embodiment of the present invention.
  • FIG. 6A is a visible light image of a field of view according to an embodiment of the present invention.
  • FIG. 6B is a fluorescence image of the field of view illustrated in FIG. 6A.
  • FIG. 6C is a concurrent image including both fluorescent emission and visible reflection according to an embodiment of the present invention.
  • FIG. 7 is a simplified schematic diagram of a stereoscopic endoscope system for concurrent imaging in both the visible and NIR regions according to an embodiment of the present invention.
  • FIG. 8 is a simplified schematic diagram illustrating an optical system of a stereoscopic camera for concurrent imaging in both the visible and NIR regions according to an embodiment of the present invention.
  • FIG. 9 is a simplified diagram illustrating the timing of a stereoscopic endoscope system for concurrent imaging in both the visible and NIR regions according to an embodiment of the present invention.
  • FIG. 10 is a simplified diagram illustrating a method of operating a stereoscopic endoscopy system according to an embodiment of the present invention.
  • exogenous fluorophores such as indocyanine green (ICG) can be administered to the patient and will combined with the tissue to be observed.
  • ICG indocyanine green
  • other suitable dyes such as methylene blue can be used as a source of fluorescent emission (which can also be referred to as fluorescence emission).
  • Excitation light in the NIR spectrum with wavelengths shorter than the fluorescent emission is used to illuminate the tissue and excites the fluorophores in the tissue.
  • the resulting fluorescent emission is detected at NIR wavelengths longer than the excitation light based on the Stokes shift.
  • the fluorescence quantum yields give the efficiency of the fluorescence process, which is normally low.
  • the intensity of the fluorescent emission is generally very weak compared to the intensity of the NIR excitation light. Therefore, in order to observe the fluorescence image, an optical filter is utilized to block the NIR excitation light from reaching the sensor.
  • a CCD or CMOS image sensor typically has a spectral response from 200 nm to 1100 nm, allowing the sensor to capture light for imaging in both the visible and NIR regions.
  • the spectral response of an image sensor in the NIR spectrum is only 10%-30% of its peak response in the visible spectrum.
  • embodiments of the present invention which provide endoscopy incorporating both visible light and NIR fluorescence imaging, utilize control of the intensity of the visible light and the intensity of the NIR excitation light so that the reflected visible light does not overwhelm the image sensor.
  • FIG. 1 is a simplified schematic diagram of an endoscope system for concurrent imaging in both the visible and NIR regions according to an embodiment of the present invention.
  • the basic schematic block diagram of an endoscope system for simultaneous or concurrent imaging in both visible and NIR regions as illustrated in FIG. 1 is exemplary and not intended to limit the present invention.
  • a number of embodiments of the present invention that include illumination through an endoscope with both visible and NIR light at the same time are included within the scope of the invention.
  • the endoscope system 100 includes an endoscope 102, a light source 104, a camera 106, a controller 108, a monitor 110 and a light guide 112.
  • the endoscope 102 provides a wide transmission band over the visible and NIR spectrum with small chromatic aberration between the wavelengths in the visible and NIR spectrum.
  • the light source 104 described more fully below, generates visible light (e.g., 400 nm -700 nm, in particular 420 nm - 680 nm) as well as NIR excitation light with wavelengths in a first NIR spectrum (e.g., 790 nm - 820 nm, in particular in the vicinity around 800 nm).
  • the light source 104 can be operated in different modes depending on the imaging modes. As described more fully below, the light source is operable to output both NIR light and visible light, with independent control over each of the wavelength regions. For example, the light source can output NIR light, with no visible output. Alternatively, the light source can output visible light with no NIR light. Additionally, the light source can output both NIR light and visible light concurrently.
  • the output light from the light source 104 is sent through a light guide 112 into the endoscope 102 to illuminate a target tissue 101 and its surrounding area.
  • the light guide is an optical fiber cable such as a glass fiber bundle including a plurality of multimode optical fibers, liquid light guides, or the like.
  • the reflected visible light and the excited fluorescent emission with wavelengths in a second NIR spectrum (e.g., 830 nm - 900 nm) are received by the endoscope 102 to be imaged by the camera 106.
  • the camera 106 is located in the proximal end of the endoscope 102. Light from the target tissue 101 and its surrounding area is transferred through the optical system in the endoscope 102 and then imaged by the camera 106.
  • a camera may also be located in the distal end of the endoscope and the light from the target tissue and its surrounding area can be collected and imaged by the camera directly.
  • a camera may also be located in the distal end of the endoscope and the light from the target tissue and its surrounding area can be collected and imaged by the camera directly.
  • the controller 108 receives image signals from the camera 106 and processes the image signals for display.
