Speckle removal in pulsed hyperspectral imaging, fluorescence imaging, and laser mapping imaging systems

Abstract

This invention describes speckle removal in pulsed hyperspectral imaging, fluorescence imaging, and laser mapping imaging systems. A system includes a coherent light source for emitting pulses of coherent light, a fiber optic bundle connected to the coherent light source, and a vibrating mechanism attached to the fiber optic bundle. The system includes an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The system is configured such that at least a portion of the pulses of coherent light emitted by the coherent light source includes one or more of a hyperspectral emission, a fluorescence emission, or a laser mapping pattern.

Description

Technical Field

[0001] The present disclosure relates to digital imaging, and in particular to hyperspectral imaging, fluorescence imaging, and / or laser mapping imaging in light-deficient environments. Background Art

[0002] Advances in technology have led to advances in medical imaging capabilities. Endoscopes can be used to view the interior of the body and examine the interiors of organs and cavities. Endoscopes are used to investigate patient symptoms, confirm diagnoses, or provide medical treatments. Medical endoscopes can be used to view various body systems and parts, such as the gastrointestinal tract, respiratory tract, urinary tract, and abdominal cavity. Endoscopes are also used in surgical procedures, such as orthopedic surgery, surgery on joints or bones, surgery on the nervous system, and surgery within the abdominal cavity.

[0003] In some cases of endoscopic imaging, it may be advantageous or necessary to observe color space. A digital color image comprises at least three layers, or "color channels," that accumulate to form an image with a range of tones. Each color channel measures the intensity and chromaticity of light in a spectral band. Typically, a digital color image includes color channels for red, green, and blue spectral bands (this may be referred to as a red-green-blue, or RGB, image). Each of the red, green, and blue color channels includes luminance information for the red, green, or blue spectral bands. The luminance information from the individual red, green, and blue layers is combined to generate a color image. Because a color image is composed of separate layers, conventional digital camera image sensors include a color filter array that allows red, green, and blue visible light wavelengths to strike selected pixel sensors. Each individual pixel sensor element is sensitive to a red, green, or blue wavelength and will only return image data for that wavelength. Image data from the total array of pixel sensors is combined to generate an RGB image. At least three different types of pixel sensors take up a significant amount of physical space, making the complete pixel array impractical to fit within the smaller distal end of an endoscope.

[0004] Because conventional image sensors cannot be mounted in the distal end of an endoscope, they are traditionally located in the endoscope's handpiece unit, which is held by the endoscope operator and not placed within a body cavity. In such endoscopes, light is transmitted along the length of the endoscope from the handpiece unit to the distal end. This configuration has significant limitations. Endoscopes with this configuration are delicate and can easily become misaligned or damaged when bumped or impacted during regular use. This can significantly reduce image quality and require frequent repair or replacement of the endoscope.

[0005] Conventional endoscopes with image sensors placed in the handpiece unit are further limited to capturing only color images. However, in some embodiments, it may be desirable to capture images using fluorescence data, hyperspectral data, and / or laser mapping data in addition to color image data. Fluorescence imaging captures the emission of light by a substance that has absorbed electromagnetic radiation and "glows" as its emission relaxes at a wavelength. Hyperspectral imaging can be used to identify different materials, biological processes, and chemical processes by emitting different partitions of electromagnetic radiation and evaluating the spectral response of the material. Laser mapping imaging can capture the surface shape of objects and landscapes and measure distances between objects within a scene. Laser mapping imaging can also encompass tool tracking, where the distance and / or size of tools within a scene can be tracked relative to each other, relative to the imaging device, and / or relative to structures within the scene. In some embodiments, it may be desirable to use one or more of fluorescence imaging, hyperspectral imaging, and / or laser mapping imaging in combination when imaging a scene.

[0006] However, the application of fluorescence imaging, hyperspectral imaging, and laser mapping techniques known in the art typically requires highly specialized equipment that may not be available for many applications. Furthermore, such techniques provide a limited view of the environment and typically must be used in conjunction with multiple separate systems and image sensors that are sensitive to specific bands of electromagnetic radiation. It is therefore desirable to develop an imaging system that can be used in spatially constrained environments to generate fluorescence imaging data, hyperspectral imaging data, and / or laser mapping imaging data.

[0007] In light of the foregoing, this paper describes systems, methods, and apparatus for fluorescence imaging, hyperspectral imaging, and laser mapping imaging in a light-deficient environment. Such systems, methods, and apparatus can provide multiple data sets for identifying key structures within the body and providing accurate and valuable information about body cavities. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Non-limiting and non-exhaustive embodiments of the present disclosure are described with reference to the following drawings, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified. Advantages of the present disclosure will be better understood with reference to the following description and drawings, wherein:

[0009] Figure 1 is a schematic diagram of a system for digital imaging in a light-deficient environment having paired emitters and a pixel array;

[0010] Figure 2 It is a system for providing illumination to light-deficient environments for endoscopic imaging;

[0011] Figure 2A is a schematic diagram of the complementary system hardware;

[0012] Figures 3A to 3D is a diagram of an operating cycle of an image sensor for constructing an exposure frame;

[0013] Figure 4A is a graphical representation of the operation of one embodiment of an electromagnetic transmitter;

