Fluorescence endoscope image brightness adjusting method, system, device and medium

Abstract

The invention discloses a fluorescent endoscope image brightness adjusting method, system and device and a medium, and the method comprises the steps: obtaining an image adjusting mode and a light source mode of a fluorescent endoscope, and carrying out the brightness adjustment of a visible light image according to an obtained first actual brightness value and a first electronic shutter value when the image adjusting mode is a first light source mode; when the mode is a second light source mode, brightness adjustment is carried out on the near-infrared light image according to an obtained second actual brightness value and a second electronic shutter value; when the mode is a third light source mode, obtaining a first actual brightness value, a first electronic shutter value, a second actual brightness value and a second electronic shutter value; brightness adjustment is carried out on the visible light image and the near-infrared light image; and after the brightness adjustment is completed, obtaining a target image by using an image fusion technology. According to the invention, the light source brightness of the near infrared spectrum and the light source brightness of the visible light spectrum can be independently adjusted, and the problem of overexposure or underexposure of the image can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of medical treatment and image processing technology, and in particular to a method, system, device and medium for adjusting the brightness of a fluorescent endoscope image. Background Art

[0002] Endoscopic imaging technology plays a vital role in medical diagnosis and surgery, especially in minimally invasive surgery, where the real-time images provided by the endoscope are the key basis for doctors to perform precise operations.

[0003] Fluorescent endoscopes are a common type of endoscope. During fluorescent endoscopic surgery, when the fluorescent endoscope adjusts its position to observe the target, the imaging environment will change in real time. As the imaging environment changes, the image brightness will be overexposed or underexposed. Fluorescent endoscopes usually contain two sensors: near-infrared sensors (NIR sensors for short) and visible light sensors (mainly color sensors, that is, sensors that can detect the three basic colors of red, green, and blue, referred to as RGB sensors). The images captured by the NIR sensor and the RGB sensor are usually fused through image processing technology. This fusion technology can combine the advantages of the two images to generate fused images with higher contrast and more detail information. These fused images help doctors more accurately identify diseased tissues, vascular structures and other key information, thereby improving the accuracy and success rate of surgery.

[0004] During the working process of fluorescent endoscope, the developer plays a vital role, which mainly helps doctors to more clearly identify and locate specific tissues or lesions during surgery or examination. However, the developer has the characteristic of time-limited. As the developer is gradually excreted, the developer will gradually fade, and there will be a problem of unclear development effect. Therefore, it is hoped that the development effect can be increased by only increasing the brightness of the near-infrared spectrum light source.

[0005] Currently, the fluorescent endoscope products on the market adjust the brightness of the light sources of the visible light spectrum and the near-infrared spectrum at the same time. This adjustment method increases (or decreases) the brightness of the light source of the near-infrared spectrum while increasing (or decreasing) the brightness of the light source of the visible light spectrum. This may cause overexposure (or underexposure) problems in non-development areas.

[0006] Therefore, there is an urgent need for a technology that can independently adjust the brightness of the near-infrared spectrum light source and the visible light spectrum light source of a fluorescent endoscope according to actual needs, so as to reduce the problem of image overexposure or underexposure. Summary of the invention

[0007] In view of this, the present invention provides a method, system, device and medium for adjusting the brightness of a fluorescence endoscope image, so as to solve the problem that the existing fluorescence endoscope image processing technology can only adjust the brightness of the light source of the near-infrared spectrum and the brightness of the light source of the visible light spectrum at the same time, resulting in the image being easily over-exposed or under-exposed.

[0008] The present invention provides a method for adjusting the brightness of a fluorescent endoscope image, the method comprising:

[0009] Acquiring an image adjustment mode of a fluorescent endoscope, and determining a light source mode of the fluorescent endoscope according to the image adjustment mode; wherein the fluorescent endoscope is provided with a near-infrared sensor and a visible light sensor;

[0010] When the light source mode is the first light source mode, obtaining a first actual brightness value corresponding to the visible light image collected by the visible light sensor and a first electronic shutter value corresponding to the visible light sensor; adjusting the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value; and obtaining a target image based on the visible light image after brightness adjustment;

[0011] When the light source mode is the second light source mode, obtaining a second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor and a second electronic shutter value corresponding to the near-infrared sensor; adjusting the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value; obtaining the visible light image collected by the visible light sensor, and performing image fusion on the visible light image and the near-infrared light image after brightness adjustment to obtain the target image;

[0012] When the light source mode is the third light source mode, the first actual brightness value corresponding to the visible light image collected by the visible light sensor, the first electronic shutter value corresponding to the visible light sensor, the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, and the second electronic shutter value corresponding to the near-infrared sensor are respectively obtained; the brightness of the visible light image is adjusted according to the first actual brightness value and the first electronic shutter value, and the brightness of the near-infrared light image is adjusted according to the second actual brightness value and the second electronic shutter value; the visible light image after brightness adjustment and the near-infrared light image after brightness adjustment are fused to obtain the target image.

[0013] Optionally, the first light source mode is specifically a visible light source working mode, which means that only a visible light source is involved in the work of the fluorescent endoscope; the image adjustment mode corresponding to the first light source mode is specifically a visible light image adjustment mode;

[0014] The second light source mode is specifically the first mixed light source working mode, which means that in the fluorescent endoscope, both the visible light source and the near-infrared light source are involved in the work, and the visible light source is used to provide background light when the near-infrared light source is working; the image adjustment mode corresponding to the second light source mode is specifically the near-infrared light image adjustment mode;

[0015] The third light source mode is specifically the second mixed light source working mode, which means that both the visible light source and the near-infrared light source are involved in the work of the fluorescent endoscope; the image adjustment mode corresponding to the third light source mode is specifically the independent adjustment mode of the near-infrared light image and the visible light image.

[0016] Optionally, when the light source mode is the first light source mode or the third light source mode, acquiring a first actual brightness value corresponding to the visible light image collected by the visible light sensor includes:

[0017] Acquire the visible light image collected by the visible light sensor;

[0018] Perform image analysis on the visible light image to obtain the first actual brightness value.

[0019] Optionally, when the light source mode is the second light source mode or the third light source mode, obtaining a second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor includes:

[0020] Acquire the near-infrared light image collected by the near-infrared sensor;

[0021] Perform image analysis on the near-infrared light image to obtain the second actual brightness value.

[0022] Optionally, when the light source mode is the first light source mode or the third light source mode, adjusting the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value includes:

[0023] Presetting a first target brightness value corresponding to the visible light image;

[0024] Determining whether the first electronic shutter value is less than a first preset threshold;

[0025] When the first electronic shutter value is less than the first preset threshold, determine whether the first actual brightness value is less than the first target brightness value and whether a first difference between the first target brightness value and the first actual brightness value is greater than or equal to a second preset threshold; if the first actual brightness value is less than the first target brightness value and the first difference is greater than or equal to the second preset threshold, use a PID adjustment method to adjust the first electronic shutter value to control the first actual brightness value to increase to the first target brightness value;

[0026] When the first electronic shutter value is greater than or equal to the first preset threshold, determine whether the first electronic shutter value is greater than a third preset threshold; when the first electronic shutter value is greater than the third preset threshold, determine whether the first actual brightness value is greater than the first target brightness value and whether the second difference between the first actual brightness value and the first target brightness value is greater than or equal to a fourth preset threshold; if the first actual brightness value is greater than the first target brightness value and the second difference is greater than or equal to the fourth preset threshold, use the PID adjustment method to adjust the first electronic shutter value to control the first actual brightness value to decrease to the first target brightness value; wherein the third preset threshold is greater than the first preset threshold.

