Two-channel achromatic confocal laser microendoscope system, imaging method and medium

Abstract

The invention provides a two-channel achromatic confocal laser microendoscope system, an imaging method and a medium, and the method comprises the steps: a light beam collimation and beam expansion module emits two lasers with different wavelengths, the two lasers are combined through an optical fiber coupler, and the combined lasers enter a light beam scanning relay module; the light beam scanning relay module transmits the scanned laser to the light beam coupling image transmission module; the light beam coupling image transmission module focuses the laser beam entering the coupling objective lens into an optical fiber bundle, focuses the laser beam on a sample, and excites a fluorescence signal emitted by the sample to be reflected to the fluorescence signal acquisition module; the fluorescence signals sequentially pass through a double-band narrow-band color filter and a dichroscope, the dichroscope separates the two paths of fluorescence signals, and the separated two paths of fluorescence signals are captured by a photomultiplier and converted into electric signals after respectively passing through a corresponding collecting lens and a pinhole; a two-dimensional image is reconstructed through a computer system; two kinds of fluorescent molecules are excited to emit light at the same time and displayed in one image in an overlapped mode, and high-quality image collection is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical instrument detection, in particular to a dual-channel achromatic confocal laser microscopic endoscope system, an imaging method and a medium. BACKGROUND

[0002] The confocal laser microscopic endoscope is an imaging system that can observe pathological tissues in real time, in vivo and at a cellular resolution. Different biological structures can be marked using different fluorescent dyes to highlight different structural information in the target tissue, such as blood vessels, cell contours, cell nuclei and glands. The key components of the system include a laser, a photomultiplier tube, a pinhole, a laser scanning optical path, a filter, an image transmission fiber bundle and a miniature objective lens. The excitation light emitted by the laser is focused into the tissue through a precise optical system, and the fluorescent signal is reconstructed into a two-dimensional image after passing through a high-sensitivity and high-speed photoelectric system.

[0003] However, the imaging systems currently used in the industry are all single-channel imaging systems, i.e., there is only one laser light source and photomultiplier tube, which can only excite one visible or near-infrared fluorescent molecule to emit light. Therefore, the biological tissue information available for observation by clinicians or researchers is not rich enough. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a dual-channel achromatic confocal laser microscopic endoscope system, an imaging method and a medium, which can simultaneously excite two fluorescent molecules to emit light and simultaneously superimpose and display in an image. By multiplexing most of the optical elements, the optical path structure is compact and efficient while ensuring the elimination of chromatic aberration and ensuring high-quality image acquisition.

[0005] The embodiments of the present application also provide a dual-channel achromatic confocal laser microscopic endoscope system, which comprises a light beam collimation and expansion module, a light beam scanning relay module, a light beam coupling and image transmission module connected in sequence, and a fluorescent signal acquisition module connected with the light beam collimation and expansion module, and a hardware control and data acquisition module connected with the fluorescent signal acquisition module,

[0006] The light beam collimation and expansion module comprises two laser light sources, a fiber coupler, a fiber collimator, a beam expander and a double-band dichroic mirror.

[0007] The two laser light sources emit two laser beams of different wavelengths, which are combined by the fiber coupler, pass through the fiber collimator and the beam expander in sequence, and then pass through the double-band dichroic mirror into the light beam scanning relay module.

[0008] The light beam scanning relay module comprises an X-Y scanner and a relay lens. The X-Y scanner receives the laser light transmitted through the double-band dichroic mirror and performs two-dimensional raster scanning. The scanned laser light is transmitted to the light beam coupling and image transmission module through the relay lens.

[0009] The light beam coupling image module comprises a coupling objective lens, a fiber bundle and a micro objective lens, the laser beam through the relay lens focuses into the coupling objective lens and the fiber bundle, and focuses on the sample through the micro objective lens to excite the fluorescence signal emitted by the sample to return to the double-band dichroic mirror and reflect to the fluorescence signal acquisition module;

[0010] The fluorescence signal acquisition module comprises a double-band narrow-band color filter, a dichroic mirror, a condenser lens, a pinhole and a photomultiplier tube, the fluorescence signal passes through the double-band narrow-band color filter and the dichroic mirror in sequence, the dichroic mirror separates the two fluorescence signals, and the separated two fluorescence signals are captured by the photomultiplier tube after passing through the corresponding condenser lens and pinhole and are converted into electrical signals;

[0011] The hardware control and data acquisition module comprises a data acquisition card and a computer system, the data acquisition card acquires the electrical signals, and the electrical signals are reconstructed into two-dimensional images by the computer system.