[0014] Figure 4B is a graphical representation of varying the duration and magnitude of emitted electromagnetic pulses to provide exposure control;

[0015] Figure 5 It will Figures 3A to 4B A graphical representation of one embodiment of the present disclosure of an operating cycle of a sensor, an electromagnetic transmitter, and the transmitted electromagnetic pulse combination showing the imaging system during operation;

[0016] Figure 6A is a schematic diagram of a process for recording a video with full spectrum light during the time period from t(0) to t(1);

[0017] Figure 6B is a schematic diagram of the process of recording a video by pulsing partitioned spectral light during the time period from t(0) to t(1);

[0018] 7A to 7E A schematic diagram showing a process for recording video frames of both full spectrum light and partitioned spectrum light within a certain time interval;

[0019] Figure 8A An embodiment of a system for endoscopic imaging and removing speckle from exposure frames captured by an image sensor is shown, wherein the image sensor is disposed in a distal tip of an endoscope;

[0020] Figure 8B An embodiment of a system for endoscopic imaging and removing speckle from exposure frames captured by an image sensor is shown, wherein the image sensor is disposed at a proximal end of an endoscope;

[0021] Figure 9A is an exploded cross-sectional side view of a vibrating mechanism for inducing a series of changes in the path geometry of an optical fiber bundle;

[0022] Figure 9B is an exploded cross-sectional side view of a vibrating mechanism for inducing a series of changes in the path geometry of an optical fiber bundle;

[0023] Figure 9C is a cross-sectional side view of a vibrating mechanism for inducing a series of changes in the path geometry of an optical fiber bundle;

[0024] Figure 10Ais an exploded cross-sectional side view of a vibrating device for direct attachment to an optical fiber bundle for inducing a series of changes in the path geometry of the optical fiber bundle;

[0025] Figure 10B is a cross-sectional side view of a vibrating device for direct attachment to an optical fiber bundle for inducing a series of changes in the path geometry of the optical fiber bundle;

[0026] Figure 11 is a schematic diagram of system hardware for performing color fusion on multiple individually exposed frames;

[0027] Figure 12 is a schematic diagram of a pattern reconstruction process for pulsing red, green, blue, and special emission of coherent light, the process for generating an image frame including a red exposure frame, a green exposure frame, a blue exposure frame, and a special exposure frame;

[0028] 13A to 13C A light source having multiple emitters is shown;

[0029] Figure 14 A single optical fiber is shown outputting through a diffuser at the output to illuminate a scene in a light-deficient environment;

[0030] Figure 15 shows a portion of the electromagnetic spectrum divided into a plurality of different sub-spectra that may be emitted by an emitter of a light source in accordance with the principles and teachings of the present disclosure;

[0031] Figure 16 is a schematic diagram illustrating emission and readout timing for generating an image frame including a plurality of exposure frames produced by different subregions of pulsed light;

[0032] Figure 17 An imaging system including a single cutoff filter for filtering wavelengths of electromagnetic radiation is shown;

[0033] Figure 18 An imaging system including a plurality of cutoff filters for filtering wavelengths of electromagnetic radiation is shown;

[0034] Figure 19 shows an exemplary laser mapping pattern that can be pulsed by the imaging system;

[0035] Figure 20A and Figure 20B Detailed description of an implementation having multiple pixel arrays for generating three-dimensional images according to the principles and teachings of the present disclosure;

[0036] Figure 21A and Figure 21Bshowing, respectively, a perspective view and a side view of an implementation of an imaging sensor constructed on multiple substrates, wherein a plurality of columns of pixels forming a pixel array are located on a first substrate, and a plurality of columns of circuitry are located on a second substrate, and illustrating electrical connections and communications between a column of pixels and its associated or corresponding column of circuitry; and

[0037] Figure 22A and Figure 22B A perspective view and a side view, respectively, are shown of a specific implementation of an imaging sensor having multiple pixel arrays for generating a three-dimensional image, wherein the multiple pixel arrays and the image sensor are constructed on multiple substrates. DETAILED DESCRIPTION

[0038] Disclosed herein are systems, methods, and apparatus for digital imaging that may be primarily suitable for medical applications, such as medical endoscopic imaging. Embodiments of the present disclosure are endoscopic systems for performing hyperspectral, fluorescence, laser mapping, and color imaging in a light-deficient environment. Such methods, systems, and computer-based products disclosed herein provide imaging or diagnostic capabilities for use in medical robotic applications, such as robotics for performing imaging procedures, surgical procedures, and the like.

[0039] An embodiment of the present disclosure is an endoscopic imaging system for capturing a scene illuminated by a laser light source. The use of lasers introduces a problem known as "speckle" or the "speckle effect." Speckle is a granular disturbance that is inherent in and degrades the quality of laser-based imaging techniques, including the pulsed light imaging techniques discussed herein, as well as active radar, synthetic aperture radar, medical ultrasound, and optical coherence tomography imaging. Almost all surfaces are rough, at least in terms of the wavelength of light reflected from the surface. As discussed herein, a "rough surface" has a surface texture, at least at a microscopic level. When a coherent light source (i.e., light consisting of only one wavelength, such as a laser) is scattered from a rough surface, the resulting image includes speckle. The scattered reflected light adds coherently and destructively depending on the relative phase of each scattered waveform and the speckle results from the pattern of constructive and destructive interference. Speckle appears in the resulting image as bright and dark spots throughout the image.