[0027] Optionally, when the light source mode is the second light source mode or the third light source mode, adjusting the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value includes:

[0028] Presetting a second target brightness value corresponding to the near-infrared light image;

[0029] Determining whether the second electronic shutter value is less than a fifth preset threshold;

[0030] When the second electronic shutter value is less than the fifth preset threshold, determine whether the second actual brightness value is less than the second target brightness value and whether a third difference between the second target brightness value and the second actual brightness value is greater than or equal to a sixth preset threshold; if the second actual brightness value is less than the second target brightness value and the third difference is greater than or equal to the sixth preset threshold, use a PID adjustment method to adjust the second electronic shutter value to control the second actual brightness value to increase to the second target brightness value;

[0031] When the second electronic shutter value is greater than or equal to the fifth preset threshold, determine whether the second electronic shutter value is greater than the seventh preset threshold; when the second electronic shutter value is greater than the seventh preset threshold, determine whether the second actual brightness value is greater than the second target brightness value and whether the fourth difference between the second actual brightness value and the second target brightness value is greater than or equal to the eighth preset threshold; if the second actual brightness value is greater than the second target brightness value and the fourth difference is greater than or equal to the eighth preset threshold, use the PID adjustment method to adjust the second electronic shutter value to control the second actual brightness value to decrease to the second target brightness value; wherein the seventh preset threshold is greater than the fifth preset threshold.

[0032] Optionally, when the light source mode is the second light source mode, before performing image fusion on the visible light image and the near-infrared light image after brightness adjustment, the method further includes:

[0033] Graying the brightness-adjusted near-infrared light image to obtain a near-infrared grayscale image;

[0034] Mapping the grayscale value of the near-infrared grayscale image to a preset pseudo-color to obtain a near-infrared pseudo-color image;

[0035] Correspondingly, performing image fusion on the visible light image and the near-infrared light image after brightness adjustment includes:

[0036] Using a weighted fusion method, the visible light image and the near-infrared pseudo-color image are fused to obtain the target image;

[0037] Alternatively, when the light source mode is the third light source mode, before performing image fusion on the brightness-adjusted visible light image and the brightness-adjusted near-infrared light image, the method further includes:

[0038] Graying the brightness-adjusted near-infrared light image to obtain a near-infrared grayscale image;

[0039] Mapping the grayscale value of the near-infrared grayscale image to a preset pseudo-color to obtain a near-infrared pseudo-color image;

[0040] Correspondingly, performing image fusion on the brightness-adjusted visible light image and the brightness-adjusted near infrared light image includes:

[0041] The weighted fusion method is adopted to fuse the brightness-adjusted visible light image and the near-infrared pseudo-color image to obtain the target image.

[0042] Optionally, the fluorescent endoscope is provided with a light source device, and the light source device is used to provide illumination light to the working environment of the fluorescent endoscope;

[0043] When the light source mode is the second light source mode or the third light source mode, before obtaining the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, the method further includes:

[0044] When the light source device provides illumination light to the working environment of the fluorescent endoscope, obtaining mixed light reflected from the working environment;

[0045] Splitting the mixed light to obtain near-infrared light and visible light respectively;

[0046] The near-infrared light image corresponding to the near-infrared light is collected by using the near-infrared sensor, and the visible light image corresponding to the visible light is collected by using the visible light sensor.

[0047] In addition, the present invention also provides a fluorescence endoscope image brightness adjustment system, which is applied to the aforementioned fluorescence endoscope image brightness adjustment method, and the system comprises:

[0048] A mode determination module, used for acquiring an image adjustment mode of a fluorescent endoscope, and determining a light source mode of the fluorescent endoscope according to the image adjustment mode; wherein the fluorescent endoscope is provided with a near-infrared sensor and a visible light sensor;

[0049] a first brightness adjustment module, configured to, when the mode determination module determines that the light source mode is the first light source mode, obtain a first actual brightness value corresponding to the visible light image collected by the visible light sensor and a first electronic shutter value corresponding to the visible light sensor; perform brightness adjustment on the visible light image according to the first actual brightness value and the first electronic shutter value; and obtain a target image based on the visible light image after brightness adjustment;

[0050] a second brightness adjustment module, configured to, when the mode determination module determines that the light source mode is the second light source mode, obtain a second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor and a second electronic shutter value corresponding to the near-infrared sensor; perform brightness adjustment on the near-infrared light image according to the second actual brightness value and the second electronic shutter value; obtain the visible light image collected by the visible light sensor, and perform image fusion on the visible light image and the near-infrared light image after brightness adjustment to obtain the target image;

[0051] The third brightness adjustment module is used to obtain the first actual brightness value corresponding to the visible light image collected by the visible light sensor, the first electronic shutter value corresponding to the visible light sensor, the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, and the second electronic shutter value corresponding to the near-infrared sensor when the mode determination module determines that the light source mode is the third light source mode; adjust the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value, and adjust the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value; and fuse the visible light image after brightness adjustment with the near-infrared light image after brightness adjustment to obtain the target image.

[0052] In addition, the present invention also provides a fluorescence endoscope image brightness adjustment device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the method steps in the aforementioned fluorescence endoscope image brightness adjustment method when executed.

[0053] In addition, the present invention also provides a computer storage medium, which includes: at least one instruction, which implements the method steps in the aforementioned fluorescence endoscope image brightness adjustment method when the instruction is executed by a computer.

[0054] The beneficial effects of the present invention are as follows: first, the image adjustment mode and light source mode of the fluorescent endoscope are determined respectively, so as to facilitate which component of the light source is involved in the work and which component of the image needs to be adjusted in brightness in the current working environment of the fluorescent endoscope, so as to make targeted adjustments later, so that the global brightness of the fluorescent endoscope image is effectively improved; when the light source mode is the first light source mode, the image of the visible light component needs to be adjusted in brightness; since the electronic shutter value can control the length of time the image sensor receives light, it directly affects the brightness of the image collected by the image sensor, so by obtaining the first electronic shutter value corresponding to the visible light sensor and the first actual brightness value corresponding to the visible light image collected by the visible light sensor, the control relationship between the electronic shutter value and the brightness can be used to realize independent adjustment of the brightness of the visible light image; when the light source mode is When the second light source mode is used, it is necessary to adjust the brightness of the image of the near-infrared light component. Therefore, the control relationship between the electronic shutter value and the brightness is also used to independently adjust the brightness of the near-infrared light image by obtaining the second electronic shutter value corresponding to the near-infrared sensor and the second actual brightness value corresponding to the collected near-infrared light image. When the light source mode is the third light source mode, it is necessary to adjust the brightness of the image of the near-infrared light component and the image of the visible light component respectively. Therefore, the brightness of the visible light image is independently adjusted by obtaining the first electronic shutter value corresponding to the visible light sensor and the first actual brightness value corresponding to the collected visible light image. At the same time, the brightness of the near-infrared light image is independently adjusted by obtaining the second electronic shutter value corresponding to the near-infrared sensor and the second actual brightness value corresponding to the collected near-infrared light image.