[0012] Optionally, in the double-channel achromatic confocal laser microscopic endoscope system, the wavelength of the two laser light sources is selected from 400-900 nm, the working wavelength of the fiber coupler matches the wavelength of the laser light source, and the achromatic working wavelength range of the fiber collimator and the beam expander is 400-900 nm.

[0013] Optionally, in the double-channel achromatic confocal laser microscopic endoscope system, the X-Y scanner comprises a pair of scanning mirrors, wherein the X-axis is a resonant high-speed mirror with a resonant frequency of 4-12 kHz, and the Y-axis is a galvanometer low-speed mirror; the relay lens comprises a pair of double-cemented achromatic convex lenses with the same focal length, and the achromatic wavelength range of the double-cemented achromatic convex lens is 400-900 nm, and the focal length range is 50-100 mm.

[0014] Optionally, in the double-channel achromatic confocal laser microscopic endoscope system, the numerical aperture range of the coupling objective lens is 0.3-0.5, and the achromatic working range of the coupling objective lens is 400-900 nm.

[0015] The effective imaging ring diameter of the fiber bundle is about 0.5-1 mm, the fiber bundle comprises 1000-30000 optical fibers, and the numerical aperture of the optical fiber is 0.3-0.4.

[0016] The achromatic working wavelength range of the micro objective lens is 400-900 nm, the diameter range is 0.5-2.8 mm, the length is 4-10 mm, the object-side numerical aperture is 0.2-0.3, and the image-side numerical aperture is 0.5-0.7.

[0017] Optionally, in the dual-channel achromatic confocal laser endoscope system, the two condenser lenses of the fluorescence signal acquisition module are achromatic double-cemented convex lenses, the achromatic wavelength range is 400-900 nm, the focal length is 5-10 mm, and the pinhole diameter is 25-40 um.

[0018] Optionally, in the dual-channel achromatic confocal laser endoscope system, the working wavelength range of the two photomultiplier tubes of the hardware control and data acquisition module is 400-900 nm, and the quantum efficiency is greater than 10%; the sampling rate of the data acquisition card is greater than or equal to 40Mps.

[0019] In a second aspect, the embodiments of the present application provide a dual-channel achromatic confocal laser endoscope imaging method, which comprises a memory and a processor, the memory comprising a dual-channel achromatic confocal laser endoscope system program, and the dual-channel achromatic confocal laser endoscope system program being executed by the processor to implement the following steps:

[0020] Emitting two lasers of different wavelengths, combining the lasers of different wavelengths, and shaping the combined lasers to obtain parallel light;

[0021] Grid scanning the parallel light in two-dimensional space, beam coupling the scanned laser, and focusing the laser on a sample to excite the sample to emit two fluorescence signals;

[0022] Reflecting the two fluorescence signals to obtain two reflected fluorescence intensity signals;

[0023] Converting the two reflected fluorescence intensity signals into electrical signals, reconstructing the electrical signals based on a computer system, obtaining a two-dimensional image, and displaying the two-dimensional image on a terminal.

[0024] Optionally, in the dual-channel achromatic confocal laser endoscope imaging method, the reconstruction method comprises:

[0025] The image reconstruction adopts an image fusion algorithm;

[0026] Based on an adaptive weight allocation strategy, different weight coefficients corresponding to two different wavelength bands are generated according to the intensity difference of the fluorescence signals of the two different wavelength bands;

[0027] Based on the different weight coefficients corresponding to the two different wavelength bands, the superposition weight of the two gray-scale images is dynamically adjusted to obtain a two-dimensional image.