[0040] Speckle degrades image quality and makes the resulting image appear grainy to the observer. Conventional endoscopic light sources, such as metal halide lamps, halogen bulbs, xenon lamps, and light-emitting diodes (LEDs), do not have speckle issues because these light sources have low coherence and therefore do not cause speckle. However, despite the fact that laser light sources cause speckle, they offer advantages over conventional light sources used for endoscopic imaging. Laser light sources are more power efficient, less expensive, generate less heat, and are smaller than conventional light sources. Additionally, laser light sources enable color pulse and narrowband imaging, as described herein.

[0041] An embodiment of the present disclosure is an endoscopic imaging system that includes a vibrating mechanism for reducing the presence of speckle in a resulting image captured by an image sensor. The system includes a coherent light source (which may be referred to herein as an "emitter") that includes one or more lasers for emitting pulses of coherent light. A fiber optic bundle is attached to the coherent light source and transmits the pulses of coherent light to a light-deficient environment to illuminate a scene imaged by the image sensor. The vibrating mechanism is attached to the fiber optic bundle and vibrates at a sufficient frequency to cause a series of changes in the path geometry of the fiber optic bundle. These series of changes in the path geometry of the fiber optic bundle reduce the coherence of the pulses of coherent light that have been emitted by the coherent light source. When the coherence of the pulses of coherent light is reduced, the visible speckle pattern in the resulting image is similarly reduced.

[0042] Conventional endoscopes are designed so that the image sensor is placed at the proximal end of the device within the handpiece unit. This configuration requires that the incident light travel the length of the endoscope through precisely coupled optical components. The precision optical components are prone to misalignment during normal use, and this can result in image distortion or image loss. The disclosed embodiments place the image sensor within the highly spatially constrained environment of the distal end of the endoscope itself. This provides greater optical simplicity than specific implementations known in the art. However, an acceptable solution for this approach is by no means simple and presents its own set of engineering challenges.

[0043] When the overall size of the image sensor is minimized so that the image sensor can fit within the distal end of an endoscope, there can be a significant loss in image quality. The area of ​​the pixel array of the image sensor can be reduced by reducing the number of pixels and / or reducing the sensing area of ​​each individual pixel. Each of these modifications affects the resolution, sensitivity, and dynamic range of the resulting image. Conventional endoscopic imaging systems are designed to sense steady broadband illumination and provide color information through segmented pixel arrays such as Bayer pattern arrays. In view of the drawbacks associated with segmented pixel arrays, alternative systems and methods are disclosed herein that use a monochrome (which may be referred to as "color amorphous") pixel array that does not include individual pixel filters. In the embodiments disclosed herein, color information is provided by pulsing an emitter with electromagnetic radiation of different wavelengths. The pulsed imaging system disclosed herein can generate a color image with special imaging data superimposed thereon.

[0044] In one embodiment, color information is determined by capturing separate exposure frames in response to pulses of electromagnetic radiation of different wavelengths. Alternative pulses may include red, green, and blue wavelengths for generating an RGB image frame consisting of a red exposure frame, a green exposure frame, and a blue exposure frame. In an alternative embodiment, alternative pulses may include luminance ("Y") pulses, red chrominance ("Cr") pulses, and blue chrominance ("Cb") pulses of light for generating a YCbCr image frame consisting of luminance data, red chrominance data, and blue chrominance data. Color image frames may also include data from hyperspectral exposure frames, fluorescence exposure frames, and / or laser mapping exposure frames layered onto RGB or YCbCr image frames. Hyperspectral pulses may be emissions of electromagnetic radiation that induce a spectral response from an object. Hyperspectral exposure frames may include an indication of the location of an object emitting the spectral response. Fluorescence pulses may be electromagnetic radiation of a fluorescence excitation wavelength used to cause an agent to fluoresce. Fluorescence exposure frames may include an indication of fluorescent agents within a scene. Laser mapping pulses may include one or more pulses used to measure distances or dimensions within a scene, track the presence and position of tools in a scene, generate a three-dimensional topography map of a scene, etc. Alternating the wavelengths of the pulsed electromagnetic radiation allows for utilization of the full pixel array and avoids artifacts introduced by Bayer pattern pixel arrays.

[0045] In some cases, it is desirable to generate endoscopic imaging with multiple data types or multiple images layered on top of each other. For example, it may be desirable to generate a color ("RGB") image that also includes hyperspectral imaging data, fluorescence imaging data, and / or laser mapping imaging data layered on the RGB image. Layered images of this nature can enable a practitioner or computer program to identify the highly accurate dimensions and three-dimensional topography of key body structures, and further identify the distance between tools and other structures in a light-deficient environment based on the laser mapping data. In the past, this would have required the use of multiple sensor systems, including an image sensor for color imaging and one or more additional image sensors for hyperspectral imaging, fluorescence imaging, or laser mapping imaging. In such systems, the multiple image sensors would have multiple types of pixel sensors, each sensitive to different ranges of electromagnetic radiation. In systems known in the art, this includes three separate types of pixel sensors for generating RGB color images, as well as additional sensors and systems for generating hyperspectral data, fluorescence data, and laser mapping data. These multiple different sensors take up too much physical space and cannot be located at the distal end of the endoscope. In systems known in the art, one or more cameras are not placed at the distal tip of the endoscope, but rather in an endoscope handpiece or robotic unit. This leads to numerous disadvantages and makes the endoscope very fragile. When the fragile endoscope is bumped or impacted during use, it can be damaged and image quality can be degraded. With the foregoing in mind, disclosed herein are systems, methods, and apparatus for endoscopic imaging in low-light environments. The systems, methods, and apparatus disclosed herein provide a means of employing multiple imaging techniques in a single imaging session while allowing one or more image sensors to be located in the distal tip of the endoscope.