[0055] The fluorescence endoscope image brightness adjustment method, system, device and medium of the present invention can respectively realize independent adjustment of the light source brightness of the near-infrared spectrum and the light source brightness of the visible light spectrum, can effectively reduce the problem of overexposure or underexposure of the image, and truly improve the overall brightness of the image according to actual conditions, which helps doctors to more accurately identify diseased tissues, vascular structures and other key information from the image, thereby improving the accuracy and success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0057] Figure 1 A flowchart of a method for adjusting the brightness of a fluorescence endoscope image in Embodiment 1 of the present invention is shown;

[0058] Figure 2 The structure diagram of the fluorescence endoscope system in the first embodiment of the present invention is shown;

[0059] Figure 3A light path model diagram for splitting mixed light reflected from the working environment of an endoscope in the first embodiment of the present invention is shown;

[0060] Figures 4A to 4C A complete flow chart of the method for adjusting the brightness of a fluorescent endoscope image in the first embodiment of the present invention is shown;

[0061] Figure 5 The structure diagram of a fluorescence endoscope image brightness adjustment system in the second embodiment of the present invention is shown. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0063] Embodiment 1

[0064] This embodiment provides a method for adjusting the brightness of a fluorescent endoscope image. Figure 1 As shown, the method includes:

[0065] S1: Acquire an image adjustment mode of a fluorescent endoscope, and determine a light source mode of the fluorescent endoscope according to the image adjustment mode; wherein the fluorescent endoscope is provided with a near-infrared sensor and a visible light sensor;

[0066] S2A: when the light source mode is the first light source mode, obtaining a first actual brightness value corresponding to the visible light image collected by the visible light sensor and a first electronic shutter value corresponding to the visible light sensor; adjusting the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value; and obtaining a target image based on the visible light image after brightness adjustment;

[0067] S2B: When the light source mode is the second light source mode, obtaining a second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor and a second electronic shutter value corresponding to the near-infrared sensor; adjusting the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value; obtaining the visible light image collected by the visible light sensor, and performing image fusion on the visible light image and the near-infrared light image after brightness adjustment to obtain the target image;

[0068] S2C: When the light source mode is the third light source mode, respectively obtain the first actual brightness value corresponding to the visible light image collected by the visible light sensor, the first electronic shutter value corresponding to the visible light sensor, the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, and the second electronic shutter value corresponding to the near-infrared sensor; adjust the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value, and at the same time adjust the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value; perform image fusion on the brightness-adjusted visible light image and the brightness-adjusted near-infrared light image to obtain the target image.

[0069] In this embodiment, the image adjustment mode and light source mode of the fluorescent endoscope are first determined respectively, so as to determine which component of the light source is involved in the work and which component of the image needs to be adjusted in brightness in the current working environment of the fluorescent endoscope, so as to perform targeted adjustments later, so that the global brightness of the fluorescent endoscope image is effectively improved; when the light source mode is the first light source mode, it is necessary to adjust the brightness of the image of the visible light component; because the electronic shutter value can control the length of time the image sensor receives light, it directly affects the brightness of the image captured by the image sensor, so by obtaining the first electronic shutter value corresponding to the visible light sensor and the first actual brightness value corresponding to the visible light image captured by the visible light sensor, the control relationship between the electronic shutter value and the brightness can be used to realize independent adjustment of the brightness of the visible light image; when the light source mode is the first light source mode, it is necessary to adjust the brightness of the image of the visible light component; because the electronic shutter value can control the length of time the image sensor receives light, it directly affects the brightness of the image captured by the image sensor, so by obtaining the first electronic shutter value corresponding to the visible light sensor and the first actual brightness value corresponding to the visible light image captured by the visible light sensor, the control relationship between the electronic shutter value and the brightness can be used to realize independent adjustment of the brightness of the visible light image; When the light source mode is the second light source mode, it is necessary to adjust the brightness of the image of the near-infrared light component. Therefore, the control relationship between the electronic shutter value and the brightness is also used to achieve independent adjustment of the brightness of the near-infrared light image by obtaining the second electronic shutter value corresponding to the near-infrared sensor and the second actual brightness value corresponding to the near-infrared light image it collects; when the light source mode is the third light source mode, it is necessary to adjust the brightness of the image of the near-infrared light component and the image of the visible light component respectively; therefore, the brightness of the visible light image is independently adjusted by obtaining the first electronic shutter value corresponding to the visible light sensor and the first actual brightness value corresponding to the visible light image it collects, and at the same time, the brightness of the near-infrared light image is independently adjusted by obtaining the second electronic shutter value corresponding to the near-infrared sensor and the second actual brightness value corresponding to the near-infrared light image it collects.

[0070] The fluorescence endoscope image brightness adjustment method of this embodiment can realize independent adjustment of the brightness of the light source of the near-infrared spectrum and the brightness of the light source of the visible light spectrum, effectively reduce the problem of overexposure or underexposure of the image, and truly improve the overall brightness of the image according to actual conditions, which helps doctors to more accurately identify diseased tissues, vascular structures and other key information from the image, thereby improving the accuracy and success rate of the operation.

[0071] Each step of the method for adjusting the brightness of a fluorescent endoscope image in this embodiment is described in detail below.

[0072] Specifically, in the present embodiment S1, the first light source mode is specifically a visible light source working mode, which means that only a visible light source is involved in the work of the fluorescent endoscope; the image adjustment mode corresponding to the first light source mode is specifically a visible light image adjustment mode;

[0073] The second light source mode is specifically the first mixed light source working mode, which means that in the fluorescent endoscope, both the visible light source and the near-infrared light source are involved in the work, and the visible light source is used to provide background light when the near-infrared light source is working; the image adjustment mode corresponding to the second light source mode is specifically the near-infrared light image adjustment mode;

[0074] The third light source mode is specifically the second mixed light source working mode, which means that both the visible light source and the near-infrared light source are involved in the work of the fluorescent endoscope; the image adjustment mode corresponding to the third light source mode is specifically the independent adjustment mode of the near-infrared light image and the visible light image.