  • the controller 108 is capable of independently adjusting the visible light and the NIR excitation light in the light source 104 using feedback control based on analyzing the image signals, which will be described in detail later.
  • the live image signals captured by the camera 106 and processed by the controller 108 are eventually displayed on the monitor 110.
  • multiple fluorescent dyes and multiple excitation are eventually displayed on the monitor 110.
  • the NIR excitation source provides excitation light peaking at multiple wavelengths in order to produce efficient fluorescence from each of the fluorescent dies.
  • the NIR excitation source is controllable to produce light having a single and adjustable excitation peak, multiple excitation peaks, or the like depending on the fluorescent dies that are being utilized during a particular medical procedure.
  • Embodiments of the present invention provide for concurrent illumination in both the visible and NIR spectrum as well as concurrent imaging of both the visible light reflected from the sample, tissue, or specimen and the fluorescent light emitted by the fluorescent dye, which can be associated with the sample, tissue, or specimen. This concurrent or
  • simultaneous imaging of both visible reflected light and fluorescent emitted light using a single sensor contrasts with conventional systems that utilize time sequential imaging at these differing wavelengths or multiple image sensors for these different wavelengths that utilize an optical system to split the different wavelengths to direct the different wavelength to each of the multiple image sensors.
  • FIG. 2 is a simplified schematic diagram of a first embodiment of a light source for an endoscope according to an embodiment of the present invention.
  • a NIR laser 220 generates excitation light with wavelengths in the first NIR spectrum (e.g., 790 nm - 820 nm).
  • the laser 220 is a semiconductor laser, but other lasers, LEDs, and the like can be utilized.
  • the excitation light from laser 220 passes through laser- line filter 227 that is characterized by a very narrow passband (e.g., 10 nm wide).
  • the laser- line filter 227 transmits the desired excitation wavelengths while suppressing side-band radiation.
  • a plurality of sources for example, red LED 221, green LED 222, and blue LED 223 provide light that is used to generate the visible light emission used in the endoscope. Red light from the red LED 221, green light from the green LED 222, and blue light from the blue LED 223 are combined using an appropriate ratio of the light intensity from each source to form white light as described more fully below.
  • the color combiners 224, 225, and 226 combine the light from the NIR laser 20 as well as the light from the red LED 221, green LED 222 and blue LED 223 to form the multi- spectral output that is input into the endoscope 102. As illustrated in FIG. 2, the combined light from the NIR and visible source is coupled by lens 228 into the light guide 112 and then provided to the endoscope 102 for illumination.
  • the NIR laser 220, red LED 221 , green LED 222 and blue LED 223 are each independently controlled by the controller 108.
  • the intensity of the NIR excitation light and the intensity of the visible light can be adjusted, for example, by changing the driving current provided to the NIR laser and the LEDs.
  • the intensity of the visible light is adjusted (e.g., attenuated) in order to achieve the desired contrast between the fluorescence image and the visible light image.
  • Additional optical approaches such as the use of neutral density filters, or electrical approaches, such as modulation methods, can be applied to attenuate the visible light significantly and/or adjust the light intensity with the desired precision.
  • FIG. 3 is a simplified schematic diagram of a second embodiment of a light source for an endoscope according to an embodiment of the present invention.
  • a NIR laser 320 generates excitation light with wavelengths in the NIR spectrum (e.g., 790 nm - 820 nm).
  • laser-line filter 327 which is characterized by a narrow passband (e.g., 10 nm) is utilized to transmit the desired excitation wavelengths while suppressing side -band radiation.
  • a white LED 330 for example, including a blue or UV LED with a phosphor coating, is used to generate visible light with wavelengths from 400 nm to 700 nm.
  • a color combiner 332 combines the NIR excitation light from the NIR laser 320 with the visible light from the white LED 330. The combined light is coupled into the light guide 112 and sent to the endoscope 102 for illumination.
  • the NIR laser 320 and the white LED 330 can be independently controlled by the controller 108 as represented by control lines 321 and 331.
  • the intensity of the NIR excitation light and the intensity of the visible light can be adjusted by changing the driving current of the laser and LED or by other methods.
  • the intensity of the visible light is adjusted (e.g., attenuated) in order to achieve the desired contrast between the fluorescence image and the visible light image.
  • Additional optical approaches such as the use of neutral density filters, or electrical approaches, such as modulation methods, can be applied to attenuate the visible light significantly and/or adjust the light intensity with the desired precision.
  • FIG. 4 is a simplified schematic diagram illustrating an optical system of a camera according to an embodiment of the present invention.
  • the camera 406 includes an excitation light blocking filter 442 (e.g., a notch filter or a dual notch filter for multiple dye