[0046] The fluorescence imaging techniques discussed herein can be used in combination with one or more fluorescent agents or fluorescent dyes. The position of the agent can be identified by emitting electromagnetic radiation at an excitation wavelength that causes the agent to fluoresce. The relaxation wavelength emitted by the agent can be read by an image sensor to identify the position of the agent within the scene. Depending on the type of agent used, the position of the agent can further indicate the location of key structures such as certain types of tissue, cancerous cells and non-cancerous cells, etc.

[0047] The hyperspectral imaging techniques discussed herein can be used to "see through" tissue layers in the foreground of a scene to identify specific types of tissue and / or specific biological or chemical processes. Hyperspectral imaging can be used in medical settings to quantitatively track the course of disease and determine tissue pathology. Additionally, hyperspectral imaging can be used to identify critical structures such as neural tissue, muscle tissue, cancer cells, and the like. In one embodiment, regions of electromagnetic radiation are pulsed, and data is collected regarding the spectral responses of different types of tissue in response to the regions of electromagnetic radiation. A data store of the spectral responses can be generated and analyzed to evaluate a scene and predict which tissues are present within the scene based on the sensed spectral responses.

[0048] The laser mapping imaging techniques discussed herein can be evaluated to generate a three-dimensional landscape map of a scene and calculate distances between objects within the scene. Laser mapping data can be combined with fluorescence imaging and / or hyperspectral imaging to calculate the precise location and dimensions of key structures. For example, fluorescence imaging and / or hyperspectral imaging can be used to identify the location and boundaries of key structures. The laser mapping data can then be used to calculate precise measurements of the location of key structures, the dimensions of key structures, and distances from key structures to other objects.

[0049] Hyperspectral imaging

[0050] In one embodiment, the systems, methods, and devices disclosed herein provide a means for generating hyperspectral imaging data in a light-deficient environment. Spectral imaging uses multiple frequency bands across the electromagnetic spectrum. This is different from conventional cameras that only capture light across three wavelengths of the visible spectrum (including red, green, and blue wavelengths) that can be distinguished by the human eye to generate RGB images. Spectral imaging can use any wavelength band in the electromagnetic spectrum, including infrared wavelengths, visible spectrum, ultraviolet spectrum, X-ray wavelengths, or any suitable combination of various wavelength bands.

[0051] Hyperspectral imaging was originally developed for applications in mining and geology. Unlike normal camera images, which provide limited information to the human eye, hyperspectral imaging can identify specific minerals based on their spectral signatures. Hyperspectral imaging is also useful when captured in aerial imagery and can provide information about, for example, oil or gas leaks from pipelines or cenotes, and their impact on nearby vegetation. This information is gathered based on the spectral signatures of certain materials, objects, or processes that can be identified through hyperspectral imaging.

[0052] Hyperspectral imaging encompasses spectroscopy and digital photography. In one embodiment of hyperspectral imaging, a complete spectrum or some spectral information is collected at each pixel in the image plane. The goals of hyperspectral imaging can vary for different applications. In one application, the goal of hyperspectral imaging is to obtain the entire electromagnetic spectrum for each pixel in the image scene. This can make it possible to locate certain objects that might not otherwise be identifiable in the visible wavelength band. This can also enable the precise identification of certain substances or tissues that might not be identifiable in the visible wavelength band. Furthermore, this can enable the detection of certain processes by capturing images across all wavelengths of the electromagnetic spectrum.

[0053] In one embodiment of the present disclosure, an endoscope system illuminates a source and pulses electromagnetic radiation for spectral or hyperspectral imaging. Spectral imaging uses multiple frequency bands across the electromagnetic spectrum. This is different from conventional cameras that only capture light across three wavelengths (including red, green, and blue wavelengths) based on the visible spectrum that can be distinguished by the human eye to generate RGB images. Spectral imaging can use any wavelength band in the electromagnetic spectrum, including infrared wavelengths, visible spectrum, ultraviolet spectrum, X-ray wavelengths, or any suitable combination of various wavelength bands. Spectral imaging can overlay imaging generated based on invisible frequency bands (e.g., infrared) on top of imaging based on visible frequency bands (e.g., standard RGB images) to provide additional information that can be easily distinguished by humans or computer algorithms.