[0075] In this embodiment, the image adjustment mode determines the image type corresponding to the brightness adjustment, that is, for the first light source mode, the corresponding image adjustment mode is the visible light image adjustment mode, which means that only the collected visible light image is adjusted in brightness; for the second light source mode, the corresponding image adjustment mode is the near-infrared light image adjustment mode, which means that only the collected near-infrared light image is adjusted in brightness; for the third light source mode, the corresponding image adjustment mode is the near-infrared light image and visible light image independent adjustment mode, which means that the collected visible light image and near-infrared light image can be adjusted in brightness separately. The light source mode determines the type of light source involved in the endoscope operation process. For the first light source mode, only the visible light source is involved in the operation, that is, only the visible light source is used as the laser light source in the fluorescent endoscope working environment; for the second light source mode and the third light source mode, both the visible light source and the near-infrared light source are involved in the operation. However, there is a difference between the second light source mode and the third light source mode. When near-infrared light is used as an excitation light source to act on tissue parts in the working environment in the absence of background light to provide illumination, the imaging environment is very dark, resulting in the overall color tone of the formed near-infrared light image being darker, which is not conducive to subsequent image analysis; therefore, in the second light source mode, only the near-infrared light source is used as the laser light source in the working environment of the fluorescent endoscope, and the visible light source is used to provide background light when the near-infrared light source is working; in the third light source mode, both the near-infrared light source and the visible light source are used as laser light sources in the working environment of the fluorescent endoscope.

[0076] Through the above-mentioned image adjustment mode and light source mode, this embodiment can facilitate the subsequent adoption of corresponding adjustment strategies to achieve independent brightness adjustment of corresponding images, with precise control, which can effectively improve the quality of fluorescent endoscope images.

[0077] Specifically, Figure 2 As shown, the entire fluorescent endoscope system of this embodiment includes a camera control device, a light source device and an endoscope. The camera control device includes a first control host, a touch screen module and an interface module, the interface module includes an endoscope interface and a serial port, the first control host is connected to the endoscope through the endoscope interface, and the first control host is connected to the light source device through the serial port. The user can select the image adjustment mode through the camera control device (specifically by operating the function keys in the touch screen module). The light source device includes a second control host, a light source module and a serial port, the first control host is connected to the camera control device communication line through the serial port, and the light source module is connected to the endoscope optical path through a light guide. The endoscope includes an endoscope body, an endoscope function button, an endoscope interface, a near infrared sensor (referred to as NIR sensor) and a visible light sensor (referred to as RGB sensor). When the user operates the camera control device to select the image adjustment mode, the light source module can be controlled to work according to the light source mode corresponding to the image adjustment mode by using the communication interaction between the first control host and the second control host. When the light source module operates in a corresponding light source mode, the near-infrared sensor and visible light sensor in the endoscope can respectively capture images of corresponding components (wherein, in the first light source mode, the near-infrared sensor will not capture near-infrared light images).

[0078] Specifically, in this embodiment, the camera control device and / or the endoscope of the entire fluorescent endoscope system are also provided with a working mode button, and the user can realize the manual working mode or the automatic working mode of the brightness adjustment of the entire endoscope by directly operating the working mode button. The manual working mode means that the entire fluorescent endoscope system can realize the brightness adjustment of the image according to the user's operation, which can be realized by providing a visible light image brightness adjustment button and a near-infrared light image brightness adjustment button (such as "+" and "-" buttons) on the camera control device and / or the endoscope; the automatic working mode means that the entire fluorescent endoscope system can automatically identify the image adjustment mode, and then determine the light source mode according to the identified image adjustment mode, and then automatically realize the brightness adjustment of the corresponding image according to the light source mode.

[0079] Preferably, when the light source mode is the first light source mode or the third light source mode, in S2A and S2C, obtaining a first actual brightness value corresponding to the visible light image collected by the visible light sensor includes:

[0080] Acquire the visible light image collected by the visible light sensor;

[0081] Perform image analysis on the visible light image to obtain the first actual brightness value.

[0082] Preferably, when the light source mode is the second light source mode or the third light source mode, in S2B and S2C, obtaining a second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor includes:

[0083] Acquire the near-infrared light image collected by the near-infrared sensor;

[0084] Perform image analysis on the near-infrared light image to obtain the second actual brightness value.

[0085] In the above process, the corresponding actual brightness value can be identified through direct analysis of the image, so that the corresponding actual brightness value and the electronic shutter value can be used to adjust the brightness of the corresponding image.

[0086] Preferably, the fluorescent endoscope is provided with a light source device, and the light source device is used to provide illumination light to the working environment of the fluorescent endoscope;

[0087] When the light source mode is the second light source mode or the third light source mode, before obtaining the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, the method further includes:

[0088] When the light source device provides illumination light to the working environment of the fluorescent endoscope, obtaining mixed light reflected from the working environment;

[0089] Splitting the mixed light to obtain near-infrared light and visible light respectively;

[0090] The near-infrared light image corresponding to the near-infrared light is collected by using the near-infrared sensor, and the visible light image corresponding to the visible light is collected by using the visible light sensor.

[0091] Since in the second light source mode or the third light source mode, two components of light are involved in the work, that is, the illumination light transmitted by the light source device to the endoscope is a mixed light containing two components of near-infrared light and visible light, and correspondingly, the light reflected back from the working environment of the endoscope is also a mixed light of two components (that is, the mixed light reflected back by the excited tissue part); in order to facilitate the subsequent independent analysis of the actual brightness values ​​corresponding to the images formed by the two components of light, it is necessary to split the mixed light reflected back from the working environment of the endoscope to obtain near-infrared light and visible light respectively, and then use the corresponding sensor to collect the corresponding image. Through the above-mentioned splitting process, the brightness of the subsequent image can be adjusted independently.

[0092] Specifically, in the process of splitting the mixed light, a splitter prism can be used to achieve the splitting, and its optical path model is shown in the figure below: Figure 3 shown.

[0093] Preferably, when the light source mode is the first light source mode or the third light source mode, in S2A and S2C, the brightness of the visible light image is adjusted according to the first actual brightness value and the first electronic shutter value, including:

[0094] Presetting a first target brightness value corresponding to the visible light image;

[0095] Determining whether the first electronic shutter value is less than a first preset threshold;

[0096] When the first electronic shutter value is less than the first preset threshold, determine whether the first actual brightness value is less than the first target brightness value and whether a first difference between the first target brightness value and the first actual brightness value is greater than or equal to a second preset threshold; if the first actual brightness value is less than the first target brightness value and the first difference is greater than or equal to the second preset threshold, use a PID adjustment method to adjust the first electronic shutter value to control the first actual brightness value to increase to the first target brightness value;

[0097] When the first electronic shutter value is greater than or equal to the first preset threshold, determine whether the first electronic shutter value is greater than a third preset threshold; when the first electronic shutter value is greater than the third preset threshold, determine whether the first actual brightness value is greater than the first target brightness value and whether the second difference between the first actual brightness value and the first target brightness value is greater than or equal to a fourth preset threshold; if the first actual brightness value is greater than the first target brightness value and the second difference is greater than or equal to the fourth preset threshold, use the PID adjustment method to adjust the first electronic shutter value to control the first actual brightness value to decrease to the first target brightness value; wherein the third preset threshold is greater than the first preset threshold.