[0028] In a third aspect, the embodiments of the present application further provide a computer readable storage medium, wherein the computer readable storage medium comprises a double-channel achromatic confocal laser microscopic endoscope system program, and the double-channel achromatic confocal laser microscopic endoscope system program is executed by a processor to implement the steps of the double-channel achromatic confocal laser microscopic endoscope system according to any one of the above.

[0029] As can be seen from the above, the double-channel achromatic confocal laser microscopic endoscope system, the imaging method and the medium provided by the embodiments of the present application can emit two lasers of different wavelengths through the beam collimation and expansion module, combine the two lasers through the fiber coupler, and then enter the beam scanning relay module; the beam scanning relay module transmits the scanned laser to the beam coupling image transmission module; the beam coupling image transmission module focuses the laser beam into the fiber bundle through the coupling objective lens, focuses on the sample, excites the fluorescence signal emitted by the sample, and reflects the fluorescence signal to the fluorescence signal acquisition module; the fluorescence signal passes through the double-band narrow-band color filter and the dichroic mirror in turn, the dichroic mirror separates the two fluorescence signals, and the separated two fluorescence signals are captured by the photomultiplier tube after passing through the corresponding condenser and pinhole and are converted into electrical signals; the computer system reconstructs the electrical signals into a two-dimensional image; the two fluorescence molecules are excited to emit light at the same time, and the two fluorescence molecules are superimposed and displayed in an image at the same time, thereby ensuring high-quality image acquisition. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0031] Figure 1 A double-channel achromatic confocal laser microscopic endoscope system block diagram provided by the embodiments of the present application;

[0032] Figure 2 A double-channel achromatic confocal laser microscopic endoscope imaging method flow chart provided by the embodiments of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0034] It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used for differentiation, and cannot be understood as indicating or implying relative importance.

[0035] Please refer to Figure 1 , Figure 1 is a block diagram of a dual-channel achromatic confocal laser endomicroscopy system in some embodiments of the present application. The present application discloses a dual-channel achromatic confocal laser endomicroscopy system, comprising: a light beam collimation and expansion module, a light beam scanning relay module, a light beam coupling and image transmission module connected in sequence, and a fluorescence signal acquisition module connected with the light beam collimation and expansion module, and a hardware control and data acquisition module connected with the fluorescence signal acquisition module;

[0036] The light beam collimation and expansion module comprises two laser light sources, a fiber coupler, a fiber collimator, a beam expander and a double-band dichroic mirror;

[0037] The two laser light sources emit two lasers of different wavelengths, which are combined by the fiber coupler, pass through the fiber collimator and the beam expander in sequence, and then pass through the double-band dichroic mirror into the light beam scanning relay module;

[0038] The light beam scanning relay module comprises an X-Y scanner and a relay lens, the X-Y scanner receives the laser transmitted by the double-band dichroic mirror and performs two-dimensional raster scanning, and the scanned laser is transmitted to the light beam coupling and image transmission module by the relay lens;

[0039] The light beam coupling and image transmission module comprises a coupling objective lens, a fiber bundle and a micro objective lens, the laser beam passing through the relay lens enters the coupling objective lens, focuses into the fiber bundle, focuses on the sample through the micro objective lens, excites the fluorescence signal emitted by the sample, and returns to the double-band dichroic mirror, and reflects to the fluorescence signal acquisition module;

[0040] The fluorescence signal collection module comprises a double-band narrow-band filter, a dichroic mirror, a condenser lens, a pinhole and a photomultiplier tube. The fluorescence signal sequentially passes through the double-band narrow-band filter and the dichroic mirror. The dichroic mirror separates the two fluorescence signals. The separated two fluorescence signals pass through the corresponding condenser lenses and pinholes, and are captured by the photomultiplier tube and converted into electrical signals.

[0041] The hardware control and data acquisition module comprises a data acquisition card and a computer system. The data acquisition card collects the electrical signals, which are reconstructed into two-dimensional images by the computer system.