[0054] Hyperspectral imaging offers numerous advantages over conventional imaging. The information obtained through hyperspectral imaging enables medical practitioners and / or computer-implemented programs to accurately identify certain tissues or conditions that might not be identifiable using RGB imaging. Additionally, hyperspectral imaging can be used during medical procedures to provide image-guided surgery, enabling medical practitioners to, for example, visualize tissue located behind certain tissues or fluids, identify atypical cancer cells that contrast with typical healthy cells, identify certain tissues or conditions, identify critical structures, and more. Hyperspectral imaging provides specialized diagnostic information about tissue physiology, morphology, and composition that cannot be generated using conventional imaging.

[0055] In medical applications, hyperspectral imaging can provide specific advantages over conventional imaging. The information obtained through hyperspectral imaging can enable practitioners and / or computer-implemented programs to accurately identify certain tissues or conditions that may not be diagnosed or may be diagnosed less accurately when using conventional imaging such as RGB imaging. In addition, hyperspectral imaging can be used during medical procedures to provide image-guided surgery, which can enable practitioners to, for example, view tissue located behind certain tissues or fluids, identify atypical cancer cells that contrast with typical healthy cells, identify certain tissues or conditions, identify critical structures, etc. Hyperspectral imaging can provide specialized diagnostic information about tissue physiology, morphology, and composition that cannot be generated using conventional imaging.

[0056] In various applications and implementations of the present disclosure, endoscopic hyperspectral imaging can offer advantages over conventional imaging. In medical implementations, endoscopic hyperspectral imaging can allow a medical practitioner or computer-implemented program to distinguish, for example, neural tissue, muscle tissue, various blood vessels, blood flow direction, and the like. Hyperspectral imaging can enable atypical cancerous tissue to be accurately distinguished from typical healthy tissue, and thus can enable a medical practitioner or computer-implemented program to distinguish the boundaries of cancerous tumors during surgery or research imaging. Furthermore, hyperspectral imaging in a light-deficient environment, as disclosed herein, can be combined with the use of agents or dyes to further distinguish certain tissues or substances. In such embodiments, the agents or dyes can fluoresce at specific wavelength bands in the electromagnetic spectrum, thereby providing information specific to the purpose of the agent or dye. The systems, methods, and devices disclosed herein can enable pulsing of any number of wavelength bands, allowing one or more agents or dyes to fluoresce at different times, and further enable pulsing of one or more subregions of electromagnetic radiation for hyperspectral imaging within the same imaging session. In certain implementations, this enables identification or investigation of multiple medical conditions during a single imaging procedure.

[0057] Fluorescence imaging

[0058] The systems, methods, and devices disclosed herein provide a means for generating fluorescence imaging data in a light-deficient environment. Fluorescence imaging data can be used to identify certain materials, tissues, components, or processes within a body cavity or other light-deficient environment. In certain embodiments, fluorescence imaging is provided to a medical practitioner or computer-implemented program to enable identification of certain structures or tissues within the body. Such fluorescence imaging data can be overlaid on a black and white or RGB image to provide additional information and context.

[0059] Fluorescence is the emission of light by a substance that has absorbed light or other electromagnetic radiation. Some fluorescent materials can "glow," or emit different colors visible to the human eye, when subjected to ultraviolet light or other wavelengths of electromagnetic radiation. When the radiation source is turned off, some fluorescent materials will stop emitting light almost immediately.

[0060] Fluorescence occurs when the orbital electrons of a molecule, atom, or nanostructure are excited by light or other electromagnetic radiation and then relax to their ground state by emitting photons from the excited state. The specific frequency of the electromagnetic radiation that excites the orbital electrons or that is emitted by the photons during relaxation depends on the specific atom, molecule, or nanostructure. In most cases, the light emitted by the substance has a longer wavelength than the radiation absorbed by the substance and therefore has lower energy. However, when the absorbed electromagnetic radiation is intense, one electron can absorb two photons. This two-photon absorption can result in the emission of radiation with a shorter wavelength and therefore higher energy than the absorbed radiation. In addition, the emitted radiation can also have the same wavelength as the absorbed radiation.

[0061] Fluorescence imaging has many practical applications, including mineralogy, geology, medicine, spectroscopy for chemical sensors, and detecting biological processes or signals. Fluorescence is particularly useful in biochemistry and medicine as a non-destructive means for tracking or analyzing biomolecules. Biomolecules, including certain tissues or structures, can be tracked by analyzing the fluorescence emission of the biomolecules after being excited by electromagnetic radiation of certain wavelengths. However, relatively few cellular components are naturally fluorescent. In certain embodiments, it may be advantageous to visualize certain tissues, structures, chemical processes, or biological processes that are not inherently fluorescent. In such embodiments, a dye or reagent may be administered to the body, which may include molecules, proteins, or quantum dots with fluorescent properties. The reagent or dye may then fluoresce after being excited by electromagnetic radiation of certain wavelengths. Different reagents or dyes may include different molecules, proteins, and / or quantum dots that will fluoresce under electromagnetic radiation of specific wavelengths. Therefore, it may be necessary to excite the reagent or dye with electromagnetic radiation of a specific frequency band to achieve fluorescence and identify the desired tissue, structure, or process in the body.

