Medical imaging systems and methods that facilitate the use of different fluorescent imaging agents

Abstract

An exemplary medical imaging system includes a visible light illumination system, a fluorescence excitation illumination system, and an illumination source control unit, wherein the visible light illumination system is configured to selectively emit one of a first visible light biased to a first wavelength associated with a first color and a second visible light biased to a second wavelength associated with a second color; the fluorescence excitation illumination system is configured to selectively emit one of a first fluorescence excitation illumination having a third wavelength and a second fluorescence excitation illumination having a fourth wavelength; the illumination source control unit is configured to selectively direct the visible light illumination system to emit the second visible light and direct the fluorescence excitation illumination system to emit the first fluorescence excitation illumination for use with a first fluorescent imaging agent, and selectively direct the visible light illumination system to emit the first visible light and direct the fluorescence excitation illumination system to emit the second fluorescence excitation illumination for use with a second fluorescent imaging agent.

Description

[0001] Related Applications

[0002] This application claims priority to U.S. Provisional Patent Application No. 62 / 774,023, filed on November 30, 2018, entitled “MEDICAL IMAGING SYSTEMS AND METHODS THAT FACILITATE USE OF DIFFERENT FLUORESCENCE IMAGING AGENTS,” the contents of which are incorporated herein by reference in their entirety. Background Art

[0003] Some medical imaging systems are configured to capture fluorescent images of a surgical area within a patient's body while the patient undergoes a surgical procedure. The fluorescent images allow medical personnel (e.g., surgeons) to easily identify cellular activity or structures (e.g., vascular systems) within the surgical area during the surgical procedure.

[0004] To facilitate fluorescence imaging, a fluorescent imaging agent may be introduced (e.g., injected) into the patient's bloodstream or other anatomical features. The fluorescent imaging agent includes any suitable dye, protein, or other substance that emits fluorescent illumination when exposed to fluorescent excitation illumination generated by a fluorescent excitation illumination source included in the medical imaging system. The medical imaging system may capture the fluorescent illumination and provide a fluorescent image based on the captured fluorescent illumination.

[0005] Different fluorescent imaging agents require different wavelengths of fluorescence excitation illumination. For example, a first exemplary fluorescent imaging agent fluoresces only when excited by fluorescence excitation illumination having a wavelength of about 405 nanometers ("nm"), while a second exemplary fluorescent imaging agent fluoresces only when excited by fluorescence excitation illumination having a wavelength of about 650 nanometers ("nm"). Summary of the invention

[0006] An exemplary medical imaging system includes a visible light illumination system, a fluorescence excitation illumination system, and an illumination source control unit communicatively connected to the visible light illumination system and the fluorescence excitation illumination system, the visible light illumination system being configured to selectively emit one of a first visible light biased to a first wavelength associated with a first color and a second visible light biased to a second wavelength associated with a second color; the fluorescence excitation illumination system being configured to selectively emit one of a first fluorescence excitation illumination having a third wavelength and a second fluorescence excitation illumination having a fourth wavelength, the first fluorescence excitation illumination inducing fluorescence illumination through a first fluorescent imaging agent, the third wavelength being closer to the first wavelength than the second wavelength, and the second fluorescence excitation illumination inducing fluorescence illumination through a second fluorescent imaging agent, the fourth wavelength being closer to the second wavelength than the first wavelength; the illumination source control unit being configured to selectively direct the visible light illumination system to emit the second visible light and direct the fluorescence excitation illumination system to emit the first fluorescence excitation illumination for use with the first fluorescent imaging agent, and to selectively direct the visible light illumination system to emit the first visible light and direct the fluorescence excitation illumination system to emit the second fluorescence excitation illumination for use with the second fluorescent imaging agent.

[0007] Another exemplary medical imaging system includes a visible light illumination system, a fluorescence excitation illumination system, a pixel-level broadband infrared cutoff filter, and a narrow-band cutoff filter, wherein the visible light illumination system is configured to selectively emit one of a first visible light biased to a first wavelength associated with a first color and a second visible light biased to a second wavelength associated with a second color; the fluorescence excitation illumination system is configured to selectively emit one of a first fluorescence excitation illumination having a third wavelength and a second fluorescence excitation illumination having a fourth wavelength, the first fluorescence excitation illumination inducing fluorescence illumination through a first fluorescent imaging agent, the third wavelength being closer to the first wavelength than the second wavelength, and the second fluorescence excitation illumination inducing fluorescence illumination through a second fluorescent imaging agent, the fourth wavelength being closer to the second wavelength than the first wavelength; the pixel-level broadband infrared cutoff filter covers the second pixel and is configured to prevent the second pixel from collecting infrared light; the narrow-band cutoff filter covers the first, third, and fourth pixels and is configured to prevent the first, third, and fourth pixels from collecting at least one of the first fluorescence excitation illumination and the second fluorescence excitation illumination.

[0008] Another exemplary medical imaging system includes a visible light illumination system, a fluorescence excitation illumination system, and an illumination source control unit communicatively connected to the visible light illumination system and the fluorescence excitation illumination system, the visible light illumination system being configured to selectively emit one of bluish visible light and reddish visible light; the fluorescence excitation illumination system being configured to selectively emit one of first fluorescence excitation illumination and second fluorescence excitation illumination, the first fluorescence excitation illumination being configured to induce fluorescence illumination through a first fluorescent imaging agent, the first fluorescence excitation illumination comprising visible light in a blue region of a visible light range, and the second fluorescence excitation illumination being configured to induce fluorescence illumination through a second fluorescent imaging agent, the second fluorescence excitation illumination comprising infrared light; the illumination source control unit being configured to identify a fluorescent imaging agent used in a patient, determine that the fluorescent imaging agent is a first fluorescent imaging agent, and in response to determining that the fluorescent imaging agent is the first fluorescent imaging agent, selectively direct the visible light illumination system to emit the second visible light, and direct the fluorescence excitation illumination system to emit the first fluorescence excitation illumination for use with the first fluorescent imaging agent.

[0009] An exemplary illumination source control unit includes a memory storing instructions, a processor, the processor being communicatively connected to the memory, a visible light illumination system, and a fluorescence excitation illumination system, the visible light illumination system being configured to selectively emit one of a first visible light biased to a first wavelength associated with a first color and a second visible light biased to a second wavelength associated with a second color; the fluorescence excitation illumination system being configured to selectively emit one of a first fluorescence excitation illumination having a third wavelength and a second fluorescence excitation illumination having a fourth wavelength, the first fluorescence excitation illumination inducing fluorescence illumination through a first fluorescent imaging agent, the third wavelength being closer to the first wavelength than the second wavelength, and the second fluorescence excitation illumination inducing fluorescence illumination through a second fluorescent imaging agent, the fourth wavelength being closer to the second wavelength than the first wavelength; the processor being configured to execute the instructions to selectively direct the visible light illumination system to emit the second visible light and direct the fluorescence excitation illumination system to emit the first fluorescence excitation illumination for use with the first fluorescent imaging agent, and to selectively direct the visible light illumination system to emit the first visible light and direct the fluorescence excitation illumination system to emit the second fluorescence excitation illumination for use with the second fluorescent imaging agent. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings illustrate various embodiments and are a part of the specification. The embodiments shown are only examples and do not limit the scope of the present disclosure. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements.

[0011] Figure 1 An exemplary medical imaging system according to the principles described herein is illustrated.

[0012] Figure 2An illustrative image sensor according to principles described herein is shown.

[0013] Figures 3A-4B An exemplary color filter arrangement according to the principles described herein is shown.

[0014] Figure 5 Shown is a spectral response curve of a color filter according to the principles described herein.

[0015] Figure 6A-6B Filter configurations according to the principles described herein are illustrated.

[0016] Figure 7 Shown is a spectral response curve of a color filter according to the principles described herein.

[0017] Figures 8A-10B An exemplary filter configuration according to the principles described herein is shown.

[0018] Fig.11 An image processing system according to the principles described herein is illustrated.

[0019] Fig.12 Various operations are shown that may be performed by an imaging processing system to selectively generate full-color images and full-color fluorescence images according to the principles described herein.

[0020] Fig.13 shows the principle described in this article superimposed on Figure 7 The spectral response of a narrow-band cutoff filter is shown.

[0021] Fig.14 An exemplary computer-assisted surgery system according to the principles described herein is illustrated.

[0022] Fig.15 An exemplary computing device in accordance with the principles described herein is illustrated. DETAILED DESCRIPTION

[0023] Medical imaging systems and methods that facilitate the use of different fluorescent imaging agents are described herein. As will be described in more detail below, an exemplary medical imaging system for imaging a surgical area of ​​a patient includes a visible light illumination system and a fluorescence excitation illumination system. The visible light illumination system is configured to selectively emit one of a first visible light biased to a first wavelength associated with a first color and a second visible light biased to a second wavelength associated with a second color. The fluorescence excitation illumination system is configured to selectively emit one of a first fluorescence excitation illumination configured to induce fluorescence illumination through a first fluorescent imaging agent and a second fluorescence excitation illumination configured to induce fluorescence illumination through a second fluorescent imaging agent. The first fluorescence excitation illumination has a wavelength that is closer to the first wavelength than the second wavelength. The second fluorescence excitation illumination has a wavelength that is closer to the second wavelength than the first wavelength.

[0024] In this configuration, the illumination source control unit that is communicatively connected to the visible light illumination system and the fluorescence excitation illumination system can selectively direct the visible light illumination system to emit the second visible light and direct the fluorescence excitation illumination system to emit the first fluorescence excitation illumination when it is desired to use the first fluorescence imaging agent. Similarly, the illumination source control unit can selectively direct the visible light illumination system to emit the first visible light and direct the fluorescence excitation illumination system to emit the second fluorescence excitation illumination when it is desired to use the second fluorescence imaging agent.