  • the excitation light blocking filter 442 is a notch optical filter that provides a blocking band in the NIR spectral range associated with excitation light (e.g., 790 nm to 820 nm for ICG dye) and a transmission band in the visible (e.g., 400 nm - 700 nm) and the NIR spectral range associated with the fluorescent emission (e.g., 830 nm - 900 nm).
  • the reflected visible light and the fluorescent emission both pass through the excitation light blocking filter 442 and can be imaged by the camera.
  • the NIR excitation light that is reflected from the tissue and surrounding areas is blocked by the excitation light blocking filter.
  • the imaging optics 44 can be one or several optical lenses.
  • the imaging optics 444 collect the light from the endoscope 102 and focuses the collected light on the image sensor 446 to form an optical image.
  • the image sensor can be either CCD or CMOS image sensor as well as other suitable image sensors that are capable of converting an optical image into an electrical signal. The electrical signal is transmitted to the controller 108 for image processing.
  • FIG. 5A is a simplified flowchart illustrating a method of operating an endoscope with concurrent imaging according to an embodiment of the present invention. Because embodiments of the present invention image both visible reflected light and fluorescent emitted light concurrently or simultaneously, the systems described herein balance the fluorescent emission and resulting image with the visible reflection and resulting image to provide a suitable contrast in the image.
  • the endoscopy system illustrated in FIG. 1 can use the steps illustrated in FIG. 5A in a surgical procedure.
  • the visible light imaging mode is selected
  • the visible light source is activated or turned on (512) and visible light imaging is performed to capture visible light images for display (514).
  • the NIR source is turned off during the visible light imaging mode, with only the visible light source being used during the visible light imaging mode.
  • the fluorescent excitation source is turned on, but blocked by a spectral filter or other method to reduce the images resulting from fluorescent emission to a low level in comparison to the visible light imaging.
  • the NIR excitation light is typically in the off condition or is switched off.
  • the visible light either generated from combining the red, green, and blue LEDs as discussed in relation to FIG. 2 or generated from the white light LED illustrated in FIG. 3, is switched or turned on as a result of activation of the visible light imaging mode.
  • the visible light imaging mode is a default mode and the visible light imaging mode is activated when the endoscopy system is initially turned on.
  • the visible light is guided into the endoscope 102 illustrated in FIG. 1 via the light guide 112 to illuminate the target tissue 101 and its surrounding area.
  • the reflected visible light is collected and imaged by the camera 106.
  • the controller 108 receives and processes the electrical signal associated with the visible light image.
  • the monitor 110 displays the visible light image for use by the system operator, including medical personnel.
  • the controller can adjust the light intensity automatically based on the received electrical signal associated with the visible light image.
  • the adjustment by the controller is based on calculating the maximum and average signal values of the image sensor pixels.
  • the controller adjusts the intensity of the visible light source so that the maximum signal value does not exceed the saturation value of the image sensor while the average signal value is maintained above a predetermined threshold value to provide sufficient light intensity during operation. This adjustment process can be performed manually or automatically depending on the particular implementation.
  • One of ordinary skill in the art would recognize many variations, modifications, and alternatives.
  • the fluorescence imaging mode is selected (516).
  • the system begins an initialization process to determine the intensity of NIR excitation light and the intensity of visible light (518).
  • both fluorescence imaging and visible light imaging are performed concurrently, enabling concurrent or simultaneous display of both fluorescence and visible images of the tissues.
  • FIG. 5B is a simplified flowchart illustrating a method of initializing a concurrent imaging endoscope according to an embodiment of the present invention.
  • the method discussed in relation to FIG. 5B illustrates the initial process that is used to achieve the fluorescence imaging mode in the presence of a visible light background image.
  • the controller will start with an initialization process as illustrated in FIG. 5B.
  • the NIR excitation light is switched on and the visible light is switched off
  • the processor in the controller applies gamma correction (553) to the received fluorescence image so that the digitized image is a linear function of the luminance.
  • the processor is utilized to determine if the maximum signal value of the pixels in the fluorescence image is within a predetermined range (554). In other words, a check is performed of the maximum signal value of the pixels in the fluorescent image.
  • the maximum signal value is allowed to be within the predetermined range.
  • the upper limit of this predetermined range is utilized to prevent saturation due to too much illumination.
  • the upper limit of the predetermined range is selected such that signal value space is reserved to account for the increase in the signal value associated with the reflected visible light.