[0042] Specifically, the light beam collimation and expansion module first combines the laser emitted by the two laser light sources through a fiber coupler, then passes through an achromatic fiber collimator to shape the light into parallel light, and then passes through an achromatic beam expander to expand the spot diameter to the required size, so as to facilitate subsequent light path scanning and focusing. The expanded spot contains two wavelengths, which enters the light beam scanning relay module through a double-band dichroic mirror.

[0043] The light beam scanning relay module is composed of an X-Y scanner composed of a pair of scanning mirrors and a relay lens. The scanning mirrors are controlled by external voltage signals to rotate, so as to realize grid scanning of the laser beam in two-dimensional space. Then, the light path is extended through an achromatic relay lens, and the scanning angle range and the beam diameter of the light beam entering the rear coupling objective lens are matched with the entrance pupil diameter of the rear coupling objective lens.

[0044] The parallel laser beam output from the relay lens at a certain angle enters the coupling objective lens, is focused into a single optical fiber in the fiber bundle through the coupling objective lens, the numerical aperture of the coupling objective lens is matched with the numerical aperture of the optical fiber to maximize the coupling efficiency, and the laser output from the end of the optical fiber is focused on the sample by the achromatic micro objective lens, so as to excite the sample to emit two fluorescence signals. The excited fluorescence signals return to the double-band dichroic mirror in the original path, and are reflected to the fluorescence signal collection module.

[0045] The two fluorescence intensity signals reflected by the double-band dichroic mirror of the fluorescence signal collection module first pass through a double-band narrow-band filter, which further filters the excitation light and transmits the fluorescence signal. Then, the two fluorescence signals are separated by a dichroic mirror, and are captured by a photomultiplier tube and converted into electrical signals after passing through the respective condenser lenses and pinholes. It is particularly pointed out that the two pinholes are placed at the focal plane of the condenser lens, which is conjugate with the focal plane of the distal end micro objective lens in the fiber bundle in the light beam coupling and image transmission module, forming a pair of conjugate focal planes. Therefore, it can be ensured that only the fluorescence signal at the focal plane of the micro objective lens passes through the pinhole, and the out-of-focus fluorescence signals at other positions are filtered out by the pinhole, thereby forming a high-contrast "optical section".

[0046] The hardware control and data acquisition module comprises an FPGA data acquisition card and a computer system, the FPGA chip with high sampling rate is used to control the X-Y scanner and synchronously sample the output electrical signal of the photomultiplier tube, then the signal is reconstructed into a two-dimensional image by the computer, and finally the image is displayed on the display for the terminal user.

[0047] Optionally, in the dual-channel achromatic confocal laser endoscope system, the wavelength of the two laser light sources is 400-900 nm, the working wavelength of the fiber coupler matches the wavelength of the laser light source, and the achromatic working wavelength of the fiber collimator and the beam expander is 400-900 nm.

[0048] It should be noted that the two laser light sources are used to simultaneously excite two fluorescent dyes to emit fluorescence, and in the embodiment, sodium fluorescein and indocyanine green are selected as the two dyes. Preferably, the wavelength of the two laser light sources is 488 nm and 785 nm. The fiber coupler combines the two wavelengths of laser light into one light, the fiber collimator collimates the combined light into parallel light, and the double-band dichroic mirror selectively passes 488 nm and 785 nm.

[0049] According to the embodiment of the present application, the X-Y scanner is composed of a pair of scanning mirrors, wherein the X-axis is a resonant high-speed mirror with a resonant frequency of 4-12 kHz, and the Y-axis is a galvanometer low-speed mirror, which work cooperatively under the control of external driving signals; the relay lens includes a pair of double-cemented achromatic convex lenses with the same focal length, and the achromatic wavelength range of the double-cemented achromatic convex lens is 400-900 nm, and the focal length range is 50-100 mm.

[0050] It should be noted that the scanning light path of the beam scanning relay module can form a grid scan in two-dimensional space, the X-Y scanner is composed of an 8 kHz resonant mirror and a galvanometer mirror, and an imaging rate of at least 15 fps@1024x1024 pixel can be obtained, and the relay lens is composed of a pair of 75 mm focal length achromatic double-cemented lenses.