[0025] For example, the illumination source control unit may receive user input identifying a fluorescent imaging agent used in a patient, determine that the fluorescent imaging agent is a first fluorescent imaging agent, and direct the visible light illumination system to emit second visible light and direct the fluorescence excitation illumination system to emit first fluorescence excitation illumination in response to the determination that the fluorescent imaging agent is the first fluorescent imaging agent. Alternatively, where it is desired to use a second fluorescent imaging agent, the illumination source control unit may receive user input identifying the fluorescent imaging agent used in a patient, determine that the fluorescent imaging agent is a second fluorescent imaging agent, and direct the visible light illumination system to emit first visible light and direct the fluorescence excitation illumination system to emit second fluorescence excitation illumination in response to the determination that the fluorescent imaging agent is the second fluorescent imaging agent.

[0026] In some examples, the visible light illumination system is implemented by a first visible light illumination source configured to emit a first visible light and a second visible light illumination source configured to emit a second visible light. Alternatively, the visible light illumination system can be implemented by a single adjustable visible light illumination source that can be adjusted to emit the first visible light or the second visible light.

[0027] Likewise, the fluorescence excitation illumination system can be implemented by a first fluorescence excitation illumination source configured to emit a first fluorescence excitation illumination and a second fluorescence excitation illumination source configured to emit a second fluorescence excitation illumination. Alternatively, the fluorescence excitation illumination system can be implemented by a single adjustable fluorescence excitation illumination source that can be adjusted to emit either the first fluorescence excitation illumination or the second fluorescence excitation illumination.

[0028] The following examples assume that the visible light illumination system is implemented by first and second visible light illumination sources, and the fluorescence excitation illumination system is implemented by first and second fluorescence excitation illumination sources.

[0029] In this example, the first visible light illumination source can be configured to emit bluish visible light (i.e., visible light having more blue components than green or red components), and the second visible light illumination source can be configured to emit reddish visible light (i.e., visible light having more red components than green or blue components). The first fluorescence excitation illumination source is configured to emit fluorescence excitation illumination having a wavelength of about 405 nm, which is relatively close to the blue region of the visible light range. The second fluorescence excitation illumination source is configured to emit fluorescence excitation illumination having a wavelength of about 650 nm, which is closer to the red region of the visible light range than the blue region of the visible light range.

[0030] Continuing with this description, when it is desired to use a fluorescent imaging agent that fluoresces in response to fluorescent excitation illumination having a wavelength of 405 nm or close to 405 nm (close to the blue region), the illumination source control unit can selectively activate a first fluorescent excitation illumination source and a second visible light illumination source (i.e., a visible light illumination source configured to emit reddish visible light). The illumination source control unit can also deactivate the second fluorescent excitation illumination source and the first visible light illumination source (or ensure that they remain deactivated). As will be described in more detail below, this configuration can ensure that visible light is not over-filtered by a narrow-band cutoff filter used to filter out fluorescent excitation illumination. This in turn can result in higher quality (e.g., clearer) color and fluorescent images.

[0031] When it is desired to use a fluorescent imaging agent that fluoresces in response to fluorescent excitation illumination at a wavelength of 650 nm or near 650 nm (close to the red region), the illumination source control unit can selectively activate the second fluorescent excitation illumination source and the first visible light illumination source (i.e., a visible light illumination source configured to emit bluish visible light). The illumination source control unit can also deactivate the first fluorescent excitation illumination source and the second visible light illumination source (or ensure that they remain deactivated). As will be described in more detail below, this configuration can ensure that visible light is not over-filtered by a narrow-band cutoff filter used to filter out fluorescent excitation illumination. This in turn may produce higher quality (e.g., clearer) color and fluorescent images.

[0032] These and other advantages and benefits of the systems and methods described herein will become apparent herein. In addition, additional advantages, benefits and details relating to the systems and methods described herein are described in co-pending U.S. Provisional Patent Application No. 62 / 774,041, filed on the same day as the present application, entitled “MEDICAL IMAGING SYSTEMS AND METHODS”, the contents of which are incorporated herein by reference in their entirety.

[0033] Figure 1 An exemplary medical imaging system 100 is illustrated that is configured to capture images of a scene. In some instances, the scene may include a surgical field associated with a patient. In certain instances, the surgical field may be disposed entirely within the patient's body and may include an area within the patient at or near where a surgical procedure is planned, being performed, or has been performed. For example, for a minimally invasive surgical procedure performed on tissue within the patient's body, the surgical field may include the tissue, the anatomy beneath the tissue, and the space surrounding the tissue, such as where surgical instruments are positioned to perform the surgical procedure. In other instances, the surgical field may be at least partially disposed outside the patient's body.

[0034] As shown, the medical imaging system 100 includes an imaging device 102 and a controller 104. The medical imaging system 100 may include additional or optional components as may be useful for a particular implementation. For example, the medical imaging system 100 may include a variety of optical and / or electrical signal transmission components (e.g., wires, lenses, optical fibers, choke circuits, waveguides, etc.), cables that house the wires and / or optical fibers and are configured to interconnect the imaging device 102 and the controller 104, etc.

[0035] The imaging device 102 may be implemented by an endoscope or other camera device configured to capture images of a scene. As shown, the imaging device 102 includes a camera head 106, a shaft 108 connected to and extending away from the camera head 106, image sensors 110 at the distal end of the shaft 108 (i.e., right image sensor 110-R and left image sensor 110-L), and an illumination channel 112. Figure 1 In the example of , the imaging device 102 is stereoscopic. Alternatively, in other examples, the imaging device 102 can be monoscopic (eg, by including one image sensor 110 instead of two image sensors 110).

[0036] The imaging device 102 can be manually handled and controlled (e.g., by a surgeon performing a surgical procedure on a patient). Alternatively, the camera head 106 can be connected to a manipulator arm of a computer-assisted surgery system, an example of which will be provided below. In this configuration, the imaging device 102 can be controlled using robotics and / or teleoperation technology.

[0037] The distal end of the shaft 108 can be located at or near a scene to be imaged by the imaging device 108. For example, the distal end of the shaft 108 can be inserted into a patient. In this configuration, the imaging device 102 can be used to capture images of anatomy and / or other objects within the patient.

[0038] Image sensors 110 may each be implemented by any suitable image sensor, such as a charge coupled device (“CCD”) image sensor, a complementary metal oxide semiconductor (“CMOS”) image sensor, etc. In some examples, as Figure 1 As shown, the image sensor 110 is positioned at the distal end of the shaft 108. Alternatively, the image sensor 110 may be positioned closer to the proximal end of the shaft 108, inside the camera 106, or outside the imaging device 102 (e.g., inside the controller 104). In these alternative configurations, optics (e.g., lenses, optical fibers, etc.) included in the shaft 108 and / or the camera 106 may transmit light from the scene to the image sensor 110.

[0039] Image sensor 110 is configured to detect (e.g., capture, collect, sense, or otherwise acquire) light. For example, image sensor 110-R is configured to detect light from a right perspective, and image sensor 110-L is configured to detect light from a left perspective. Figure 1 In the example of , the light detected by image sensor 110 includes visible light reflected from objects located within the scene. However, as will be described herein, image sensor 110 may additionally or alternatively detect infrared fluorescent illumination emitted by a fluorescent imaging agent located within the scene. As will be explained below, image sensor 110 may convert the detected light into data representing one or more images. Exemplary implementations of image sensor 110 are described herein.

[0040] The illumination channel 112 may be implemented by one or more optical components (eg, optical fibers, light guides, lenses, etc.) As will be described below, illumination may be provided by the illumination channel 112 to illuminate a scene.

[0041] The controller 104 may be implemented by any suitable hardware and software combination configured to control and / or interface with the imaging device 102. For example, the controller 104 may be implemented at least in part by a computing device included in a computer-assisted surgery system.

[0042] Controller 104 includes a camera control unit ("CCU") 114, a visible light illumination system 116, and a fluorescence excitation illumination system 118. In some examples, CCU 114 and / or illumination systems 116 and 118 are optionally included in imaging device 102 (eg, in camera head 106).

[0043] The CCU 114 is configured to control various parameters of the image sensor 110 (eg, activation time, automatic exposure, etc.). As will be described below, the CCU 114 may be further configured to receive and process image data from the image sensor 110. Figure 1 While the CCU 114 is shown as a single unit in FIG. 1 , the CCU 114 may alternatively be implemented by a first CCU configured to control the right image sensor 110 -R and a second CCU configured to control the left image sensor 110 -L.

[0044] Visible light illumination system 116 is configured to selectively generate and emit visible light that is selectively biased to one of a plurality of wavelengths (ie, colors). For example, visible light illumination system 116 may be configured to selectively generate and emit visible light 120-1 and visible light 120-2.

[0045] Visible light 120-1 and 120-2 may each include one or more color components. For example, visible light 120-1 and 120-2 may each include white light that includes a full spectrum of color components (e.g., red, green, and blue components). The wavelength of the red component is approximately between 635 and 700 nm. The wavelength of the green component is approximately between 520 and 560 nm. The wavelength of the blue component is approximately between 450 and 490 nm.

[0046] Visible light 120-1 and 120-2 are each biased to include more of one color component than another color component. For example, visible light 120-1 is biased to a first wavelength associated with a first color, such that visible light 120-1 includes more of the first color than a second and third color. Similarly, visible light 120-2 is biased to a second wavelength associated with a second color, such that visible light 120-2 includes more of the second color than the first and third colors. In the examples provided herein, visible light 120-1 is biased to be bluish (i.e., biased to include more blue than green or red) and visible light 120-2 is biased to be reddish (i.e., biased to include more red than green or blue).