  • the lower limit of the predetermined range is utilized to provide a level at which the fluorescence image has adequate brightness for observation and diagnosis.
  • the controller will decrease the intensity of the NIR excitation light. If the maximum signal value is smaller than the predetermined range, the controller will increase the intensity of the NIR excitation light.
  • the method repeats processes 552, 553, 554, and 555 as needed until the maximum signal value of the fluorescence image is within the predetermined range.
  • a threshold is applied to the fluorescent image (556).
  • the threshold applied to the fluorescence image results in the selection of only pixels with signal values above the threshold as fluorescence active pixels (557).
  • fluorescence active pixels are pixels for which fluorescent emission is detected for these pixels.
  • the other pixels that have an image intensity less than the threshold are determined to be fluorescence non-active pixels, i.e., pixels for which fluorescent emission is associated. In this way, the fluorescence active pixels are associated with the target tissue and the fluorescence non-active pixels are associated with the surrounding area, which can now be distinguished in the image.
  • the visible light is switched on, but attenuated to one of a plurality of low intensities (558).
  • the attenuation of the visible light is utilized since, for different types of surgical procedures, the intensity of the fluorescent emission varies. Accordingly, the visible light is attenuated to different intensity levels depending on the surgical procedure. Based on experimental or empirical data, the typical intensity level of either the fluorescent excitation light, the visible light, or both for different surgical procedures can be stored and preset in the controller. Once the type of surgical procedure is selected, the controller will attenuate the visible light to this typical intensity level in process 558.
  • the camera captures an image that includes both fluorescent emission and reflected visible light (559).
  • the processor in the controller applies gamma correction to this image (560).
  • the processor then calculates the average signal value of the fluorescence active pixels and the average signal value of the fluorescence non-active pixels.
  • the processor also calculates the ratio between the average signal value of the fluorescence active pixels and the average signal value of the fluorescence non-active pixels (561).
  • the calculated ratio is then compared to a predetermined value (562) and the controller adjusts the intensity of the visible light based on the results of the comparison (563).
  • other statistical measures including maximum and minimum values, median values, one or more standard deviations around the mean, or the like are utilized to characterize the signal value of the fluorescence active pixels and the fluorescence non-active pixels.
  • 5B provides a process in which the controller uses the image signals in a feedback loop to control the NIR excitation light and the visible light individually until a sufficient contrast is achieved between the fluorescence image of the target tissue and the visible light image of the non-fluorescence surrounding area.
  • FIG. 6A is a visible light image of a field of view according to an embodiment of the present invention.
  • a tissue sample that has been treated by a fluorescent dye, such as ICG, is imaged. Only a part of the tissue is labeled by the fluorescent dye.
  • FIG. 6A which is provided to illustrate an environment in which embodiments of the present invention are applicable, imaging is in the visible spectrum with a bright visible source that illuminates the tissue sample. No fluorescent excitation source is utilized and no fluorescent emission is observed in this image.
  • FIG. 6B is a fluorescence image of the field of view illustrated in FIG. 6A.
  • a fluorescent excitation source is utilized with no visible light illumination. Because the tissue sample has been treated by the fluorescent dye, the section with the fluorescent label is visible in the image as a result of the NIR excitation light and the resulting fluorescence.
  • the fluorescence image illustrated in FIG. 6B corresponds to the fluorescence image obtained in process 552. No substantial visible background is present in this fluorescence image.
  • FIG. 6C is a concurrent image including both fluorescent emission and visible reflection according to an embodiment of the present invention.
  • fluorescent excitation light is utilized along with low intensity visible light as discussed in relation to process 559.
  • the image associated with the fluorescent label is slightly brighter than that illustrated in FIG. 6B since the fluorescent emission is imaged as well as the visible light reflection from the tissue surface. Because the fluorescent emission was within the predetermined range (process 554), the addition of the visible reflection does not result in saturation of the image in some cases.
  • the fluorescence image and the visible light background are imaged to provide information on the fluorescence as well as a visible background to enable useful image capture.
  • FIG. 7 is a simplified schematic diagram of a stereoscopic endoscope system for concurrent imaging in both the visible and NIR regions according to an embodiment of the present invention.
  • embodiments of the present invention provide an endoscope system that utilizes concurrent imaging in both the visible and NIR regions and also incorporates stereoscopic vision.