[0098] The electronic shutter value refers to the scanning speed of the image sensor (such as CCD sensor and CMOS sensor), which is usually expressed in seconds, ranging from very fast 1 / 10000 second or even faster, to slower 1 / 50 second or slower. The electronic shutter value is used to control the length of time the image sensor receives light, which can play a decisive role in the brightness of the image. When the electronic shutter value is large (such as above a certain threshold, the corresponding shutter speed is slower), the camera receives light for a longer time, and more light enters the camera, resulting in a brighter image; when the electronic shutter value is smaller (such as below a certain threshold, the corresponding shutter speed is faster), the camera receives light for a shorter time, and less light enters the camera, resulting in a darker image; conversely, the image collected is brighter.

[0099] In the first light source mode or the third light source mode, during the brightness adjustment process of the visible light image, when the brightness is adjusted according to the first actual brightness value and the first electronic shutter value obtained, the first electronic shutter value is first compared with the first preset threshold value and the third preset threshold value respectively to determine whether the first electronic shutter value is too large or too small, so as to facilitate the subsequent use of the corresponding adjustment strategy. When it is determined that the first electronic shutter value is less than the first preset threshold value (that is, the first electronic shutter value is too small), it means that the image brightness is dark at this time and the image brightness can be adjusted by the electronic shutter value. At this time, the difference between the first actual brightness value and the first target brightness value of the pre-set visible light image (that is, the brightness value required to improve the quality of the visible light image) is further determined. If the first actual brightness value is less than the first target brightness value and the first difference between the two is greater than or equal to the second preset threshold value, it means that the first actual brightness value is much less than the first target brightness value at this time, that is, the PID adjustment method is used to adjust the first electronic shutter value (that is, increase the first electronic shutter value) so that the first actual brightness value increases to the first target brightness value, thereby achieving the brightness adjustment of the visible light image. When it is determined that the first electronic shutter value is greater than the third preset threshold value (that is, the first electronic shutter value is too large), it means that the image brightness is brighter at this time and the electronic shutter value can also be used to adjust the image brightness. At this time, the difference between the first actual brightness value and the first target brightness value is further determined. If the first actual brightness value is greater than the first target brightness value and the second difference between the two is greater than or equal to the fourth preset threshold value, it means that the first actual brightness value is much greater than the first target brightness value. That is, the PID adjustment method is used to adjust the first electronic shutter value (that is, reduce the first electronic shutter value), so that the first actual brightness value is reduced to the first target brightness value, thereby realizing dimming of the visible light image brightness.

[0100] This embodiment implements the brightness adjustment of the visible light image through the above steps, with flexible response, high control accuracy, and good adjustment efficiency and effect.

[0101] It should be understood that when the first electronic shutter value is greater than the first preset threshold value and less than the third preset threshold value, it means that the first electronic shutter value is not too large or too small at this time, and it is not suitable to adopt the strategy of using the electronic shutter value to adjust the image brightness. The brightness adjustment of the visible light image can be achieved by adjusting the AE value of the fluorescent endoscope system. When the image brightness is darker and the first actual brightness value is not much smaller than the first target brightness value, it is also not suitable to adopt the strategy of using the electronic shutter value to adjust the image brightness. The brightness adjustment of the visible light image can also be achieved by adjusting the AE value of the fluorescent endoscope system. Similarly, when the image brightness is brighter and the first actual brightness value is not much larger than the first target brightness value, the brightness adjustment of the visible light image can also be achieved by adjusting the AE value of the fluorescent endoscope system.

[0102] Among them, AE (Auto Exposure) refers to the automatic exposure function of the image sensor (such as CCD sensor and CMOS sensor). In this scheme, the AE value refers to the automatic exposure of the image sensor. Exposure is a physical quantity used to calculate the size of the light flux from the scene to the camera. Only when the image sensor obtains the correct exposure can high-quality photos be obtained. Overexposure makes the image look too bright; underexposure makes the image look too dark. The size of the light flux reaching the image sensor is mainly determined by two factors: the length of the exposure time and the size of the aperture. In this scheme, the aperture size of the fluorescent endoscope system is usually fixed, so the automatic exposure (ie, the AE value) is actually determined by the exposure time. When the exposure time increases, more light enters the image sensor, and the automatic exposure increases; conversely, when the exposure time decreases, the automatic exposure decreases.

[0103] In this embodiment, when the image brightness is dark and the first actual brightness value is not much smaller than the first target brightness value, the AE value can be increased by increasing the exposure time to improve the image brightness. When the image brightness is bright and the first actual brightness value is not much larger than the first target brightness value, the AE value can be reduced by reducing the exposure time to reduce the image brightness.

[0104] Preferably, when the light source mode is the second light source mode or the third light source mode, in S2B and S2C, the brightness of the near-infrared light image is adjusted according to the second actual brightness value and the second electronic shutter value, including:

[0105] Presetting a second target brightness value corresponding to the near-infrared light image;

[0106] Determining whether the second electronic shutter value is less than a fifth preset threshold;

[0107] When the second electronic shutter value is less than the fifth preset threshold, determine whether the second actual brightness value is less than the second target brightness value and whether a third difference between the second target brightness value and the second actual brightness value is greater than or equal to a sixth preset threshold; if the second actual brightness value is less than the second target brightness value and the third difference is greater than or equal to the sixth preset threshold, use a PID adjustment method to adjust the second electronic shutter value to control the second actual brightness value to increase to the second target brightness value;

[0108] When the second electronic shutter value is greater than or equal to the fifth preset threshold, determine whether the second electronic shutter value is greater than the seventh preset threshold; when the second electronic shutter value is greater than the seventh preset threshold, determine whether the second actual brightness value is greater than the second target brightness value and whether the fourth difference between the second actual brightness value and the second target brightness value is greater than or equal to the eighth preset threshold; if the second actual brightness value is greater than the second target brightness value and the fourth difference is greater than or equal to the eighth preset threshold, use the PID adjustment method to adjust the second electronic shutter value to control the second actual brightness value to decrease to the second target brightness value; wherein the seventh preset threshold is greater than the fifth preset threshold.

[0109] Similar to the adjustment of the brightness of the visible light image described above, in the second light source mode or the third light source mode, when adjusting the brightness of the near-infrared light image, according to the obtained second actual brightness value and the second electronic shutter value, the second electronic shutter value is first compared with the fifth preset threshold value and the seventh preset threshold value to determine whether the second electronic shutter value is too large or too small, so as to facilitate the subsequent use of the corresponding adjustment strategy. When it is determined that the second electronic shutter value is less than the fifth preset threshold value (that is, the second electronic shutter value is too small), it means that the image brightness is dark at this time and the image brightness can be adjusted by the electronic shutter value. At this time, the difference between the second actual brightness value and the second target brightness value of the near-infrared light image (that is, the brightness value required to improve the quality of the near-infrared light image) is further determined. If the second actual brightness value is less than the second target brightness value and the second difference between the two is greater than or equal to the sixth preset threshold value, it means that the second actual brightness value is much less than the second target brightness value at this time, that is, the PID adjustment method is used to adjust the second electronic shutter value (that is, increase the second electronic shutter value), so that the second actual brightness value increases to the second target brightness value, and the brightness of the near-infrared light image is brightened. When it is determined that the second electronic shutter value is greater than the seventh preset threshold (that is, the second electronic shutter value is too large), it means that the image brightness is brighter at this time and the electronic shutter value can also be used to adjust the image brightness. At this time, the difference between the second actual brightness value and the second target brightness value is further determined. If the second actual brightness value is greater than the second target brightness value and the second difference between the two is greater than or equal to the eighth preset threshold, it means that the second actual brightness value is much greater than the second target brightness value. That is, the PID adjustment method is used to adjust the second electronic shutter value (that is, reduce the second electronic shutter value), so that the second actual brightness value is reduced to the second target brightness value, thereby realizing dimming of the near-infrared light image brightness.