[0047] Although the visible light illumination system 116 Figure 1 1 and 2, but the visible light illumination system 116 can selectively generate and emit any number of different biased visible lights. For example, the visible light illumination system 116 can be further configured to generate and emit green-biased visible light (i.e., biased to include more green than red or blue).

[0048] The fluorescence excitation illumination system 118 is configured to selectively generate and emit differently biased fluorescence excitation illuminations. For example, the fluorescence excitation illumination system 118 may selectively generate and emit fluorescence excitation illumination 122-1 or fluorescence excitation illumination 122-2.

[0049] Fluorescence excitation illumination 122-1 and 122-2 have different wavelengths. Therefore, fluorescence excitation illumination 122-1 and 122-2 are configured to induce fluorescence illumination through different fluorescent imaging agents. For example, fluorescence excitation illumination 122-1 can have a wavelength such that fluorescence excitation illumination 122-1 induces fluorescence illumination through a first fluorescent imaging agent (but not a second fluorescent imaging agent). In contrast, fluorescence excitation illumination 122-2 can have a wavelength such that fluorescence excitation illumination 122-2 induces fluorescence illumination through a second fluorescent imaging agent (but not a first fluorescent imaging agent). The induced fluorescence illumination can be detected by any image sensor described herein and used to generate a fluorescent image indicating a variety of cellular activities or structures (e.g., real-time vascular systems).

[0050] In some examples, at least one of the fluorescence excitation illumination 122-1 and 122-2 includes infrared light. In other words, at least one of the fluorescence excitation illumination 122-1 and 122-2 has a wavelength in the infrared region. The infrared region includes wavelengths from about 700nm (the edge of the red visible light region) to about 1 mm. More specifically, at least one of the fluorescence excitation illumination 122-1 and 122-2 may have a wavelength included in a near infrared region, which is in the infrared region and includes wavelengths from about 700nm to about 950nm. For example, one of the fluorescence excitation illumination 122-1 and 122-2 may have a wavelength of about 803nm. As another example, one of the fluorescence excitation illumination 122-1 and 122-2 may have a wavelength of about 785nm.

[0051] In some examples, at least one of the fluorescence excitation illumination 122-1 and 122-2 includes visible light. For example, one of the fluorescence excitation illumination 122-1 and 122-2 can have a wavelength of about 405 nm, which is close to the blue region of the visible light range. As another example, one of the fluorescence excitation illumination 122-1 and 122-2 can have a wavelength of about 650 nm, which is close to the red region of the visible light range.

[0052] Although Figure 1 , the fluorescence excitation illumination system 118 is shown to emit two differently biased fluorescence excitation illuminations 122, but the fluorescence excitation illumination system 118 can emit any number of differently biased fluorescence excitation illuminations. For example, the fluorescence excitation illumination system 118 can be configured to generate and output infrared light or visible light.

[0053] Both the visible light illumination system 116 and the fluorescence excitation illumination system 118 may be implemented by any suitable combination of hardware and software.

[0054] For example, visible light illumination system 116 may be implemented by a first visible light illumination source configured to emit visible light 120-1 and a second visible light illumination source separate from the first visible light illumination source and configured to emit visible light 120-2. Alternatively, visible light illumination system 116 may be implemented by a single adjustable visible light illumination source that may be adjusted to emit visible light 120-1 or visible light 102-2. Such adjustment may be performed in any suitable manner.

[0055] Likewise, the fluorescence excitation illumination system 118 may be implemented by a first fluorescence excitation illumination source configured to emit fluorescence excitation illumination 122-1 and a second fluorescence excitation illumination source configured to emit fluorescence excitation illumination 122-2. Alternatively, the fluorescence excitation illumination system 118 may be implemented by a single adjustable fluorescence excitation illumination source that may be adjusted to emit either fluorescence excitation illumination 122-1 or fluorescence excitation illumination 122-2. Such adjustment may be performed in any suitable manner.

[0056] Visible light 120 and fluorescent excitation illumination 122 can be transmitted as illumination 124, which travels through illumination channel 112 to the distal end of shaft 108, where illumination 124 exits to illuminate the scene. Thus, illumination 124 can include any combination of visible light 120 and fluorescent excitation illumination 122 as may be useful for a particular implementation.

[0057] To capture one or more images of a scene, visible light illumination system 116 and / or fluorescence excitation illumination system 118 may be directed to emit illumination 124, which travels to the scene via illumination channel 112. Where illumination 124 comprises visible light, image sensor 110 detects illumination 124 reflected from one or more surfaces in the scene. Where illumination 124 comprises fluorescence excitation illumination, image sensor 110 may additionally or alternatively detect fluorescence illumination induced by the fluorescence excitation illumination.

[0058] Image sensor 110 (and / or other circuitry included in imaging device 102) may convert the detected illumination into image data 124 representing one or more images of the scene. For example, image sensor 110-R outputs image data 124-R representing an image captured from a right perspective, and image sensor 110-L outputs image data 124-L representing an image captured from a left perspective. Image data 124 may have any suitable format.

[0059] Image data 124 is transmitted from image sensor 110 to CCU 114. Image data 124 may be transmitted via any suitable communication link between image sensor 110 and CCU 114. For example, image data 124 may be transmitted via wires included in a cable interconnecting imaging device 102 and controller 104.

[0060] The CCU 114 may process (e.g., packetize and / or format) the image data 124 and output processed image data 128 (e.g., processed image data 128-R corresponding to image data 124-R and processed image data 128-L corresponding to image data 124-L). The processed image data 128 may be transmitted to an image processing system, which may prepare the processed image data 128 for display on one or more display devices (e.g., in the form of video content and / or one or more still images). For example, the image processing system may generate one or more color (e.g., full color and / or grayscale) images and / or one or more fluorescence images (e.g., color and / or grayscale fluorescence images) based on the image data 128 for display on one or more display devices.

[0061] Medical imaging system 100 may be used to capture fluorescent images generated using different fluorescent imaging agents. To this end, illumination source control unit 130 ("control unit 130") may be communicatively coupled to visible light illumination system 116 and fluorescent excitation illumination system 118. As described herein, control unit 130 is configured to selectively control (e.g., activate and / or adjust) visible light illumination system 116 and / or fluorescent excitation illumination system 118. As shown, in Figure 1 In the example of FIG. 1 , the control unit 130 is included in the controller 104 . In an alternative embodiment, the control unit 130 may be included in or implemented by a computing device that communicates with the controller 104 .

[0062] As shown, the control unit 130 may include, but is not limited to, a storage facility 132 and a processing facility 134 selectively and communicatively connected to each other. Both the facilities 132 and 134 may include or be implemented by hardware and / or software components (e.g., a processor, a memory, a communication interface, instructions stored in the memory for execution by the processor, etc.). For example, the facilities 132 and 134 may be implemented by any component in the computer-assisted surgery system. In some examples, the facilities 132 and 134 may be distributed among multiple devices and / or multiple locations as may be useful for a specific implementation.

[0063] The storage facility 132 may maintain (e.g., store) executable data used by the processing facility 134 to perform any of the operations described herein. For example, the storage facility 132 may store instructions 136 that may be executed by the processing facility 134 to perform any of the operations described herein. The instructions 136 may be implemented by any suitable application, software, code, and / or other executable data instances. The storage facility 132 may also maintain any data received, generated, managed, used, and / or transmitted by the processing facility 134.

[0064] The processing facility 134 may be configured to perform (e.g., execute instructions 136 stored in the storage facility 132 to perform) various operations associated with controlling the visible light illumination system 116 and the fluorescence excitation illumination system 118. Examples of these operations will now be described. It will be appreciated that the operations described herein as being performed by the control unit 130 are performed by the processing facility 134 of the control unit 130.

[0065] In the following examples, visible light 120-1 is biased to a first wavelength associated with a first color and visible light 120-2 is biased to a second wavelength associated with a second color. Also, in the following examples, fluorescence excitation illumination 122-1 has a third wavelength to induce fluorescence illumination through a first fluorescent imaging agent, and fluorescence excitation illumination 122-2 has a fourth wavelength to induce fluorescence illumination through a second fluorescent imaging agent. The third wavelength is closer to the first wavelength than the second wavelength. The fourth wavelength is closer to the second wavelength than the first wavelength.

[0066] For example, the first wavelength may be in the blue region and therefore associated with blue, while the second wavelength may be in the red region and therefore associated with red. The third wavelength may be around 405 nm, which is closer to the blue region than the red region. The fourth wavelength may be around 650, 785, or 803 nm, which are all closer to the red region than the blue region. The third and fourth wavelengths may each be any other value that may be useful for a particular implementation.

[0067] The control unit 130 can identify the fluorescent imaging agent used in the patient. This can be performed in any suitable manner. For example, the control unit 130 can receive user input (e.g., by way of a user interface) that identifies the fluorescent imaging agent and / or the wavelength of the fluorescent imaging agent. As another example, the control unit 130 can selectively direct the fluorescent excitation illumination system 118 to emit fluorescent excitation illumination 122-1 and / or 122-2 when the fluorescent imaging agent is in the patient during an initialization procedure. When applying a specific fluorescent excitation illumination 122, the control unit 130 can determine whether fluorescent illumination is detected. If fluorescent illumination is detected when emitting the specific fluorescent excitation illumination, the control unit 130 can identify the fluorescent imaging agent by identifying the wavelength of the fluorescent illumination.