[0051] According to the embodiment of the present application, the numerical aperture range of the coupling objective lens is 0.3-0.5, and the achromatic working range of the coupling objective lens is 400-900 nm.

[0052] The effective imaging ring diameter of the fiber bundle is about 0.5-1 mm, the fiber bundle includes 1000-30000 optical fibers, and the numerical aperture of the optical fiber is 0.3-0.4.

[0053] The achromatic working wavelength range of the micro objective lens is 400-900 nm, the diameter range is 0.5-2.8 mm, the length is 4-10 mm, the object side numerical aperture is 0.2-0.3, and the image side numerical aperture is 0.5-0.7.

[0054] Preferably, the module 3 focuses and couples the laser beam into the fiber bundle and transmits to the distal end to be focused by the micro objective into the biological tissue to excite the fluorescent molecules to emit fluorescence,

[0055] The coupling objective numerical aperture of the light beam coupling image transmission module is 0.4; the fiber bundle of the light beam coupling image transmission module has 30000 fibers, the effective imaging ring diameter is 0.9mm, and the fiber numerical aperture is 0.35;

[0056] The achromatic working waveband of the micro objective of the light beam coupling image transmission module is 400-900nm, the diameter is 1.3mm, the length is 5mm, the object side numerical aperture is about 0.25, and the image side numerical aperture is about 0.52.

[0057] According to the embodiment of the present application, the two condenser lenses of the fluorescence signal acquisition module are achromatic double-cemented convex lenses, the achromatic waveband range is 400-900nm, and the focal length is 5-10mm.

[0058] It should be noted that the fluorescence signal acquisition module plays a role of separating and focusing the fluorescence signal to the sensor;

[0059] The double-band narrow-band color filter of the fluorescence signal acquisition module only allows the fluorescence signals of 500-550nm and 800-860nm to pass through;

[0060] The dichroic mirror of the fluorescence signal acquisition module transmits the fluorescence of 800-860nm and reflects the fluorescence of 500-550nm;

[0061] The condenser lens of the fluorescence signal acquisition module is an achromatic double-cemented convex lens, the achromatic waveband range is 400-900nm, and the focal length is 6mm;

[0062] The pinhole diameter of the fluorescence signal acquisition module is 30um, and high-resolution and high-contrast imaging performance can be realized.

[0063] According to the embodiment of the present application, the working waveband of the two photomultiplier tubes of the hardware control and data acquisition module is 400-900nm, and the quantum efficiency is greater than 10%; the sampling rate of the data acquisition card is greater than or equal to 40Mps.

[0064] In a preferred embodiment of the present application, the hardware control and data acquisition module collects and converts the amplified fluorescence signal into an electrical signal, which is sent into the data acquisition card for computer algorithm processing to be reconstructed and recovered into a two-dimensional image; the working waveband of the photomultiplier tube of the hardware control and data acquisition module is 500-550nm or 800-860nm, the quantum efficiency is >15% at 500-550nm and 800-860nm, and the sampling rate of the data acquisition card of the hardware control and data acquisition module is 60Mps.

[0065] Reference is made to Figure 2 , Figure 2 is a flow chart of a two-channel achromatic confocal laser microscopic endoscope imaging method in some embodiments of the present application. The two-channel achromatic confocal laser microscopic endoscope system is used in a terminal device, and the two-channel achromatic confocal laser microscopic endoscope system comprises the following steps:

[0066] S201, emitting two lasers of different wavelengths, combining the lasers of different wavelengths, and shaping the combined laser to obtain parallel light;

[0067] S202, raster scanning the parallel light in two-dimensional space, coupling the scanned laser, and focusing it on the sample to excite the sample to emit two fluorescence signals;

[0068] S203, reflecting the two fluorescence signals to obtain two reflected fluorescence intensity signals;

[0069] S204, converting the two reflected fluorescence intensity signals into electrical signals, reconstructing the electrical signals based on a computer system, obtaining a two-dimensional image, and displaying the two-dimensional image on the terminal.