[0110] This embodiment implements brightness adjustment of near-infrared light images through the above steps, with flexible response, high control accuracy, and good adjustment efficiency and effect.

[0111] Similar to the aforementioned adjustment of the brightness of the visible light image, when the first electronic shutter value is greater than the first preset threshold value and less than the third preset threshold value, the brightness adjustment of the visible light image can be achieved by adjusting the AE value of the fluorescent endoscope system. When the image brightness is dark and the first actual brightness value is not much less than the first target brightness value, and when the image brightness is bright and the first actual brightness value is not much greater than the first target brightness value, the brightness adjustment of the visible light image can be achieved by adjusting the AE value of the fluorescent endoscope system.

[0112] In this embodiment, the first preset threshold to the eighth preset threshold can be set and adjusted in advance according to actual conditions, and are not limited here. Among them, the first preset threshold and the fifth preset threshold can be the same or different, the third preset threshold and the seventh preset threshold can be the same or different, and the second preset threshold, the fourth preset threshold, the sixth preset threshold and the eighth preset threshold can be the same or different.

[0113] For the third light source mode, the process of adjusting the brightness of the visible light image and the process of adjusting the brightness of the near-infrared light image can be independently determined and adjusted according to the methods specifically described above.

[0114] Specifically, in this embodiment, a PID control method (i.e., proportional-integral-differential control method) is used to control an input variable (i.e., a first electronic shutter value, a second electronic shutter value) to realize a specific operation method of increasing or decreasing an output variable (i.e., image brightness), and a conventional operation method is adopted (i.e., by calculating the error between the input variable and the output variable, and adjusting the control amount according to the error to achieve precise control of the controlled object), and the specific details are not repeated here.

[0115] Specifically, for the first light source mode, only the visible light image is finally collected by the endoscope. After the brightness is adjusted, the corresponding target image can be obtained directly based on the visible light image after the brightness adjustment.

[0116] Specifically, for the second light source mode, since both the near-infrared sensor and the visible light sensor in the endoscope capture images, but only the near-infrared image is brightness adjusted, the visible light image and the brightness-adjusted near-infrared image are finally fused to obtain the corresponding target image.

[0117] Specifically, for the third light source mode, since the near-infrared sensor and visible light sensor in the endoscope also capture images, and both the visible light image and the near-infrared light image are brightness adjusted, the brightness-adjusted visible light image and the brightness-adjusted near-infrared light image are finally fused to obtain the corresponding target image.

[0118] Preferably, when the light source mode is the second light source mode, in S2B, before performing image fusion on the visible light image and the near-infrared light image after brightness adjustment, the method further includes:

[0119] Graying the brightness-adjusted near-infrared light image to obtain a near-infrared grayscale image;

[0120] Mapping the grayscale value of the near-infrared grayscale image to a preset pseudo-color to obtain a near-infrared pseudo-color image;

[0121] Correspondingly, in S2B, image fusion is performed on the visible light image and the near infrared light image after brightness adjustment, including:

[0122] The visible light image and the near-infrared pseudo-color image are fused by using a weighted fusion method to obtain the target image.

[0123] Preferably, when the light source mode is the third light source mode, in S2C, before performing image fusion on the brightness-adjusted visible light image and the brightness-adjusted near-infrared light image, the method further includes:

[0124] Graying the brightness-adjusted near-infrared light image to obtain a near-infrared grayscale image;

[0125] Mapping the grayscale value of the near-infrared grayscale image to a preset pseudo-color to obtain a near-infrared pseudo-color image;

[0126] Correspondingly, in S2C, image fusion is performed on the brightness-adjusted visible light image and the brightness-adjusted near infrared light image, including:

[0127] The weighted fusion method is adopted to fuse the brightness-adjusted visible light image and the near-infrared pseudo-color image to obtain the target image.

[0128] For the second light source mode and the third light source mode, since there are two components of images when the image is fused, the near-infrared light image after brightness adjustment is first grayed, which can facilitate the subsequent specific image processing based on the grayed near-infrared light image (i.e., near-infrared grayscale image); after the graying is completed, the near-infrared grayscale image can be mapped to a pseudo-color on the basis of keeping the saturation and brightness unchanged through pseudo-color mapping, so that the image of this component can be more easily distinguished after fusion, which helps doctors to more accurately identify the diseased tissue, vascular structure and other key information from the image, thereby improving the accuracy and success rate of the operation. Finally, the weighted fusion method is used to fuse the image of another component (i.e., the visible light image or the visible light image after brightness adjustment) with the near-infrared pseudo-color image after pseudo-color mapping, which can realize the integration of multi-source information, and the fusion effect is more stable, thereby obtaining a target image with improved overall quality.

[0129] The preset pseudo color may be pre-selected according to actual conditions, such as green, that is, the gray value of the near-infrared gray image is mapped to green.

[0130] The complete process of the fluorescence endoscope image brightness adjustment method of this embodiment is as follows: Figures 4A to 4C shown.

[0131] Embodiment 2

[0132] A fluorescence endoscope image brightness adjustment system is applied to the fluorescence endoscope image brightness adjustment method of embodiment 1, such as Figure 5 As shown, the system comprises:

[0133] A mode determination module, used for acquiring an image adjustment mode of a fluorescent endoscope, and determining a light source mode of the fluorescent endoscope according to the image adjustment mode; wherein the fluorescent endoscope is provided with a near-infrared sensor and a visible light sensor;

[0134] a first brightness adjustment module, configured to, when the mode determination module determines that the light source mode is the first light source mode, obtain a first actual brightness value corresponding to the visible light image collected by the visible light sensor and a first electronic shutter value corresponding to the visible light sensor; perform brightness adjustment on the visible light image according to the first actual brightness value and the first electronic shutter value; and obtain a target image based on the visible light image after brightness adjustment;

[0135] a second brightness adjustment module, configured to, when the mode determination module determines that the light source mode is the second light source mode, obtain a second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor and a second electronic shutter value corresponding to the near-infrared sensor; perform brightness adjustment on the near-infrared light image according to the second actual brightness value and the second electronic shutter value; obtain the visible light image collected by the visible light sensor, and perform image fusion on the visible light image and the near-infrared light image after brightness adjustment to obtain the target image;

[0136] The third brightness adjustment module is used to obtain the first actual brightness value corresponding to the visible light image collected by the visible light sensor, the first electronic shutter value corresponding to the visible light sensor, the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, and the second electronic shutter value corresponding to the near-infrared sensor when the mode determination module determines that the light source mode is the third light source mode; adjust the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value, and adjust the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value; and fuse the visible light image after brightness adjustment with the near-infrared light image after brightness adjustment to obtain the target image.