[0068] The control unit 130 may determine that the identified fluorescent imaging agent is the first fluorescent imaging agent or the second fluorescent imaging agent. For example, the control unit 130 may maintain a lookup table in the storage facility 202 that associates one or more fluorescent imaging agents with each of the different types of fluorescent excitation illumination that may be emitted by the fluorescent excitation illumination system 118. The control unit 130 may reference the lookup table to determine that the identified fluorescent imaging agent is associated with a specific one of the fluorescent excitation illuminations.

[0069] To illustrate, control unit 130 may determine that the fluorescent imaging agent used in the patient fluoresces at a wavelength within a predetermined distance from a third wavelength of fluorescent excitation illumination 122-1. In response, control unit 130 may determine that the fluorescent imaging agent is a first fluorescent imaging agent.

[0070] In response to this determination, control unit 130 may selectively direct visible light illumination system 116 to emit visible light 120 - 2 and direct fluorescence excitation illumination system 118 to emit fluorescence excitation illumination 122 - 1. This may be performed in any suitable manner.

[0071] For example, in an implementation where visible light illumination system 116 is implemented by a first visible light illumination source configured to emit visible light 120-1 and a second visible light illumination source configured to emit visible light 120-2, control unit 130 may selectively direct visible light illumination system 116 to emit visible light 120-2 by selectively activating (e.g., turning on or otherwise enabling) the second visible light illumination source and ensuring that the first visible light illumination source is deactivated.

[0072] As another example, in an implementation where visible light illumination system 116 is implemented by a single adjustable visible light illumination source, control unit 130 may selectively direct visible light illumination system 116 to emit visible light 120-2 by adjusting the single adjustable visible light illumination source to selectively emit visible light 120-2. The adjustment may be performed in any suitable manner, such as by adjusting filtering of light output by the adjustable visible light illumination source.

[0073] Similarly, in an implementation where the fluorescence excitation illumination system 118 is implemented by a first fluorescence excitation illumination source configured to emit fluorescence excitation illumination 122-1 and a second fluorescence excitation illumination source configured to emit fluorescence excitation illumination 122-2, the control unit 130 can selectively direct the fluorescence excitation illumination system 118 to emit fluorescence excitation illumination 122-1 by selectively activating the first fluorescence excitation illumination source and ensuring that the second fluorescence excitation illumination source is deactivated.

[0074] As another example, in an implementation where the fluorescence excitation illumination system 118 is implemented by a single adjustable fluorescence excitation illumination source, the control unit 130 can selectively direct the fluorescence excitation illumination system 118 to emit the fluorescence excitation illumination 122-1 by adjusting the single adjustable fluorescence excitation illumination source to emit the fluorescence excitation illumination 122-1. The adjustment can be performed in any suitable manner, such as by adjusting the filtering of the illumination output by the adjustable visible light illumination source.

[0075] As will become apparent herein, by selectively directing the visible light illumination system 116 to emit visible light 120-2 and directing the fluorescence excitation illumination system 118 to emit fluorescence excitation illumination 122-1 by the control unit 130, the systems and methods described herein can ensure that the visible light 120-2 is not excessively filtered by the narrow band cutoff filter used to filter out the fluorescence excitation illumination 122-1. This in turn can result in higher quality (e.g., clearer) color and fluorescence images. In addition, this configuration can ensure that the visible light 120-2 does not overwhelm the fluorescence illumination emitted by the fluorescent imaging agent.

[0076] As another example, control unit 130 may determine that the fluorescent imaging agent used in the patient fluoresces at a wavelength within a predetermined distance from a fourth wavelength of fluorescent excitation illumination 122-2. In response, control unit 130 may determine that the fluorescent imaging agent is a second fluorescent imaging agent.

[0077] In response to this determination, the control unit 130 can selectively direct the visible light illumination system 116 to emit visible light 120-1 and direct the fluorescence excitation illumination system 118 to emit fluorescence excitation illumination 122-2. This can be done in any manner described herein. In this state, the control unit 130 can ensure that the visible light illumination system does not emit visible light 120-2 and the fluorescence excitation illumination system 118 does not emit fluorescence excitation illumination 122-1. As will become apparent herein, this configuration can ensure that the visible light 120-1 is not excessively filtered by the narrow band cutoff filter used to filter out the fluorescence excitation illumination 122-2. This in turn may produce higher quality (e.g., clearer) color and fluorescence images.

[0078] To facilitate color and / or fluorescence imaging of a scene, a variety of filters may be implemented within medical imaging system 100. Exemplary filter arrangements that may be used in accordance with the systems and methods described herein will now be described.

[0079] Figure 2An exemplary image sensor 200 is shown. Image sensor 200 may implement image sensor 110 and / or any other image sensor included in an imaging device. As shown, image sensor 200 includes a plurality of pixel arrays 202 (e.g., pixel array 202-1 through pixel array 202-n). Each pixel array 202 includes a two-by-two arrangement of pixels 204. For example, pixel array 202-1 includes pixels 204. Figure 2 A first pixel 204-1, a second pixel 204-2, a third pixel 204-3, and a fourth pixel 204-4 are arranged as shown. Image sensor 200 may include any suitable number of pixel arrays 202 as may be useful for a particular implementation.

[0080] To facilitate color imaging of a scene, image sensor 200 may include an arrangement of color filters covering pixels 204. Each color filter is configured to allow its corresponding pixel 204 to detect only a specific color component of light incident on pixel 204. The color filters may cover pixels 204 by coating or otherwise adhering to a surface of pixels 204 (e.g., a surface on which light may be incident). The color filters may alternatively cover pixels 204 in any other suitable manner.

[0081] In an exemplary color filter arrangement, a first color filter covers pixel 204-1, a second color filter covers pixels 204-2 and 204-3, and a third color filter covers pixel 204-4. The first color filter is configured to allow pixel 204-1 to collect a first visible light color component and prevent pixel 204-1 from collecting a second and third visible light color component. The second color filter is configured to allow pixels 204-2 and 204-3 to each collect a second visible light color component and prevent pixels 204-2 and 204-3 from each collecting a first and third visible light color component. The third color filter is configured to allow pixel 204-4 to collect a third visible light color component and prevent pixel 204-4 from collecting a first and second visible light color component.

[0082] To illustrate, Figure 3A-3B 204 and an exemplary color filter arrangement that can be used in accordance with the systems and methods described herein. As shown, a different color filter 302 can cover each pixel 204. For ease of illustration, Figure 3A Filter 302 is shown slightly offset from pixel 204, while Figure 3B Filter 302 is shown directly overlying pixel 204 .

[0083] like Figure 3A-3BAs shown, the red filter 302-R covers the pixel 204-1, the first blue filter 302-B1 covers the pixel 204-2, the second blue filter 302-B2 covers the pixel 204-3, and the green filter 302-G covers the pixel 204-4. Due to the arrangement order of the color filters 302, Figure 3A-3B The filter arrangement shown in is referred to herein as RBBG.

[0084] The red filter 302-R is configured to allow the pixel 204-1 to collect the red component of visible light and prevent the pixel 204-1 from collecting the blue and green components of visible light. The blue filters 302-B1 and 302-B2 are configured to allow the pixels 204-2 and 204-3 to each collect the blue component of visible light and prevent the pixels 204-2 and 204-3 from each collecting the red and green components of visible light. The green filter 302-G is configured to allow the pixel 204-4 to collect the green component of visible light and prevent the pixel 204-4 from collecting the red and blue components of visible light.

[0085] Other color filter arrangements including two blue filters may also be used according to the systems and methods described herein. For example, in an alternative embodiment, a first blue filter 302-B1 may cover pixel 204-1, a red filter 302-R may cover pixel 204-2, a green filter 302-G may cover pixel 204-3, and a second blue filter 302-B2 may cover pixel 204-4. This alternative filter arrangement may be referred to as BRBG.

[0086] By using a fifty percent blue color filter arrangement, e.g. Figure 3A-3B As shown in , the systems and methods described herein can more effectively capture blue-biased light used in medical imaging applications than conventional color filter arrangements having only twenty-five percent blue. Thus, a fifty percent blue color filter arrangement can produce a clearer and more accurate image of a surgical area associated with a patient.

[0087] Other filter arrangements may optionally be used in conjunction with the systems and methods described herein. For example, Figure 4A-4B 204 and an exemplary RGGB color filter arrangement that can be used in accordance with the systems and methods described herein. Figure 4A Filter 302 is shown slightly offset from pixel 204, while Figure 4B Filter 302 is shown directly overlying pixel 204 .

[0088] like Figure 4A-4BAs shown, a red filter 302-R covers pixel 204-1, a first green filter 302-G1 covers pixel 204-2, a second green filter 302-G2 covers pixel 204-3, and a blue filter 302-B covers pixel 204-4. The red filter 302-R is configured to allow pixel 204-1 to collect a red component of visible light and prevent pixel 204-1 from collecting blue and green components of visible light. Green filters 302-G1 and 302-G2 are configured to allow pixels 204-2 and 204-3 to each collect a green component of visible light and prevent pixels 204-2 and 204-3 from each collecting red and blue components of visible light. The blue filter 302-B is configured to allow pixel 204-4 to collect a blue component of visible light and prevent pixel 204-4 from collecting red and green components of visible light.

[0089] In some scenarios (e.g., when it is desired to generate a full-color or grayscale fluorescence image), the visible light illumination system 116 and the fluorescence excitation illumination system 118 emit visible light and fluorescence excitation illumination, respectively, simultaneously. In these scenarios, the pixels of the image sensor 110 collect both visible light and fluorescence illumination without distinguishing between the two types of illumination. Therefore, the image data 124 output by the image sensor 110 includes data representing both a color component and a fluorescence illumination component (where the fluorescence illumination component may include visible light or infrared light, depending on the specific fluorescence excitation illumination provided).