  • embodiments provide a stereoscopic endoscope system for concurrent imaging in both the visible and NIR regions.
  • the stereoscopic endoscope system depicted in FIG. 7 shares some similarities with the endoscope system illustrated in FIG. 1 and the description of elements in FIG. 1 is applicable to the system illustrated in FIG. 7 as appropriate. In addition, the description related to endoscope systems provided above is applicable to the stereoscopic endoscope systems described herein.
  • the stereoscopic endoscope system 700 includes an endoscope 102, a light source 104, a stereoscopic camera 706, a controller 708, a monitor 110 and a light guide 112. The system is operable to work with a pair of stereoscopic spectacles 710 that are used to view the images formed on the monitor 110.
  • the endoscope 102 provides a wide transmission band over the visible and NIR spectrum with small chromatic aberration between the wavelengths in the visible and NIR spectrum.
  • the light source 104 generates visible light (e.g., 400 nm -700 nm, in particular 420 nm - 680 nm) as well as NIR excitation light with wavelengths in a first NIR spectrum (e.g., 790 nm - 820 nm, in particular in the vicinity around 800 nm).
  • the light source 104 is operable to output either or both NIR light and visible light, with independent control over each of the wavelength regions.
  • the light source 104 can be controlled by the controller 708 as illustrated by control line 709 to adjust the brightness of the NIR excitation light and the visible light separately.
  • the output light from the light source 104 is sent through a light guide 112 into the endoscope 102 to illuminate a target tissue 101 and its surrounding area.
  • the reflected visible light and the excited fluorescent emission with wavelengths in a second NIR spectrum (e.g., 830 nm - 900 nm) are received by the endoscope 102 to be imaged by the stereoscopic camera 706. It will be appreciated that NIR excitation light reflected from the target tissue will be filtered in the upstream path to reduce system noise.
  • stereoscopic camera 706 is delivered to controller 708 through output line 711 for eventual display on monitor 110.
  • the stereoscopic camera 706 takes the left eye image and the right eye image in alternative frames to generate the stereoscopic image, which is described in additional below.
  • the stereoscopic camera 706 images the reflected visible light and the fluorescent emission concurrently in each frame.
  • the controller 708 controls the stereoscopic camera 706 through control line 713 to utilize the left eye image and the right eye image alternatively in subsequent frames. Subsequently, the image or video is displayed on the monitor 110.
  • the controller 708 controls the operation of a pair of stereoscopic spectacles 710 to create stereoscopic image.
  • the left eyepiece and the right eyepiece of the stereoscopic spectacles 710 are opened and closed alternatively to synchronize to the left eye image or the right eye image displayed on the monitor 110.
  • FIG. 8 is a simplified schematic diagram illustrating an optical system of a stereoscopic camera for concurrent imaging in both the visible and NIR regions according to an embodiment of the present invention.
  • the stereoscopic camera 706 includes a switching shutter 802, an excitation light blocking filter 804, imaging optics 806, and an image sensor 808.
  • the switching shutter 802 acts as a controllable aperture that can open either the left or right region of an aperture and close the other region of the aperture.
  • the switching shutter can be fabricated using liquid crystal, MEMS, or other devices that can be controlled electronically to preferentially block or pass light incident on different regions of the switching shutter.
  • the left region of the switching shutter when the left region of the switching shutter is open, light transmits through the left region of the aperture and is focused by the imaging optics 806 on to the image sensor 808 to generate a left eye image.
  • the right region of the switching shutter when the right region of the switching shutter is open, light transmits through the right region of the aperture and a right eye image is generated.
  • the excitation light blocking filter 804 can be a notch optical filter that provides a blocking band in the NIR spectral range associated with excitation light (e.g., to block a first predetermined portion of light in a particular wavelength range, for example, 790 nm to 820 nm for ICG dye) and a transmission band in the visible (e.g., to pass a second predetermined portion of visible light in a particular wavelength band, for example, 400 nm - 700 nm) and the NIR spectral range associated with the fluorescent emission (e.g., to pass a third predetermined portion of the fluorescent emission in a particular wavelength band, for example, 830 nm - 900 nm).
  • a blocking band in the NIR spectral range associated with excitation light e.g., to block a first predetermined portion of light in a particular wavelength range, for example, 790 nm to 820 nm for ICG dye
  • a transmission band in the visible e.g., to pass
  • the imaging optics 806 focus the visible light and the fluorescent emission from the left region or right region of the switching shutter onto the image sensor 808 to form a left eye image or a right eye image depending on the state of the switching shutter.
  • the image sensor 808 can be a CCD or CMOS image sensor or other suitable sensor.
  • the controller 708 controls the switching shutter so that it opens the left region and the right region alternatively.