[0070] According to the embodiment of the present application, the reconstruction processing method comprises:

[0071] The image reconstruction adopts an image fusion algorithm;

[0072] Based on an adaptive weight distribution strategy, different weight coefficients corresponding to different wavebands are generated according to the intensity difference of the fluorescence signals of the two different wavebands;

[0073] Based on the weight coefficients corresponding to different wavebands, the superposition weight of the two gray-scale images is dynamically adjusted to obtain a two-dimensional image.

[0074] The third aspect of the present application provides a computer readable storage medium, and the readable storage medium comprises a two-channel achromatic confocal laser microscopic endoscope system program. When the two-channel achromatic confocal laser microscopic endoscope system program is executed by a processor, the steps of the two-channel achromatic confocal laser microscopic endoscope system according to any one of the above are realized.

[0075] The application discloses a dual-channel achromatic confocal laser endoscope system, an imaging method and a medium, two lasers of different wavelengths are emitted by a beam collimation and expansion module, combined by a fiber coupler, and enter a beam scanning relay module; the beam scanning relay module transmits the scanned laser to a beam coupling image transmission module; the beam coupling image transmission module focuses the laser beam into a fiber bundle through a coupling objective lens, focuses on a sample, excites the fluorescent signal emitted by the sample, and reflects the fluorescent signal to a fluorescent signal acquisition module; the fluorescent signal sequentially passes through a double-band narrow-band color filter and a dichroic mirror, the dichroic mirror separates the two fluorescent signals, and the two fluorescent signals are captured by a photomultiplier tube after passing through corresponding condensers and pinholes and are converted into electrical signals; the computer system is reconstructed into a two-dimensional image; two fluorescent molecules are excited to emit light at the same time, and the two fluorescent molecules are superimposed and displayed in an image at the same time, so that high-quality image acquisition is ensured.

[0076] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other manners. The above described device embodiments are only schematic; the division of units is only a logical function division; there can be another division manner for the actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling, direct coupling or communication connection between the components can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0077] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units; they can be located in one place or distributed on multiple network units; part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0078] In addition, each functional unit in each embodiment of the application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0079] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by relevant hardware of program instructions, and the foregoing program can be stored in a readable storage medium, and the program executes the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes various media capable of storing program codes, such as a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disc or an optical disc.

[0080] Alternatively, the integrated unit of the present application can be stored in a readable storage medium if it is realized in the form of a software function module and sold or used as an independent product. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product in essence or in the form of a software product that contributes to the prior art. The software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes various media capable of storing program codes, such as a mobile storage device, a ROM, a RAM, a magnetic disc or an optical disc.

Claims

1. A dual channel achromatic confocal laser endomicroscopy system comprising: The application relates to a fluorescence signal acquisition device, which comprises a light beam collimation and expansion module, a light beam scanning relay module, a light beam coupling and image transmission module and a fluorescence signal acquisition module connected with the light beam collimation and expansion module in sequence, and a hardware control and data acquisition module connected with the fluorescence signal acquisition module. The light beam collimation and expansion module comprises two laser light sources, a fiber coupler, a fiber collimator, a light beam expander and a double-band dichroic mirror. The two laser light sources emit laser beams of two different wavelengths, which are combined by the fiber coupler, sequentially pass through the fiber collimator and the light beam expander, and then pass through the double-band dichroic mirror to enter the light beam scanning relay module. The light beam scanning relay module comprises an X-Y scanner and a relay lens, the X-Y scanner receives the laser beams transmitted through the double-band dichroic mirror and performs two-dimensional raster scanning, and the scanned laser beams are transmitted to the light beam coupling and image transmission module through the relay lens. The light beam coupling and image transmission module comprises a coupling objective lens, a fiber bundle and a micro objective lens, the laser beams passing through the relay lens enter the coupling objective lens, are focused into the fiber bundle, are focused on a sample through the micro objective lens, excite the fluorescence signals emitted by the sample, and return to the double-band dichroic mirror and are reflected to the fluorescence signal acquisition module. The fluorescence signal acquisition module comprises double-band narrow-band color filters, a dichroic mirror, condenser lenses, pinholes and a photomultiplier tube, the fluorescence signals sequentially pass through the double-band narrow-band color filters and the dichroic mirror, the dichroic mirror separates the two fluorescence signals, the separated two fluorescence signals pass through corresponding condenser lenses and pinholes, are captured by the photomultiplier tube, and are converted into electric signals. The hardware control and data acquisition module comprises a data acquisition card and a computer system, the data acquisition card acquires the electric signals, and the electric signals are reconstructed into two-dimensional images through the computer system.