[0062] Fluorescence imaging can provide valuable information in the medical field that can be used for diagnostic purposes and / or can be visualized in real time during medical procedures. Specific reagents or dyes can be administered to the body to cause certain tissues, structures, chemical processes, or biological processes to fluoresce. The fluorescence of the reagent or dye can highlight body structures, such as blood vessels, nerves, specific organs, etc. In addition, the fluorescence of the reagent or dye can highlight conditions or diseases, such as cancer cells or cells undergoing certain biological or chemical processes that may be associated with the condition or disease. Fluorescence imaging can be used in real time by a practicing physician or a computer program to distinguish, for example, cancer cells from non-cancerous cells during surgical tumor extraction. Fluorescence imaging can also be used as a non-destructive means to track and visualize conditions in the body over time that would not otherwise be visible to the human eye or discernible in an RGB image.

[0063] Systems, methods, and apparatus for generating fluorescence imaging data can be used in conjunction with reagents or dyes. Some reagents or dyes are known to attach to certain types of tissue and fluoresce at specific wavelengths of the electromagnetic spectrum. In one embodiment, a reagent or dye is administered to a patient that is configured to fluoresce when activated by light of certain wavelengths. The endoscopic imaging system disclosed herein is used to excite the reagent or dye and cause it to fluoresce. The fluorescence of the reagent or dye is captured by the endoscopic imaging system to help identify tissues or structures in a body cavity. In one embodiment, multiple reagents or dyes are administered to a patient, each of which is configured to emit fluorescence of a different wavelength and / or provide an indication of a different structure, tissue, chemical reaction, biological process, etc. In such an embodiment, the endoscopic imaging system emits each of the applicable wavelengths to cause each of the applicable reagents or dyes to fluoresce. This eliminates the need to perform separate imaging procedures for each of the multiple reagents or dyes.

[0064] Imaging agents can enhance imaging capabilities in the pharmaceutical, medical, biotechnology, diagnostic, and medical procedure industries. Many imaging techniques, such as X-rays, computed tomography (CT), ultrasound, magnetic resonance imaging (MRI), and nuclear medicine, primarily analyze anatomical structures and morphology, and cannot detect changes at the molecular level. Fluorescent agents, dyes, and probes (including quantum dot nanoparticles and fluorescent proteins) assist medical imaging techniques by providing additional information about certain tissues, structures, chemical processes, and / or biological processes present in the imaging area. Imaging using fluorescent agents enables cell tracking and / or tracking of certain molecular biomarkers. Fluorescent agents can be used to image cancer, infection, inflammation, stem cell biology, and the like. Many fluorescent agents and dyes are being developed and applied to visualize and track biological processes in a non-destructive manner. Such fluorescent agents can be excited by electromagnetic radiation of certain wavelengths or wavelength bands. Similarly, these fluorescent agents can emit relaxation energy of certain wavelengths or wavelength bands when fluorescing, and the relaxation energy emitted can be read by a sensor to determine the position and / or boundaries of the agent or dye.

[0065] In one embodiment of the present disclosure, an endoscopic imaging system pulses electromagnetic radiation for exciting electrons in a fluorescent agent or dye. The endoscopic imaging system can pulse electromagnetic radiation of multiple different wavelengths during a single imaging process for causing multiple different agents or dyes to fluoresce. The endoscope includes an image sensor that is sensitive to the relaxation wavelengths of one or more agents or dyes. Imaging data generated by the image sensor can be used to identify the location and boundaries of the one or more agents or dyes. The endoscopic system can also pulse electromagnetic radiation in the red, green, and blue bands of visible light so that fluorescence imaging can be superimposed on an RGB video stream.

[0066] Laser mapping imaging

[0067] In one embodiment, the systems, methods, and devices disclosed herein provide a means for generating laser mapping data using an endoscopic imaging system. The laser mapping data can be used to determine precise measurements and topographical contours of a scene. In one embodiment, the laser mapping data is used to determine precise measurements between, for example, structures or organs in a body cavity, devices or tools in a body cavity, and / or critical structures in a body cavity. As described herein, the term "laser mapping" may encompass techniques referred to as laser mapping, laser scanning, topographic scanning, three-dimensional scanning, laser tracking, tool tracking, and the like. Laser mapping exposure frames as discussed herein may include topographical data of a scene, dimensions between objects or structures within a scene, dimensions or distances of tools or objects within a scene, and the like.

[0068] Laser mapping typically involves the controlled deflection of a laser beam. In the field of three-dimensional object scanning, laser mapping combines controlled steering of a laser beam with a laser rangefinder. By taking distance measurements in each direction, a laser rangefinder can quickly capture the surface shape of objects, tools, and landscapes. The construction of a full three-dimensional topography can include combining multiple surface models obtained from different perspectives. Various measurement systems and methods exist in the art for applications in archaeology, geography, atmospheric physics, autonomous vehicles, and the like. One such system includes light detection and ranging (LIDAR), which is a three-dimensional laser mapping system. LIDAR has been used in navigation systems such as aircraft or satellites to determine the position and orientation of a sensor in conjunction with other systems and sensors. LIDAR uses an active sensor to illuminate an object and detect energy reflected from the object and returned to the sensor.