  • the controller 708 also controls the stereoscopic spectacle in some embodiments so that the left eyepiece and the right eyepiece are opened alternatively to view the left eye image and right eye image, respectively.
  • the excitation light blocking filter 804 can be implemented as separate optical elements that perform one or more of the functions of blocking NIR excitation light and passing visible and NIR fluorescent emission.
  • FIG. 9 is a simplified diagram illustrating the timing of a stereoscopic endoscope system for concurrent imaging in both the visible and NIR regions according to an embodiment of the present invention. As illustrated in FIG. 9, the timing diagram for operating the stereoscopic endoscope system for concurrent imaging in both the visible and NIR regions provides distinct timing for one or more system elements including the switching shutter.
  • the visible light and the NIR excitation light illuminates concurrently throughout the entire process of imaging in both the visible and NIR regions.
  • the clock is an exemplary clock signal provided, for example, by the controller.
  • a first clock cycle e.g., Frame n
  • the switching shutter in the stereoscopic camera opens its left region.
  • the output light from the endoscope passes through the left region of the aperture accordingly.
  • the image sensor takes one frame shot as the left eye image of both visible light and NIR fluorescent emission.
  • the switching shutter opens its right region.
  • the output light from the endoscope passes through the left region of the aperture accordingly.
  • the image sensor takes one frame shot as the right eye image of both visible light and NIR fluorescent emission.
  • the adjacent left eye image and the right eye image form a pair of stereoscopic images.
  • the image sensor operates at a frame rate that is twice of that of the stereoscopic video.
  • the controller controls the stereoscopic spectacles to open the left eyepiece.
  • the stereoscopic spectacle opens the right eyepiece. In this way, a stereoscopic view of the concurrent visible and NIR fluorescent image is displayed to a viewer wearing the stereoscopic spectacles.
  • FIG. 10 is a simplified flowchart illustrating a method of operating a stereoscopic endoscopy system according to an embodiment of the present invention.
  • the method includes concurrently illuminating a tissue with NIR excitation light and visible light (1010) and independently adjusting an intensity of the NIR excitation light and an intensity of the visible light (1012).
  • at least a portion of the tissue is exposed to a fluorescent dye before and/or during the operation of the system.
  • the NIR excitation light can be provided by a NIR laser and the visible light can be provided by a solid state white light emitter.
  • the solid state white light emitter can include a plurality of independently controllable solid state light sources. Independent adjustment of the intensity of the NIR excitation light and the intensity of the visible light can be performed using a controller that is coupled to a single detector of a stereoscopic camera.
  • the method also includes imaging the tissue using a stereoscopic camera having a single detector (1014), concurrently acquiring a left eye image at both visible and NIR wavelengths using the single detector (1016), and concurrently acquiring a right eye image at both visible and NIR wavelengths using the single detector (1018).
  • concurrently acquiring a left eye image and concurrently acquiring a right eye image can include concurrently imaging fluorescent emission from the tissue and visible light reflected from the tissue using the single detector.
  • the method further includes displaying the left eye image and the right eye image consecutively on a display device (1020).
  • FIG. 10 provides a particular method of operating a stereoscopic endoscopy system according to an embodiment of the present invention. Other sequences of steps may also be performed according to alternative embodiments. For example, alternative embodiments of the present invention may perform the steps outlined above in a different order. Moreover, the individual steps illustrated in FIG. 10 may include multiple sub-steps that may be performed in various sequences as appropriate to the individual step. Furthermore, additional steps may be added or removed depending on the particular applications. One of ordinary skill in the art would recognize many variations, modifications, and alternatives.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un système d'endoscope pour une imagerie simultanée à des longueurs d'onde visible et infrarouge proche, qui comprend un endoscope conçu pour transmettre les longueurs d'onde visible et infrarouge proche et une source de lumière conçue pour générer une lumière visible et une lumière d'excitation infrarouge proche. Une intensité de la lumière visible est indépendante d'une intensité de la lumière d'excitation infrarouge proche. Le système d'endoscope comprend également un dispositif de prise de vues comprenant un capteur d'image unique, une unité de commande accouplée à la lumière visible et la lumière d'excitation infrarouge proche, et un dispositif d'affichage.
PCT/US2015/044326 2014-08-29 2015-08-07 Système d'endoscope a imagerie simultanée à des longueurs d'onde visible et infrarouge WO2016032729A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP15836583.3A EP3185745A4 (fr) 2014-08-29 2015-08-07 Système d'endoscope a imagerie simultanée à des longueurs d'onde visible et infrarouge
CN201580046233.8A CN107072520B (zh) 2014-08-29 2015-08-07 以可见光波长和红外波长并行成像的内窥镜系统