[0090] To illustrate, Figure 5 The spectral response curve 502 of the color filter 302 is shown. For example, Figure 5 Spectral response curve 502-1 of red filter 302-R, spectral response curve 502-2 of blue filters 302-B1 and 302-B2, and spectral response curve 502-3 of green filter 302-G are shown. Spectral response curves 502 are represented by different variations of solid and dashed lines to visually distinguish spectral response curves 502 from each other. As shown, spectral response curves 502 are plotted along a horizontal axis, which represents wavelengths included in a visible light range 504 and an infrared range 506.

[0091] Spectral response curve 502 illustrates how each color filter 302 allows its corresponding pixel to collect a specific color component of visible light 120 while preventing the pixel from collecting other color components of visible light 120. For example, spectral response curve 502-1 has a relatively high response at wavelengths in the red region of visible light range 504, and a relatively low response at wavelengths in other regions of visible light range 504. Figure 3A-3BIn the illustrated color filter arrangement, red filter 302-R allows pixel 204-1 to collect red components of visible light 120 while preventing pixel 204-1 from collecting blue and green components of visible light 120. Spectral response curve 502-2 has a relatively high response at wavelengths in the blue region of visible light range 504 and a relatively low response at wavelengths in other regions of visible light range 504. Figure 3A-3B In the illustrated color filter arrangement, blue filters 302-B1 and 302-B2 allow pixels 204-2 and 204-3 to collect blue components of visible light 120 while preventing pixels 204-2 and 204-3 from collecting red and green components of visible light 120. Spectral response curve 502-3 has a relatively high response at wavelengths in the green region of visible light range 504, and a relatively low response at wavelengths in other regions of visible light range 504. Figure 3A-3B In the illustrated color filter arrangement, green filter 302 -G allows pixel 204 - 4 to collect a green component of visible light 120 , while preventing pixel 204 - 4 from collecting red and blue components of visible light 120 .

[0092] Likewise Figure 5 As shown, spectral response curves 502 each have a relatively high response in infrared range 506. In other words, each color filter 302 relative to spectral response curve 502 does not prevent pixel 204 from collecting at least some types of infrared light. Figure 5 As shown, color filter 302 may not prevent pixel 204 from collecting near infrared light.

[0093] Thus, in configurations where the fluorescence excitation illumination system 118 is configured to emit infrared light, one or more infrared cut filters covering one or more pixels 204 may be included in the medical imaging system 100. In these configurations, the image data 128 includes a color component and an infrared fluorescence illumination component (i.e., a component representing the fluorescence illumination 122 having a wavelength in the infrared range). The one or more infrared cut filters may allow the image processing system to distinguish between the color component and the infrared fluorescence illumination component included in the image data 128. By distinguishing between the color component and the infrared fluorescence illumination component, the image processing system may be able to generate a color (e.g., full-color) fluorescence image.

[0094] To illustrate, Figure 6A-6B and Figure 3A-3B 2 and illustrates a filter configuration in which a pixel-level broadband infrared cut filter 602 ("cut filter 602") covers pixel 204-2. Cut filter 602 may be implemented by a coating configured to adhere to a surface of pixel 204-2 and / or in any other manner.

[0095] For ease of explanation, Fig. 6A Filters 302 and 602 are shown slightly offset from pixel 204, while Figure 6B Filters 302 and 602 are shown directly overlying pixel 204. Cutoff filter 602 is Figure 6A-6B However, in an alternative embodiment, the blue filter 302 - B1 may be above the cutoff filter 602 .

[0096] As shown, pixels 204-1, 204-3, and 204-4 are not covered by a pixel-level broadband infrared cut filter similar to cut filter 602. This may advantageously allow an image processing system to distinguish between color components and infrared fluorescent illumination components included in image data 128, as will be described below.

[0097] The cutoff filter 602 is configured to prevent the pixel 204-2 from collecting infrared rays having wavelengths included in a relatively wide wavelength range (eg, the entire near infrared range). Figure 7 This is described in Figure 5 Similar, except in Figure 7 , the spectral response 502-2 of the color filter 302-2 is relatively flat in the near infrared range (e.g., between 700 nm and 950 nm). Figure 7 Highlighted by illustration number 702.

[0098] By preventing pixel 204-2 from collecting infrared light, cutoff filter 602 can effectively allow pixel 204-2 to collect only the blue component of visible light 120. In contrast, because pixel 204-3 is not covered by a cutoff filter similar to cutoff filter 602, when visible light illumination system 116 and fluorescence excitation illumination system 118 simultaneously emit light, pixel 204-3 collects both the blue component induced by fluorescence excitation illumination 122 and infrared fluorescence illumination. As will be described below, the image processing system can subtract the signal representing the light collected by pixel 204-3 from the signal representing the light collected by pixel 204-2 to identify the infrared fluorescence illumination component included in the signal representing the light collected by pixel 204-2.

[0099] In some optional embodiments, one or more of the pixels 204-1, 204-3, and 204-4 may also be covered by a broadband infrared cut-off filter similar to the cut-off filter 602. For example, Figures 8A-8B A filter configuration is shown in which a pixel-level broadband infrared cut filter 602 covers both pixels 204-2 and 204-3. For ease of illustration, Fig. 8AThe cutoff filter 602 is shown slightly offset from pixels 204-2 and 204-3, while Figure 8B Filter 602 is shown directly overlying pixels 204-2 and 204-3. Figures 8A-8B The filter configuration may increase the clarity of color images and grayscale fluorescence images generated based on light captured by pixel 204 .

[0100] Figures 9A-9B An alternative configuration is shown in which a cutoff filter 602 is used in conjunction with an RGGB filter configuration, e.g. Figure 4A-4B RGGB filter configuration shown in . As shown, the cutoff filter 602 covers the pixel 204-2, while there is no similar cutoff filter covering the remaining pixels 204-1, 204-3 and 204-4. For ease of illustration, Fig.9A Filter 302 and cutoff filter 602 are shown slightly offset from pixel 204, while Fig. 9B Filter 302 and cutoff filter 602 are shown directly covering pixel 204. For example, in imaging applications (e.g., non-medical applications) where the visible light used as illumination is greenish, a green filter may be used. Figures 9A-9B The configuration shown in .

[0101] As described, the fluorescent imaging agent can fluoresce at a different wavelength than the fluorescent excitation illumination 402. For example, as described, the exemplary fluorescent imaging agent fluoresces at 830 nm when excited by the fluorescent excitation illumination having a wavelength of 803 nm. Because it is desirable to prevent the pixels 204 from detecting the fluorescent excitation illumination 122 while allowing at least some of the pixels 204 to detect the fluorescent illumination emitted by the fluorescent imaging agent, a narrow band cutoff filter can be further included in the medical imaging systems described herein.

[0102] To illustrate, Fig. 10A An exemplary filter configuration is shown in which a narrowband cutoff filter 1002 covers all pixels 204. The narrowband cutoff filter 1002 can be implemented as a glass filter, for example, that covers all pixels 204 and is above the color filter 302 and the cutoff filter 602. The narrowband cutoff filter 1002 is configured to prevent the pixels 204 from collecting light having a wavelength included in a relatively narrow wavelength range (e.g., a range of 20 nm or less) that includes the wavelength of the fluorescent excitation illumination 122. Thus, the narrowband cutoff filter 1002 effectively prevents the pixels 204 from detecting the fluorescent excitation illumination 122.

[0103] In some examples, the narrowband cutoff filter 1002 is configured to prevent the pixel 204 from collecting fluorescence excitation illumination 122 of a plurality of different possible wavelengths (e.g., any combination of 405, 650, 785, and 803 nm) that may be selectively emitted by the fluorescence excitation illumination system 118. For example, the narrowband cutoff filter 1002 may be implemented as a single glass filter that filters out all of these wavelengths. Alternatively, the narrowband cutoff filter 1002 may be implemented as a layer of different glass filters, each of which is configured to filter out one of these wavelengths.

[0104] Fig. 10B Shown with Figure 3A-3B 1, wherein pixel-level narrow-band cutoff filters 1004-1, 1004-2, and 1004-3 cover pixels 204-1, 204-3, and 204-4, respectively. Pixel-level narrow-band cutoff filters 1004 may be implemented in any suitable manner. As with narrow-band cutoff filters 1002, pixel-level narrow-band cutoff filters 1004 may effectively prevent pixels 204-1, 204-3, and 204-4 from detecting fluorescent excitation illumination 122. It will be appreciated that in the case where the fluorescent excitation illumination 122 is infrared, the cutoff filter 602 similarly prevents pixel 204-2 from detecting fluorescent excitation illumination 122.

[0105] In some examples, multiple layers of narrow-band cutoff filters 1002 may cover a particular pixel 204, where each layer is configured to filter out a different fluorescence illumination wavelength. For example, if the fluorescence excitation illumination system 118 is configured to selectively emit fluorescence excitation illumination 122 having a wavelength of 405 nm or 803 nm, two layers of pixel-level narrow-band cutoff filters 1004-1, 1004-2, and 1004-3 may cover pixels 204-1, 204-3, and 204-4, respectively. The first layer may be configured to filter out visible light having a wavelength of 405 nm, and the second layer may be configured to filter out infrared light having a wavelength of 803 nm.