2. The dual channel achromatic confocal laser endomicroscopy system of claim 1, wherein, The wavelength of the two laser light sources can be selected in the range of 400-900 nm, the working wavelength of the fiber coupler matches the wavelength of the laser light sources, and the achromatic working wavelength range of the fiber collimator and the light beam expander is 400-900 nm.

3. The dual channel achromatic confocal laser endomicroscopy system of claim 1, wherein, The X-Y scanner is composed of a pair of scanning mirrors, the X-axis is a resonant high-speed mirror, the resonant frequency is 4-12 kHz, and the Y-axis is a galvanometer low-speed mirror; the relay lens comprises a pair of double-cemented achromatic convex lenses with the same focal length, the achromatic wavelength range of the double-cemented achromatic convex lenses is 400-900 nm, and the focal length range is 50-100 mm.

4. The dual channel achromatic confocal laser endomicroscopy system of claim 1, wherein, The numerical aperture range of the coupling objective lens is 0.3-0.5, and the achromatic working range of the coupling objective lens is 400-900 nm; The effective imaging ring diameter of the fiber bundle is about 0.5-1 mm, the fiber bundle comprises 1000-30000 optical fibers, and the numerical aperture of the optical fibers is 0.3-0.4; The achromatic working wavelength range of the micro objective lens is 400-900 nm, the diameter range is 0.5-2.8 mm, the length is 4-10 mm, the object side numerical aperture is 0.2-0.3, and the image side numerical aperture is 0.5-0.

7.

5. The dual channel achromatic confocal laser endomicroscopy system of claim 1, wherein, The two condenser lenses of the fluorescence signal acquisition module are achromatic double-cemented convex lenses, the achromatic wavelength range is 400-900 nm, the focal length is 5-10 mm, and the pinhole diameter is 25-40 um.

6. The dual channel achromatic confocal laser endomicroscopy system of claim 1, wherein, The working wave band of the two photomultipliers of the hardware control and data acquisition module is 400-900 nm, and the quantum efficiency is greater than 10%; the sampling rate of the data acquisition card is greater than or equal to 40Mps.

7. A dual-channel achromatic confocal laser endomicroscopy imaging method, characterized by, The system comprises a memory and a processor, the memory comprising a double-channel achromatic confocal laser microscopic endoscope system program, and the double-channel achromatic confocal laser microscopic endoscope system program is executed by the processor to realize the following steps: Emitting two lasers of different wavelengths, combining the lasers of different wavelengths, and shaping the combined lasers to obtain parallel light; Grid scanning the parallel light in a two-dimensional space, beam coupling the scanned laser, and focusing the laser on a sample to excite the sample to emit two fluorescent signals; Reflecting the two fluorescent signals to obtain two reflected fluorescent intensity signals; Converting the two reflected fluorescent intensity signals into electrical signals, reconstructing the electrical signals based on a computer system, obtaining a two-dimensional image, and displaying the two-dimensional image on a terminal.

8. The dual-channel achromatic confocal laser endomicroscopy imaging method of claim 7, wherein, The reconstruction method comprises: The image reconstruction adopts an image fusion algorithm; Based on an adaptive weight distribution strategy, different weight coefficients corresponding to different wave bands are generated according to the intensity difference of the two fluorescent signals of different wave bands; The superposition weight of two gray images is dynamically adjusted based on the weight coefficients corresponding to different wave bands to obtain a two-dimensional image.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a double-channel achromatic confocal laser microscopic endoscope system program, and the double-channel achromatic confocal laser microscopic endoscope system program is executed by the processor to realize the steps of the double-channel achromatic confocal laser microscopic endoscope system as claimed in any one of claims 1 to 6.

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