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US14/473,930 US9547165B2 (en) 2014-08-29 2014-08-29 Endoscope system with single camera for concurrent imaging at visible and infrared wavelengths
US14/473,930 2014-08-29
US14/820,874 US20170035280A1 (en) 2015-08-07 2015-08-07 Stereoscopic endoscope system with concurrent imaging at visible and infrared wavelengths
US14/820,874 2015-08-07

Publications (1)

Publication Number Publication Date
WO2016032729A1 true WO2016032729A1 (fr) 2016-03-03

Family

ID=55400321

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2015/044326 WO2016032729A1 (fr) 2014-08-29 2015-08-07 Système d'endoscope a imagerie simultanée à des longueurs d'onde visible et infrarouge

Country Status (1)

Country Link
WO (1) WO2016032729A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9547165B2 (en) 2014-08-29 2017-01-17 Reinroth Gmbh Endoscope system with single camera for concurrent imaging at visible and infrared wavelengths
CN107019516A (zh) * 2017-03-31 2017-08-08 北京心灵方舟科技发展有限公司 近红外噪声的抑制方法、装置和检测设备
CN107510430A (zh) * 2017-09-23 2017-12-26 武汉迅微光电技术有限公司 一种同时获取可见光彩色图像与血流图像的内窥镜光学成像方法及系统
CN108478174A (zh) * 2018-03-20 2018-09-04 广东欧谱曼迪科技有限公司 基于曝光反馈的双相机系统及其术中荧光导航调整方法
WO2020112724A1 (fr) * 2018-11-30 2020-06-04 Intuitive Surgical Operations, Inc. Systèmes d'imagerie médicale et procédés qui facilitent l'utilisation de différents agents d'imagerie par fluorescence
US11684248B2 (en) 2017-09-25 2023-06-27 Micronvision Corp. Endoscopy/stereo colposcopy medical instrument
US11771304B1 (en) 2020-11-12 2023-10-03 Micronvision Corp. Minimally invasive endoscope
US11832797B2 (en) 2016-09-25 2023-12-05 Micronvision Corp. Endoscopic fluorescence imaging
US11844498B2 (en) 2015-02-23 2023-12-19 Uroviu Corporation Handheld surgical endoscope
US11944267B2 (en) 2019-07-25 2024-04-02 Uroviu Corp. Disposable endoscopy cannula with integrated grasper
US11980342B2 (en) 2020-11-12 2024-05-14 Micronvision Corp. Minimally invasive endoscope

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5864359A (en) * 1995-05-30 1999-01-26 Smith & Nephew, Inc. Stereoscopic autofocusing based on comparing the left and right eye images
US20110213252A1 (en) * 1999-01-26 2011-09-01 Fulghum Stephen F Autofluorescence imaging system for endoscopy
US20110270092A1 (en) * 2010-01-29 2011-11-03 Korea Electrotechnology Research Institute Combined apparatus for detection of multispectral optical image emitted from living body and for light therapy
US20120004508A1 (en) * 2010-07-02 2012-01-05 Mcdowall Ian Surgical illuminator with dual spectrum fluorescence
US20120249771A1 (en) * 2002-08-28 2012-10-04 Klinikum Der Johann Wolfgang Goethe Universitaet Frankfurt Microscopy system, microscopy method and method of treating an aneurysm