[0106] Fig.11 An image processing system 1100 is illustrated that can be configured to generate one or more images for display on a display device based on signals representing light collected by pixels 204. The image processing system 1100 can be included in or connected to any medical imaging system described herein. For example, in some examples, the image processing system 1100 is communicatively connected to the controller 104. In this configuration, the image processing system 1100 can receive processed image data 128 as input.

[0107] As shown, the system 1100 may include, but is not limited to, a storage facility 1102 and a processing facility 1104 selectively and communicatively connected to each other. The facilities 1102 and 1104 may each include or be implemented by hardware and / or software components (e.g., a processor, a memory, a communication interface, instructions stored in the memory for execution by the processor, etc.). For example, the facilities 1102 and 1104 may be implemented by any component in a computer-assisted surgery system. In some instances, the facilities 1102 and 1104 may be distributed among multiple devices and / or multiple locations as may be useful for a particular implementation.

[0108] The storage facility 1102 may maintain (e.g., store) executable data used by the processing facility 1104 to perform any of the operations described herein. For example, the storage facility 1102 may store instructions 1106 that may be executed by the processing facility 1104 to perform any of the operations described herein. The instructions 1106 may be implemented by any suitable application, software, code, and / or other executable data instances. The storage facility 1102 may also maintain any data received, generated, managed, used, and / or transmitted by the processing facility 1104.

[0109] The processing facility 1104 may be configured to perform (eg, execute instructions 1106 stored in the storage facility 1102 to perform) various operations associated with generating an image for display on a display device.

[0110] For example, when visible light 120 and fluorescent excitation illumination 122 are emitted simultaneously (optionally, after visible light 120 and fluorescent excitation illumination 122 have been emitted), processing facility 1104 may receive a first signal S1 representing light collected by pixel 204-1, a second signal S2 representing light collected by pixel 204-2, a third signal S3 representing light collected by pixel 204-3, and a fourth signal S4 representing light collected by pixel 204-4.

[0111] In this example, pixel 204 is Fig. 10A or Fig. 10B 6 and 7. The filter arrangement shown in FIG. 6 covers (i.e., a RBBG color filter arrangement having a cutoff filter 602 covering pixel 204-2 and either a narrowband cutoff filter 1002 or a narrowband cutoff filter 1004 covering the remaining pixels 204-1, 204-3, and 204-4). For the purposes of this example, it will also be assumed that the fluorescence excitation illumination 122 has a wavelength in the infrared range (e.g., 803 nm).

[0112] Therefore, the signal received by the processing facility 1104 may be represented by the following equation:

[0113] S1=R+FI

[0114] S2=B

[0115] S3=B+FI

[0116] S4=G+FI

[0117] In these equations, R represents the red component of the light captured by pixel 204-1, B represents the blue component of the light captured by pixels 204-2 and 204-3, G represents the green component of the light captured by pixel 204-4, and FI represents the infrared fluorescent illumination captured by pixels 204-1, 204-3, and 204-4. Note that due to the presence of cutoff filter 602 covering pixel 204-2 and narrowband cutoff filter 1002 or narrowband cutoff filter 1004 covering pixels 204-1, 204-3, and 204-4, signals S1 through S4 do not include fluorescent excitation illumination 122.

[0118] The processing facility 1104 can process the signals S1 to S4 to selectively generate a full-color image (without fluorescence) and a full-color fluorescence image. For example, Fig.12 Various operations are shown that may be performed by processing facility 1104 to selectively generate full-color images and full-color fluorescence images.

[0119] At summation block 1202, processing facility 1104 first subtracts S2 from S3 to identify the infrared fluorescent illumination component FI included in S3. This subtraction may be performed using any suitable signal processing operation.

[0120] To identify the red component R and the green component G, the processing facility 1104 subtracts FI from S1 at summing block 1204 and subtracts FI from S4 at summing block 1206. As shown, the output of summing block 1204 is a processed first signal representing only the red component R and the output of summing block 1206 is a processed fourth signal representing only the green component G.

[0121] As shown, R, G, B, and FI are all input into the image generator 1208, which can be implemented by the processing facility 1104 in any suitable manner. The image generator 1208 can generate multiple types of images for display by the display device based on the received image mode selector command 1210. The image mode selector command 1210 can be provided by a user (e.g., a surgeon), by any component included in the computer-assisted surgery system, and / or by any other source as can be used for a specific implementation. The image mode selector command 1210 can be received by the image generator 1208 when the visible light 120 and the fluorescent excitation illumination 122 are emitted simultaneously and / or at any other suitable time.

[0122] To illustrate, image mode selector commands 1210 may include a command to render a full-color image that does not include a fluorescent image. In response to receiving the command, image generator 1208 may generate a full-color image based on the R, G, and B signals using any suitable image processing technique.

[0123] Alternatively, if image mode selector commands 1210 include a command to render a full-color fluorescence image, image generator 1208 may generate a full-color fluorescence image based on the R, G, B, and IR signals. This may be performed using any suitable image processing technique.

[0124] Fig.13 and Figure 5 and Figure 7 Similar, except Fig.13 Also shown are narrowband cutoff filters 1302-1 through 1302-4 superimposed on the spectral response 502. Narrowband cutoff filter 1302-1 is configured to filter out visible light having a wavelength of 405 nm, narrowband cutoff filter 1302-2 is configured to filter out visible light having a wavelength of 650 nm, narrowband cutoff filter 1302-3 is configured to filter out visible light having a wavelength of 785 nm, and narrowband cutoff filter 1302-4 is configured to filter out visible light having a wavelength of 803 nm.

[0125] Depending on the specific wavelengths of the fluorescence excitation illumination emitted by the fluorescence excitation illumination system 118, two or more narrowband cutoff filters 1302 may be included in the medical imaging system 100. For example, if the fluorescence excitation illumination system 118 emits fluorescence excitation illumination having a wavelength of 405 nm and fluorescence excitation illumination having a wavelength of 803 nm, then narrowband cutoff filters 1302-1 and 1302-4 may be included in the medical imaging system 100.

[0126] Fig.13 Also shown are a representation of visible light 120-1 and a representation of visible light 120-2 emitted by visible light illumination system 116. As shown by the positioning of the representations, Fig.13 In the example, visible light 120 - 1 is bluish, and visible light 120 - 2 is reddish.

[0127] Fig.13A variety of benefits of selectively configured visible light illumination system 116 and fluorescence excitation illumination system 118 are shown. For example, if both visible light illumination system 116 and fluorescence excitation illumination system 118 are implemented by multiple illumination sources, illumination source control unit 130 may determine that the fluorescent imaging agent used in the patient fluoresces in response to fluorescence excitation illumination of wavelength 405 nm. Illumination source control unit 130 may accordingly activate one of the fluorescence excitation illumination sources that emits fluorescence excitation illumination of 405 nm. In this case, it is better to use reddish visible light 120-2 than to use bluish visible light 120-1 as the visible light that also illuminates the scene. This is because if bluish visible light 120-1 is to be used to illuminate the scene, narrowband cutoff filter 1302-1 will filter out some bluish visible light 120-1, and because the wavelengths of bluish visible light 120-1 and fluorescent illumination are relatively close, bluish visible light 120-1 can drown out fluorescent illumination. Therefore, in this example, illumination source control unit 130 may activate the visible light illumination source that emits visible light 120-2.

[0128] In contrast, the illumination source control unit 130 may determine that the fluorescent imaging agent used in the patient fluoresces in response to fluorescent excitation illumination having a wavelength of 650 nm. The illumination source control unit 130 may accordingly activate one of the fluorescent excitation illumination sources that emits the desired fluorescent excitation illumination. In this case, it is better to use bluish visible light 120-1 than reddish visible light 120-2 as the visible light that also illuminates the scene. This is because if reddish visible light 120-2 is to be used to illuminate the scene, the narrowband cutoff filter 1302-2 will filter out some of the reddish visible light 120-2. Therefore, in this example, the illumination source control unit 130 may activate a visible light illumination source that emits visible light 120-1.

[0129] In the case where the illumination source control unit 130 directs the fluorescence excitation illumination system 118 to emit fluorescence excitation illumination in the infrared range (e.g., 785 nm or 803 nm), the illumination source control unit 130 can activate a visible light illumination source that emits bluish visible light 120-1 rather than a visible light illumination source that emits reddish visible light 120-2 to illuminate the scene. This is at least in part because the wavelength of the bluish visible light 120-1 is farther away from the wavelength of the fluorescence excitation illumination than the wavelength of the reddish visible light 120-2, which minimizes any chance that the visible light will be partially filtered by the narrowband cutoff filters 1302-3 or 1302-4. In addition, in the case where the scene being imaged is a surgical area associated with a patient, a visible light illumination source that emits visible light 120-1 can be selected. In these cases, for the reasons described in the co-pending applications incorporated herein by reference, the bluish visible light 120-1 can produce a clearer image than the reddish visible light 120-2.

[0130] Fig.14An exemplary computer-assisted surgery system 1400 ("surgical system 1400") is shown. As shown, surgical system 1400 may include a manipulation system 1402, a user control system 1404, and an auxiliary system 1406 communicatively coupled to one another. Surgical system 1400 may be used by a surgical team to perform computer-assisted surgery on a patient 1408. As shown, the surgical team may include a surgeon 1410-1, an assistant 1410-2, a nurse 1410-3, and an anesthesiologist 1410-4, who may be collectively referred to as "surgical team members 1410". Additional or optional surgical team members may be present during the surgical procedure as may be useful for a particular implementation.