[0069] As used herein, the term "laser mapping" includes laser tracking. Laser tracking, or the use of lasers for tool tracking, measures objects by determining the position of an optical target held relative to those objects. Laser trackers can be accurate to an order of 0.025 mm over distances of several meters. In one embodiment, an endoscopic imaging system pulses light for use in conjunction with a laser tracking system so that positions or tools within a scene can be tracked and measured. In such embodiments, the endoscopic imaging system can pulse a laser tracking pattern on a tool, object, or other structure within a scene imaged by the endoscopic imaging system. A target can be placed on a tool, object, or other structure within the scene. Measurements between the endoscopic imaging system and the target can be triggered and acquired at selected points so that the endoscopic imaging system can track the position of the target (and the tool, object, or other structure attached to the target).

[0070] Pulse imaging

[0071] Some specific implementations of the present disclosure include various aspects of sensor and system combination designs that are capable of generating high-definition images with a reduced pixel count in a constrained lighting environment. This is achieved by pulsing a monochromatic wavelength on a frame-by-frame basis and switching or alternating each frame between a single different color wavelength using a controlled light source in combination with a high frame capture rate and a specially designed corresponding monochromatic sensor. In addition, electromagnetic radiation outside the visible spectrum can be pulsed to enable the generation of hyperspectral, fluorescence and / or laser mapping images. The pixels can be color amorphous such that each pixel generates data for each electromagnetic radiation pulse that includes pulses of red, green and blue visible light wavelengths as well as other wavelengths used for hyperspectral imaging, fluorescence imaging and / or laser mapping imaging.

[0072] The system disclosed herein is an endoscope system for use in a light-deficient environment. The system includes an endoscope including an image sensor configured to sense reflected electromagnetic radiation for generating multiple exposure frames that can be combined to generate an RGB image frame superimposed with hyperspectral, fluorescence, and / or laser mapping data. The system includes a transmitter for emitting pulses of electromagnetic radiation. The system includes a controller (alternatively referred to as "control circuitry") in electrical communication with the image sensor and the transmitter. The controller controls the duty cycle of the transmitter in response to a signal corresponding to the duty cycle of the transmitter. The image sensor includes a bidirectional pad that can transmit and receive information. The bidirectional pad of the image sensor operates in a frame cycle that is divided into three defined states: a rolling readout state, a service line state, and a configuration state. The system includes a vibration mechanism disposed in the controller and a frequency detector connected to the controller. The frequency detector controls the clock frequency of the image sensor in response to a signal from the controller corresponding to the frequency of the vibration mechanism. The system transmits clock signal data from the bidirectional pad of the image sensor to the controller during a service line phase and a configuration phase. The system synchronizes exposure frames without using an input clock or a data transmission clock.

[0073] For the purpose of promoting understanding of the principles of the present disclosure, reference will now be made to the embodiments shown in the drawings and specific language will be used to describe these embodiments. However, it will be understood that it is not intended to limit the scope of the present disclosure. Any changes and further modifications to the inventive features shown herein, as well as any additional applications of the principles of the present disclosure as shown herein (which will generally occur to those skilled in the relevant art and those who understand the present disclosure) will be considered to be within the scope of the disclosure protected by the claims.

[0074] Before disclosing and describing structures, systems, and methods for generating images in a light-deficient environment, it should be understood that the present disclosure is not limited to the specific structures, configurations, process steps, and materials disclosed herein, as such structures, configurations, process steps, and materials may vary to a certain extent. It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting, as the scope of the present invention will be limited only by the appended claims and their equivalents.

[0075] When describing and claiming the presently disclosed subject matter, the following terminology will be used in accordance with the following definitions.

[0076] It must be noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise.

[0077] As used herein, the terms "comprising," "including," "characterized by," and their grammatical equivalents are non-exclusive or open-ended terms that do not exclude additional, unrecited elements or method steps.

[0078] As used herein, the phrase "consisting of and its grammatical equivalents exclude any elements or steps not stated in a claim.

[0079] As used herein, the phrase "consisting essentially of and its grammatical equivalents limit the scope of a claim to the specified materials or steps and those that do not materially affect one or more of the basic and novel characteristics of the claimed disclosure.

[0080] As used herein, the term "proximal side" broadly refers to the concept of a portion close to a starting point.

[0081] As used herein, the term "distal" generally refers to the opposite of the proximal side, and thus refers to the concept of a portion farther from a starting point or a portion farthest away depending on the context.

[0082] As used herein, color sensors or multispectral sensors are those known to have a color filter array (CFA) thereon to filter incident electromagnetic radiation into its individual components. In the visible range of the electromagnetic spectrum, such CFAs can be based on a Bayer pattern or a modified form thereof to separate the green, red, and blue spectral components of light.

[0083] As used herein, a monochrome sensor refers to an imaging sensor without filtering. Because the pixels are amorphous, their effective spatial resolution is significantly higher than their color counterparts (typically filtered using a Bayer pattern) in traditional single-sensor cameras. Monochrome sensors also have higher quantum efficiency, as fewer incident photons are wasted between individual pixels.

[0084] As used herein, an emitter is a device capable of generating and emitting electromagnetic pulses. Various embodiments of an emitter can be configured to emit pulses having very specific frequencies or frequency ranges from across the electromagnetic spectrum. The pulses can include wavelengths from both the visible and invisible ranges. The emitter can be cycled on and off to generate the pulses, or a shutter mechanism can be used to generate the pulses. The emitter can have a variable power output level or can be controlled using auxiliary devices such as apertures or filters. The emitter can emit broad or full spectrum electromagnetic radiation that can be pulsed by color filtering or by opening and closing a shutter. The emitter can include multiple electromagnetic sources acting individually or in concert.