[0137] In this embodiment, the mode determination module is first used to determine the image adjustment mode and light source mode of the fluorescent endoscope, so as to determine which component of the light source is involved in the work and which component of the image needs to be adjusted in brightness in the current working environment of the fluorescent endoscope, so as to perform targeted adjustments later, so that the global brightness of the fluorescent endoscope image is effectively improved; when the light source mode is the first light source mode, it is necessary to adjust the brightness of the image of the visible light component; because the electronic shutter value can control the length of time the image sensor receives light, it directly affects the brightness of the image captured by the image sensor, and therefore the first brightness adjustment module is used to obtain the first electronic shutter value corresponding to the visible light sensor and the first actual brightness value corresponding to the visible light image captured by the visible light sensor, and the control relationship between the electronic shutter value and the brightness can be used to realize independent adjustment of the brightness of the visible light image ... visible light component. When it is the second light source mode, it is necessary to adjust the brightness of the image of the near-infrared light component. Therefore, the control relationship between the electronic shutter value and the brightness is also used. The second electronic shutter value corresponding to the near-infrared sensor and the second actual brightness value corresponding to the collected near-infrared light image obtained by the second brightness adjustment module are used to achieve independent adjustment of the brightness of the near-infrared light image; when the light source mode is the third light source mode, it is necessary to adjust the brightness of the image of the near-infrared light component and the image of the visible light component respectively; therefore, the first electronic shutter value corresponding to the visible light sensor and the first actual brightness value corresponding to the collected visible light image obtained by the third brightness adjustment module are used to achieve independent adjustment of the brightness of the visible light image, and at the same time, the brightness of the near-infrared light image is independently adjusted by the second electronic shutter value corresponding to the near-infrared sensor and the second actual brightness value corresponding to the collected near-infrared light image.

[0138] The fluorescent endoscope image brightness adjustment system of this embodiment can realize independent adjustment of the brightness of the light source of the near-infrared spectrum and the brightness of the light source of the visible light spectrum, effectively reduce the problem of overexposure or underexposure of the image, and truly improve the overall brightness of the image according to actual conditions, which helps doctors to more accurately identify diseased tissues, vascular structures and other key information from the image, thereby improving the accuracy and success rate of the operation.

[0139] The functions of each module in the fluorescence endoscope image brightness adjustment system described in this embodiment are the same as the method steps of the fluorescence endoscope image brightness adjustment method described in Example 1. Therefore, for the details not covered in this embodiment, please refer to Example 1 and Example 2. Figure 1 and Figure 4C The detailed description will not be repeated here.

[0140] Embodiment 3

[0141] This embodiment also provides a fluorescence endoscope image brightness adjustment device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the computer program is executed, the method steps in the fluorescence endoscope image brightness adjustment method of the first embodiment are implemented.

[0142] Through a computer program stored in the memory and running on the processor, the brightness of the light source in the near-infrared spectrum and the brightness of the light source in the visible light spectrum can be independently adjusted, which can effectively reduce the problem of overexposure or underexposure of the image, and truly improve the overall brightness of the image according to the actual situation. It helps doctors to more accurately identify diseased tissues, vascular structures and other key information from the image, thereby improving the accuracy and success rate of the operation.

[0143] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0144] The memory can be used to store computer programs and / or models. The processor realizes various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0145] It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by a computer program. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] These computer programs may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0147] These computer programs can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0148] This embodiment further provides a computer storage medium, which includes: at least one instruction, which implements the method steps in the fluorescence endoscope image brightness adjustment method of embodiment 1 when the instruction is executed by a computer.

[0149] By executing a computer storage medium containing at least one instruction, the brightness of the light source in the near-infrared spectrum and the brightness of the light source in the visible light spectrum can be independently adjusted, which can effectively reduce the problem of overexposure or underexposure of the image, and truly improve the overall brightness of the image according to actual conditions, which helps doctors to more accurately identify diseased tissues, vascular structures and other key information from the image, thereby improving the accuracy and success rate of the operation.

[0150] Similarly, for details not yet provided in this embodiment, please refer to Embodiment 1, Embodiment 2 and Figures 1 to 5 The detailed description will not be repeated here.

[0151] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for adjusting the brightness of a fluorescence endoscope image, characterized in that: The method comprises: Acquiring an image adjustment mode of a fluorescent endoscope, and determining a light source mode of the fluorescent endoscope according to the image adjustment mode; wherein the fluorescent endoscope is provided with a near-infrared sensor and a visible light sensor; When the light source mode is the first light source mode, obtaining a first actual brightness value corresponding to the visible light image collected by the visible light sensor and a first electronic shutter value corresponding to the visible light sensor; adjusting the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value; and obtaining a target image based on the visible light image after brightness adjustment; When the light source mode is the second light source mode, obtaining a second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor and a second electronic shutter value corresponding to the near-infrared sensor; adjusting the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value; obtaining the visible light image collected by the visible light sensor, and performing image fusion on the visible light image and the near-infrared light image after brightness adjustment to obtain the target image; When the light source mode is the third light source mode, the first actual brightness value corresponding to the visible light image collected by the visible light sensor, the first electronic shutter value corresponding to the visible light sensor, the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, and the second electronic shutter value corresponding to the near-infrared sensor are respectively obtained; the brightness of the visible light image is adjusted according to the first actual brightness value and the first electronic shutter value, and the brightness of the near-infrared light image is adjusted according to the second actual brightness value and the second electronic shutter value; the visible light image after brightness adjustment and the near-infrared light image after brightness adjustment are fused to obtain the target image.

2. The method for adjusting the brightness of a fluorescence endoscope image according to claim 1, characterized in that: The first light source mode is specifically a visible light source working mode, which means that only a visible light source is involved in the work of the fluorescent endoscope; the image adjustment mode corresponding to the first light source mode is specifically a visible light image adjustment mode; The second light source mode is specifically the first mixed light source working mode, which means that in the fluorescent endoscope, both the visible light source and the near-infrared light source are involved in the work, and the visible light source is used to provide background light when the near-infrared light source is working; the image adjustment mode corresponding to the second light source mode is specifically the near-infrared light image adjustment mode; The third light source mode is specifically the second mixed light source working mode, which means that both the visible light source and the near-infrared light source are involved in the work of the fluorescent endoscope; the image adjustment mode corresponding to the third light source mode is specifically the independent adjustment mode of the near-infrared light image and the visible light image.

3. The method for adjusting the brightness of a fluorescence endoscope image according to claim 2, characterized in that: When the light source mode is the first light source mode or the third light source mode, obtaining a first actual brightness value corresponding to the visible light image collected by the visible light sensor includes: Acquire the visible light image collected by the visible light sensor; Perform image analysis on the visible light image to obtain the first actual brightness value.

4. The method for adjusting the brightness of a fluorescence endoscope image according to claim 2, characterized in that: When the light source mode is the second light source mode or the third light source mode, obtaining a second actual brightness value corresponding to the near infrared light image collected by the near infrared sensor includes: Acquire the near-infrared light image collected by the near-infrared sensor; Perform image analysis on the near-infrared light image to obtain the second actual brightness value.