[0131] Although Fig.14 A minimally invasive surgical procedure is shown being performed, but it should be understood that the surgical system 1400 can be similarly used to perform open surgery or other types of surgical procedures that can similarly benefit from the accuracy and convenience of the surgical system 1400. Additionally, it should be understood that the entire surgical procedure that can employ the surgical system 1400 can include not only the surgical phase of the surgical procedure, such as Fig.14 As shown, but may also include pre-operative, post-operative and / or other suitable stages of a surgical procedure. A surgical procedure may include any procedure in which manual and / or instrumental techniques are used on a patient to investigate or treat a physical condition of the patient.

[0132] like Fig.14 As shown, the manipulation system 1402 may include a plurality of manipulator arms 1412 (e.g., manipulator arms 1412-1 to 1412-4) to which a plurality of surgical instruments may be connected. Each surgical instrument may be implemented by any suitable surgical tool (e.g., a tool having tissue interaction functionality), a medical tool, an imaging device (e.g., an endoscope), a sensing instrument (e.g., a force sensing surgical instrument), a diagnostic instrument, or a computer-assisted surgical procedure that may be used on a patient 1408, or the like (e.g., by being at least partially inserted into the patient 1408 and manipulated to perform a computer-assisted surgical procedure on the patient 1408). Although the manipulation system 1402 is depicted and described herein as including four manipulator arms 1412, it should be appreciated that the manipulation system 1402 may include only a single manipulator arm 1412 or any other number of manipulator arms as may be useful for a particular implementation.

[0133] Manipulator arm 1412 and / or a surgical instrument attached to manipulator arm 1412 may include one or more displacement sensors, orientation sensors, and / or position sensors for generating raw (i.e., uncorrected) kinematic information. One or more components of surgical system 1400 may be configured to use the kinematic information to track a surgical instrument (e.g., determine its position) and / or control the surgical instrument.

[0134] The user control system 1404 can be configured to facilitate the surgeon 1410-1 to control the manipulator arm 1412 and the surgical instruments attached to the manipulator arm 1412. For example, the surgeon 1410-1 can interact with the user control system 1404 to remotely move or manipulate the manipulator arm 1412 and the surgical instruments. To this end, the user control system 1404 can provide the surgeon 1410-1 with an image (e.g., a high-definition 3D image) of the surgical area associated with the patient 1408 captured by an imaging system (e.g., any medical imaging system described herein). In some instances, the user control system 1404 can include a stereoscopic viewer with two displays, wherein a stereoscopic image of the surgical area associated with the patient 1408 and generated by the stereoscopic imaging system can be viewed by the surgeon 1410-1. The surgeon 1410-1 can utilize the image to perform one or more procedures with one or more surgical instruments attached to the manipulator arm 1412.

[0135] To facilitate controlling surgical instruments, user control system 1404 may include a set of master controllers. These master controllers may be manipulated by surgeon 1410-1 to control the movement of surgical instruments (e.g., by utilizing robotics and / or teleoperation techniques). The master controllers may be configured to detect various hand, wrist, and finger movements of surgeon 1410-1. In this way, surgeon 1410-1 may intuitively perform procedures using one or more surgical instruments.

[0136] The auxiliary system 1406 may include one or more computing devices configured to perform the primary processing operations of the surgical system 1400. In such a configuration, the one or more computing devices included in the auxiliary system 1406 may control and / or coordinate operations performed by various other components of the surgical system 1400 (e.g., the manipulator system 1402 and the user control system 1404). For example, a computing device included in the user control system 1404 may transmit instructions to the manipulator system 1402 via one or more computing devices included in the auxiliary system 1406. As another example, the auxiliary system 1406 may receive image data representing an image captured by an imaging device attached to one of the manipulator arms 1412 from the manipulator system 1402 and process it.

[0137] In some instances, the assistance system 1406 can be configured to present visual content to a surgical team member 1410 who may not have access to the image provided to the surgeon 1410-1 at the user control system 1404. To this end, the assistance system 1406 can include a display monitor 1414 that is configured to display one or more user interfaces, such as an image of the surgical area (e.g., a 2D image), information associated with the patient 1408 and / or the surgical procedure, and / or any other visual content as may be useful for a particular implementation. For example, the display monitor 1414 can display an image of the surgical area and additional content (e.g., graphical content, contextual information, etc.) displayed simultaneously with the image. In some embodiments, the display monitor 1414 is implemented by a touch screen display, with which the surgical team member 1410 can interact (e.g., by way of touch gestures) to provide user input to the surgical system 1400.

[0138] The operating system 1402, the user control system 1404, and the auxiliary system 1406 may be communicatively coupled to each other in any suitable manner. Fig.14 As shown, the operating system 1402, the user control system 1404, and the auxiliary system 1406 can be communicatively connected via a control line 1416, which can represent any wired or wireless communication link that can be used for a specific implementation. To this end, the operating system 1402, the user control system 1404, and the auxiliary system 1406 can each include one or more wired or wireless communication interfaces, such as one or more local area network interfaces, Wi-Fi network interfaces, cellular interfaces, etc.

[0139] In some examples, a non-transitory computer-readable medium storing computer-readable instructions may be provided according to the principles described herein. When executed by a processor of a computing device, the instructions may direct the processor and / or computing device to perform one or more operations, including one or more operations described herein. Any of a variety of known computer-readable media may be used to store and / or transmit such instructions.

[0140] As referred to herein, non-transitory computer-readable media may include any non-transitory storage medium that participates in providing data (e.g., instructions) that can be read and / or executed by a computing device (e.g., by a processor of a computing device). For example, non-transitory computer-readable media may include, but are not limited to, any combination of non-volatile storage media and / or volatile storage media. Exemplary non-volatile storage media include, but are not limited to, read-only memory, flash memory, solid-state drives, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), ferroelectric random access memory ("RAM"), and optical disks (e.g., compact disks, digital video disks, Blu-ray disks, etc.). Exemplary volatile storage media include, but are not limited to, RAM (e.g., dynamic RAM).

[0141] Fig.15 An exemplary computing device 1500 is illustrated, which may be specifically configured to perform one or more processes described herein.Any systems, units, computing devices, and / or other components described herein may be implemented by computing device 1500 .

[0142] like Fig.15 As shown, computing device 1500 may include a communication interface 1502, a processor 1504, a storage device 1506, and an input / output ("I / O") module 1508 communicatively coupled to one another via a communication infrastructure 1510. Fig.15 An exemplary computing device 1500 is shown in FIG. Fig.15 The components shown in the drawings are not intended to be limiting. Additional or alternative components may be used in other embodiments. Fig.15 Components of computing device 1500 are shown in .

[0143] The communication interface 1502 may be configured to communicate with one or more computing devices. Examples of the communication interface 1502 include, but are not limited to, a wired network interface (e.g., a network interface card), a wireless network interface (e.g., a wireless network interface card), a modem, an audio / video connection, and any other suitable interface.

[0144] The processor 1504 generally represents any type or form of processing unit capable of processing data and / or interpreting, executing and / or directing the execution of one or more of the instructions, processes and / or operations described herein. The processor 1504 may perform operations by executing computer-executable instructions 1512 (e.g., applications, software, code and / or other executable data instances) stored in the storage device 1506.

[0145] Storage device 1506 may include one or more data storage media, devices, or configurations and may take any type, form, and combination of data storage media and / or devices. For example, storage device 1506 may include, but is not limited to, any combination of non-volatile media and / or volatile media described herein. Electronic data (including data described herein) may be temporarily and / or permanently stored in storage device 1506. For example, data representing computer executable instructions 1512 configured to direct processor 1504 to perform any of the operations described herein may be stored in storage device 1506. In some instances, the data may be arranged in one or more databases residing on storage device 1506.

[0146] I / O module 1508 may include one or more I / O modules configured to receive user input and provide user output. I / O module 1508 may include any hardware, firmware, software, or combination thereof that supports input and output capabilities. For example, I / O module 1508 may include hardware and / or software for capturing user input, including but not limited to a keyboard or keypad, a touch screen component (e.g., a touch screen display), a receiver (e.g., an RF or infrared receiver), a motion sensor, and / or one or more input buttons.

[0147] I / O module 1508 may include one or more devices for presenting output to the user, including but not limited to a graphics engine, a display (e.g., display screen), one or more output drivers (e.g., display driver), one or more audio speakers, and one or more audio drivers. In some embodiments, I / O module 1508 is configured to provide graphic data to the display to be presented to the user. Graphic data can represent one or more graphical user interfaces and / or any other graphic content as can be used for specific implementation.

[0148] In the foregoing description, various exemplary embodiments have been described with reference to the accompanying drawings. However, it is apparent that various modifications and changes may be made thereto, and that additional embodiments may be implemented without departing from the scope of the invention as set forth in the appended claims. For example, certain features of one embodiment described herein may be combined with or substituted for features of another embodiment described herein. Therefore, the description and drawings are to be regarded as illustrative rather than restrictive.

Claims

1. A medical imaging system, comprising: A visible light illumination system configured to selectively emit one of: a first visible light biased to a first wavelength associated with a first color, and a second visible light biased to a second wavelength associated with a second color; A fluorescence excitation illumination system configured to selectively emit one of the following: a first fluorescence excitation illumination having a third wavelength, the fluorescence illumination being induced by the first fluorescent imaging agent, the third wavelength being closer to the first wavelength than to the second wavelength, and a second fluorescence excitation illumination having a fourth wavelength, the fourth wavelength being closer to the second wavelength than to the first wavelength, to induce fluorescence illumination through a second fluorescent imaging agent; and An illumination source control unit communicatively connected to the visible light illumination system and the fluorescence excitation illumination system, wherein the illumination source control unit is configured to: selectively directing the visible light illumination system to emit the second visible light and directing the fluorescence excitation illumination system to emit the first fluorescence excitation illumination for use with the first fluorescent imaging agent while emitting the second visible light, and The visible light illumination system is selectively directed to emit the first visible light and the fluorescence excitation illumination system is directed to emit the second fluorescence excitation illumination for use with the second fluorescent imaging agent simultaneously with the first visible light.