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5864359A (en) * 1995-05-30 1999-01-26 Smith & Nephew, Inc. Stereoscopic autofocusing based on comparing the left and right eye images
US20110213252A1 (en) * 1999-01-26 2011-09-01 Fulghum Stephen F Autofluorescence imaging system for endoscopy
US20120249771A1 (en) * 2002-08-28 2012-10-04 Klinikum Der Johann Wolfgang Goethe Universitaet Frankfurt Microscopy system, microscopy method and method of treating an aneurysm
US20110270092A1 (en) * 2010-01-29 2011-11-03 Korea Electrotechnology Research Institute Combined apparatus for detection of multispectral optical image emitted from living body and for light therapy
US20120004508A1 (en) * 2010-07-02 2012-01-05 Mcdowall Ian Surgical illuminator with dual spectrum fluorescence

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3185745A4 *

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9547165B2 (en) 2014-08-29 2017-01-17 Reinroth Gmbh Endoscope system with single camera for concurrent imaging at visible and infrared wavelengths
US11844498B2 (en) 2015-02-23 2023-12-19 Uroviu Corporation Handheld surgical endoscope
US11832797B2 (en) 2016-09-25 2023-12-05 Micronvision Corp. Endoscopic fluorescence imaging
CN107019516A (zh) * 2017-03-31 2017-08-08 北京心灵方舟科技发展有限公司 近红外噪声的抑制方法、装置和检测设备
CN107019516B (zh) * 2017-03-31 2020-11-10 北京心灵方舟科技发展有限公司 近红外噪声的抑制方法、装置和检测设备
CN107510430A (zh) * 2017-09-23 2017-12-26 武汉迅微光电技术有限公司 一种同时获取可见光彩色图像与血流图像的内窥镜光学成像方法及系统
US11684248B2 (en) 2017-09-25 2023-06-27 Micronvision Corp. Endoscopy/stereo colposcopy medical instrument
CN108478174A (zh) * 2018-03-20 2018-09-04 广东欧谱曼迪科技有限公司 基于曝光反馈的双相机系统及其术中荧光导航调整方法
WO2020112724A1 (fr) * 2018-11-30 2020-06-04 Intuitive Surgical Operations, Inc. Systèmes d'imagerie médicale et procédés qui facilitent l'utilisation de différents agents d'imagerie par fluorescence
US11944267B2 (en) 2019-07-25 2024-04-02 Uroviu Corp. Disposable endoscopy cannula with integrated grasper
US11771304B1 (en) 2020-11-12 2023-10-03 Micronvision Corp. Minimally invasive endoscope
US11980342B2 (en) 2020-11-12 2024-05-14 Micronvision Corp. Minimally invasive endoscope

Similar Documents

Publication Publication Date Title
CN107072520B (zh) 以可见光波长和红外波长并行成像的内窥镜系统
US20170035280A1 (en) Stereoscopic endoscope system with concurrent imaging at visible and infrared wavelengths
WO2016032729A1 (fr) Système d'endoscope a imagerie simultanée à des longueurs d'onde visible et infrarouge
US9906739B2 (en) Image pickup device and image pickup method
US9900484B2 (en) White balance adjustment method and imaging device for medical instrument
US11206987B2 (en) Method and apparatus for concurrent imaging at visible and infrared wavelengths
US20200337540A1 (en) Endoscope system
CN107072508B (zh) 观察系统
JP6581984B2 (ja) 内視鏡システム
JP6072374B2 (ja) 観察装置
EP3610779A1 (fr) Système d'acquisition d'image, dispositif de commande et procédé d'acquisition d'image
US9788709B2 (en) Endoscope system and image generation method to generate images associated with irregularities of a subject
JP6203452B1 (ja) 撮像システム
CN110974133B (zh) 内窥镜系统
CN108778088B (zh) 活体观察系统
JPWO2018043293A1 (ja) 電子スコープ及び電子内視鏡システム
CN217792957U (zh) 内窥镜系统
JP5525991B2 (ja) 電子内視鏡システム、電子内視鏡システムのプロセッサ装置、及び電子内視鏡システムの作動方法
JP2019041946A (ja) プロセッサ装置とその作動方法、および内視鏡システム
WO2021095517A1 (fr) Dispositif de source de lumière et système d'observation de sujet
CN116725458A (zh) 内窥镜系统及内窥镜检测方法
JP5480432B2 (ja) 蛍光画像撮像装置
JP5346934B2 (ja) 眼科治療用顕微鏡装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15836583

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

REEP Request for entry into the european phase

Ref document number: 2015836583

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2015836583

Country of ref document: EP