5. The method for adjusting the brightness of a fluorescence endoscope image according to claim 2, characterized in that: When the light source mode is the first light source mode or the third light source mode, adjusting the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value includes: Presetting a first target brightness value corresponding to the visible light image; Determining whether the first electronic shutter value is less than a first preset threshold; When the first electronic shutter value is less than the first preset threshold, determine whether the first actual brightness value is less than the first target brightness value and whether a first difference between the first target brightness value and the first actual brightness value is greater than or equal to a second preset threshold; if the first actual brightness value is less than the first target brightness value and the first difference is greater than or equal to the second preset threshold, use a PID adjustment method to adjust the first electronic shutter value to control the first actual brightness value to increase to the first target brightness value; When the first electronic shutter value is greater than or equal to the first preset threshold, determine whether the first electronic shutter value is greater than a third preset threshold; when the first electronic shutter value is greater than the third preset threshold, determine whether the first actual brightness value is greater than the first target brightness value and whether the second difference between the first actual brightness value and the first target brightness value is greater than or equal to a fourth preset threshold; if the first actual brightness value is greater than the first target brightness value and the second difference is greater than or equal to the fourth preset threshold, use the PID adjustment method to adjust the first electronic shutter value to control the first actual brightness value to decrease to the first target brightness value; wherein the third preset threshold is greater than the first preset threshold.

6. The method for adjusting the brightness of a fluorescence endoscope image according to claim 2, characterized in that: When the light source mode is the second light source mode or the third light source mode, adjusting the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value includes: Presetting a second target brightness value corresponding to the near-infrared light image; Determining whether the second electronic shutter value is less than a fifth preset threshold; When the second electronic shutter value is less than the fifth preset threshold, determine whether the second actual brightness value is less than the second target brightness value and whether a third difference between the second target brightness value and the second actual brightness value is greater than or equal to a sixth preset threshold; if the second actual brightness value is less than the second target brightness value and the third difference is greater than or equal to the sixth preset threshold, use a PID adjustment method to adjust the second electronic shutter value to control the second actual brightness value to increase to the second target brightness value; When the second electronic shutter value is greater than or equal to the fifth preset threshold, determine whether the second electronic shutter value is greater than the seventh preset threshold; when the second electronic shutter value is greater than the seventh preset threshold, determine whether the second actual brightness value is greater than the second target brightness value and whether the fourth difference between the second actual brightness value and the second target brightness value is greater than or equal to the eighth preset threshold; if the second actual brightness value is greater than the second target brightness value and the fourth difference is greater than or equal to the eighth preset threshold, use the PID adjustment method to adjust the second electronic shutter value to control the second actual brightness value to decrease to the second target brightness value; wherein the seventh preset threshold is greater than the fifth preset threshold.

7. The method for adjusting the brightness of a fluorescence endoscope image according to claim 2, characterized in that: When the light source mode is the second light source mode, before fusing the visible light image with the brightness-adjusted near-infrared light image, the method further includes: Graying the brightness-adjusted near-infrared light image to obtain a near-infrared grayscale image; Mapping the grayscale value of the near-infrared grayscale image to a preset pseudo-color to obtain a near-infrared pseudo-color image; Correspondingly, performing image fusion on the visible light image and the near-infrared light image after brightness adjustment includes: Using a weighted fusion method, the visible light image and the near-infrared pseudo-color image are fused to obtain the target image; Alternatively, when the light source mode is the third light source mode, before performing image fusion on the brightness-adjusted visible light image and the brightness-adjusted near-infrared light image, the method further includes: Graying the brightness-adjusted near-infrared light image to obtain a near-infrared grayscale image; Mapping the grayscale value of the near-infrared grayscale image to a preset pseudo-color to obtain a near-infrared pseudo-color image; Correspondingly, performing image fusion on the brightness-adjusted visible light image and the brightness-adjusted near infrared light image includes: The weighted fusion method is adopted to fuse the brightness-adjusted visible light image and the near-infrared pseudo-color image to obtain the target image.

8. The method for adjusting the brightness of a fluorescence endoscope image according to claim 2, characterized in that: The fluorescent endoscope is provided with a light source device, and the light source device is used to provide illumination light to the working environment of the fluorescent endoscope; When the light source mode is the second light source mode or the third light source mode, before obtaining the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, the method further includes: When the light source device provides illumination light to the working environment of the fluorescent endoscope, obtaining mixed light reflected from the working environment; Splitting the mixed light to obtain near-infrared light and visible light respectively; The near-infrared light image corresponding to the near-infrared light is collected by using the near-infrared sensor, and the visible light image corresponding to the visible light is collected by using the visible light sensor.

9. A fluorescence endoscope image brightness adjustment system, characterized in that: Applied to the method for adjusting the brightness of a fluorescent endoscope image as claimed in any one of claims 1 to 8, the system comprises: A mode determination module, used for acquiring an image adjustment mode of a fluorescent endoscope, and determining a light source mode of the fluorescent endoscope according to the image adjustment mode; wherein the fluorescent endoscope is provided with a near-infrared sensor and a visible light sensor; a first brightness adjustment module, configured to, when the mode determination module determines that the light source mode is the first light source mode, obtain a first actual brightness value corresponding to the visible light image collected by the visible light sensor and a first electronic shutter value corresponding to the visible light sensor; perform brightness adjustment on the visible light image according to the first actual brightness value and the first electronic shutter value; and obtain a target image based on the visible light image after brightness adjustment; a second brightness adjustment module, configured to, when the mode determination module determines that the light source mode is the second light source mode, obtain a second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor and a second electronic shutter value corresponding to the near-infrared sensor; perform brightness adjustment on the near-infrared light image according to the second actual brightness value and the second electronic shutter value; obtain the visible light image collected by the visible light sensor, and perform image fusion on the visible light image and the near-infrared light image after brightness adjustment to obtain the target image; The third brightness adjustment module is used to obtain the first actual brightness value corresponding to the visible light image collected by the visible light sensor, the first electronic shutter value corresponding to the visible light sensor, the second actual brightness value corresponding to the near-infrared light image collected by the near-infrared sensor, and the second electronic shutter value corresponding to the near-infrared sensor when the mode determination module determines that the light source mode is the third light source mode; adjust the brightness of the visible light image according to the first actual brightness value and the first electronic shutter value, and adjust the brightness of the near-infrared light image according to the second actual brightness value and the second electronic shutter value; and fuse the visible light image after brightness adjustment with the near-infrared light image after brightness adjustment to obtain the target image.

10. A fluorescence endoscope image brightness adjustment device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program implements the method steps in the method for adjusting the brightness of a fluorescent endoscope image as claimed in any one of claims 1 to 8 when the computer program is executed.

11. A computer storage medium, characterized in that: The computer storage medium comprises: at least one instruction, which implements the method steps in the method for adjusting the brightness of a fluorescence endoscope image according to any one of claims 1 to 8 when the instruction is executed by a computer.

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