2. The medical imaging system according to claim 1, further comprising: an image sensor comprising a two-by-two pixel array, the pixel array comprising a first pixel, a second pixel, a third pixel, and a fourth pixel; a first color filter covering the first pixel and configured to allow the first pixel to collect a first visible light color component of the first visible light and the second visible light and to prevent the first pixel from collecting a second visible light and a third visible light color component of the first visible light and the second visible light; a second color filter covering the second pixel and the third pixel, the second color filter being configured to allow the second pixel and the third pixel to each collect the second visible light color component and to prevent the second pixel and the third pixel from each collecting the first visible light and the third visible light color component; and A third color filter covers the fourth pixel and is configured to allow the fourth pixel to collect the third visible light color component and prevent the fourth pixel from collecting the first visible light and the second visible light color component.

3. The medical imaging system of claim 2, wherein: The first visible light color component is a red component; The second visible light component is a blue component; and The third visible light component is a green component.

4. The medical imaging system of claim 2, wherein: The first visible light color component is a red component; The second visible light component is a green component; and The third visible light component is a blue component. 5 . The medical imaging system of claim 2 , further comprising a pixel-level broadband infrared cutoff filter covering the second pixel and configured to prevent the second pixel from collecting infrared light. 6 . The medical imaging system of claim 5 , wherein the pixel-level broadband infrared cut filter comprises a coating configured to adhere to a surface of the second pixel.

7. The medical imaging system of claim 5, wherein the first pixel, the third pixel, and the fourth pixel are not covered by a pixel-level broadband infrared cutoff filter, the filter being configured to prevent the first pixel, the third pixel, and the fourth pixel from collecting the infrared light.

8. The medical imaging system of claim 7, further comprising a narrowband cutoff filter covering the first pixel, the third pixel, and the fourth pixel and configured to prevent the first pixel, the third pixel, and the fourth pixel from collecting at least one of the first fluorescent excitation illumination and the second fluorescent excitation illumination. 9 . The medical imaging system of claim 8 , wherein the narrowband cutoff filter comprises a glass filter covering the first pixel, the second pixel, the third pixel, and the fourth pixel.

10. The medical imaging system of claim 8, wherein the narrowband cutoff filter comprises: a first pixel-level narrow-band cutoff filter covering the first pixel; a second pixel-level narrow-band cut-off filter covering the third pixel; and A third pixel-level narrow-band cut-off filter covering the fourth pixel.

11. The medical imaging system of claim 1 , wherein: The third wavelength is in the visible range; and The fourth wavelength is in the infrared range.

12. The medical imaging system according to claim 1, wherein the illumination source control unit is further configured to: receiving user input identifying a fluorescent imaging agent used in a patient; determining that the fluorescent imaging agent is the first fluorescent imaging agent; and In response to a determination that the fluorescent imaging agent is the first fluorescent imaging agent, selectively directing the visible light illumination system to emit the second visible light and directing the fluorescent excitation illumination system to emit the first fluorescent excitation illumination is performed.

13. The medical imaging system of claim 1 , wherein the illumination source control unit is further configured to: receiving user input identifying a fluorescent imaging agent used in a patient; determining that the fluorescent imaging agent is the second fluorescent imaging agent; and In response to a determination that the fluorescent imaging agent is the second fluorescent imaging agent, selectively directing the visible light illumination system to emit the first visible light and directing the fluorescent excitation illumination system to emit the second fluorescent excitation illumination is performed.

14. The medical imaging system of claim 1, wherein: The visible light illumination system comprises: a first visible light illumination source configured to emit the first visible light, and a second visible light illumination source configured to emit the second visible light; Selectively directing the visible light illumination system to emit the first visible light comprises selectively activating the first visible light illumination source; and Selectively directing the visible light illumination system to emit the second visible light includes selectively activating the second visible light illumination source.

15. The medical imaging system of claim 1, wherein: The visible light illumination system includes a single adjustable visible light illumination source; Selectively directing the visible light illumination system to emit the first visible light includes adjusting the single adjustable visible light illumination source to selectively emit the first visible light; and Selectively directing the visible light illumination system to emit the second visible light includes adjusting the single adjustable visible light illumination source to selectively emit the second visible light.

16. The medical imaging system of claim 1, wherein: The fluorescence excitation illumination system comprises: a first fluorescence excitation illumination source configured to emit said first fluorescence excitation illumination, and a second fluorescence excitation illumination source configured to emit the second fluorescence excitation illumination; Selectively directing the fluorescence excitation illumination system to emit the first fluorescence excitation illumination comprises selectively activating the first fluorescence excitation illumination source; and Selectively directing the fluorescence excitation illumination system to emit the second fluorescence excitation illumination includes selectively activating the second fluorescence excitation illumination source.

17. The medical imaging system of claim 1, wherein: The fluorescence excitation illumination system includes a single adjustable fluorescence excitation illumination source; selectively directing the fluorescence excitation illumination system to emit the first fluorescence excitation illumination comprises adjusting the single adjustable fluorescence excitation illumination source to emit the first fluorescence excitation illumination; and Selectively directing the fluorescence excitation illumination system to emit the second fluorescence excitation illumination includes adjusting the single adjustable fluorescence excitation illumination source to emit the second fluorescence excitation illumination.

18. A medical imaging system, comprising: A visible light illumination system configured to selectively emit one of: a first visible light biased to a first wavelength associated with a first color, and a second visible light biased to a second wavelength associated with a second color; A fluorescence excitation illumination system configured to selectively emit one of the following: emitting first fluorescence excitation illumination having a third wavelength that is closer to the first wavelength than the second wavelength, thereby inducing fluorescence illumination through a first fluorescent imaging agent, while emitting the second visible light, and emitting second fluorescence excitation illumination having a fourth wavelength, closer to the second wavelength than to the first wavelength, simultaneously with emitting the first visible light, thereby inducing fluorescence illumination through a second fluorescent imaging agent; a pixel-level broadband infrared cutoff filter covering the second pixel and configured to prevent the second pixel from collecting infrared light; and A narrow band cutoff filter covers the first pixel, the third pixel, and the fourth pixel and is configured to prevent the first pixel, the third pixel, and the fourth pixel from collecting at least one of the first fluorescent excitation illumination and the second fluorescent excitation illumination.

19. The medical imaging system of claim 18, further comprising: An illumination source control unit communicatively connected to the visible light illumination system and the fluorescence excitation illumination system, wherein the illumination source control unit is configured to: Identify the fluorescent imaging agent used in the patient, determining that the fluorescent imaging agent is the first fluorescent imaging agent, and In response to a determination that the fluorescent imaging agent is the first fluorescent imaging agent, the visible light illumination system is selectively directed to emit the second visible light and the fluorescent excitation illumination system is directed to emit the first fluorescent excitation illumination for use with the first fluorescent imaging agent.

20. The medical imaging system of claim 18, wherein: The first visible light color component is a red component; The second visible light component is a blue component; and The third visible light component is a green component.

21. The medical imaging system of claim 18, wherein: The first visible light color component is a red component; The second visible light component is a green component; and The third visible light component is a blue component.

22. A medical imaging system comprising: A visible light illumination system configured to selectively emit one of: Blue visible light, and Reddish visible light; A fluorescence excitation illumination system configured to selectively emit one of the following: emitting first fluorescence excitation illumination concurrently with the emission of the reddish visible light, the first fluorescence excitation illumination being configured to induce fluorescence illumination through a first fluorescent imaging agent, the first fluorescence excitation illumination comprising visible light in a blue region of the visible light range, and emitting a second fluorescence excitation illumination simultaneously with the blue-biased visible light, the second fluorescence excitation illumination being configured to induce fluorescence illumination through a second fluorescent imaging agent, the second fluorescence excitation illumination comprising infrared light; and An illumination source control unit communicatively connected to the visible light illumination system and the fluorescence excitation illumination system, wherein the illumination source control unit is configured to: Identify the fluorescent imaging agent used in the patient, determining that the fluorescent imaging agent is the first fluorescent imaging agent, and In response to a determination that the fluorescent imaging agent is the first fluorescent imaging agent, the visible light illumination system is selectively directed to emit second visible light and the fluorescent excitation illumination system is directed to emit the first fluorescent excitation illumination for use with the first fluorescent imaging agent.

23. A lighting source control unit, comprising: a memory for storing instructions; A processor in communication with, the memory, A visible light illumination system configured to selectively emit one of: a first visible light biased to a first wavelength associated with a first color, and a second visible light biased to a second wavelength associated with a second color; and A fluorescence excitation illumination system configured to selectively emit one of the following: a first fluorescence excitation illumination having a third wavelength, the fluorescence illumination being induced by the first fluorescent imaging agent, the third wavelength being closer to the first wavelength than to the second wavelength, and a second fluorescence excitation illumination having a fourth wavelength, the fourth wavelength being closer to the second wavelength than to the first wavelength, to induce fluorescence illumination through a second fluorescent imaging agent; The processor is configured to execute the instructions to selectively directing the visible light illumination system to emit the second visible light and directing the fluorescence excitation illumination system to emit the first fluorescence excitation illumination for use with the first fluorescent imaging agent while emitting the second visible light, and The visible light illumination system is selectively directed to emit the first visible light and the fluorescence excitation illumination system is directed to emit the second fluorescence excitation illumination for use with the second fluorescent imaging agent simultaneously with the first visible light.

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