[0085] It should be noted that, as used herein, the term "light" is both a particle and a wavelength, and is intended to refer to electromagnetic radiation that can be detected by the pixel array 122, and can include wavelengths of electromagnetic radiation from both the visible and invisible spectrums. The term "segment" as used herein refers to a predetermined wavelength range of the electromagnetic spectrum that is less than the entire spectrum, or in other words, the wavelengths that constitute a portion of the electromagnetic spectrum. As used herein, an emitter is a light source that is controllable with respect to a portion of the electromagnetic spectrum emitted, or a light source that can manipulate the physical properties of its components, the emission intensity, or the emission duration, or all of the above. An emitter can emit light in any dithered, diffuse, or collimated emission, and can be controlled digitally or by analog methods or systems. As used herein, an electromagnetic emitter is a source of electromagnetic energy bursts, and includes light sources such as lasers, LEDs, incandescent lights, or any light source that can be digitally controlled.

[0086] Now referring to the accompanying drawings, Figure 1 A schematic diagram of a system 100 for sequential pulse imaging in a light-deficient environment is shown. The system 100 can be deployed to generate an RGB image with special data superimposed thereon. The system 100 includes an emitter 102 and a pixel array 122. As discussed herein, the emitter 102 can be referred to as a coherent light source, such as Figure 8A and Figure 8B 1 . The emitter 102 pulses a partition of electromagnetic radiation in the light-deficient environment 112, and the pixel array 122 senses an instance of the reflected electromagnetic radiation. The emitter 102 and the pixel array 122 operate in sequence such that one or more pulses of the partition of electromagnetic radiation produce image data sensed by the pixel array 122.

[0087] It should be noted that, as used herein, the term "light" is both a particle and a wavelength, and is intended to refer to electromagnetic radiation that can be detected by the pixel array 122, and can include wavelengths of electromagnetic radiation from both the visible and invisible spectrums. The term "segment" as used herein refers to a predetermined wavelength range of the electromagnetic spectrum that is less than the entire spectrum, or in other words, the wavelengths that constitute a portion of the electromagnetic spectrum. As used herein, an emitter is a light source that is controllable with respect to a portion of the electromagnetic spectrum emitted, or a light source that can manipulate the physical properties of its components, the emission intensity, or the emission duration, or all of the above. An emitter can emit light in any dithered, diffuse, or collimated emission, and can be controlled digitally or by analog methods or systems. As used herein, an electromagnetic emitter is a source of electromagnetic energy bursts, and includes light sources such as lasers, LEDs, incandescent lights, or any light source that can be digitally controlled.

[0088] The pixel array 122 of the image sensor can be electronically paired with the emitter 102 so that the emitter 102 and the pixel array 122 are synchronized during operation for both receiving transmissions and for adjustments made within the system. The emitter 102 can be tuned to emit electromagnetic radiation in the form of a laser that can be pulsed to illuminate the light-deficient environment 112. The emitter 102 can be pulsed at intervals corresponding to the operation and function of the pixel array 122. The emitter 102 can pulse light in multiple electromagnetic sectors so that the pixel array receives electromagnetic energy and generates a data set that corresponds in time to each specific electromagnetic sector. For example, Figure 1One implementation is shown in which the emitter 102 emits four different partitions of electromagnetic radiation, including red 104 wavelengths, green 106 wavelengths, blue 108 wavelengths, and a special 110 emission. The special 110 emission may include an excitation wavelength for causing an agent to fluoresce, a hyperspectral partition of the electromagnetic radiation, and / or a laser mapping pattern. The special 110 emission may include multiple individual emissions that are separate and independent of each other. The special 110 emission may include a combination of an excitation wavelength for causing an agent to fluoresce and a laser mapping pattern, wherein the emissions are separate and independent of each other. The data generated by the individual emissions may be analyzed in tandem to identify key structures within the scene based on the fluorescence imaging data, and also to identify the size or location of the key structures based on the combination of the laser mapping data and the fluorescence imaging data. The special 110 emission may include a combination of electromagnetic radiation in a hyperspectral band and a laser mapping pattern, wherein the emissions are separate and independent of each other. The data generated by the individual emissions may be analyzed in tandem to identify key structures within the scene based on the hyperspectral imaging data, and also to identify the size or location of the key structures based on the combination of the laser mapping data and the hyperspectral imaging data. In one embodiment, the special 110 shots include any desired combination of shots that can be combined with the data resulting from the pulsed red 104 shot, the pulsed green 106 shot, and the pulsed blue 108 shot. The special 110 shots can be dispersed within the pulse pattern such that pulses of different types of special 110 shots are less frequent than pulses of the pulsed red 104 shot, the pulsed green 106 shot, and the pulsed blue 108 shot.

[0089] exist Figure 1 In an alternative embodiment not shown in FIG, the pulsed emission of light includes luma ("Y") emission, red chroma ("Cr") emission, and blue chroma ("Cb") emission, rather than pulsed red 104 emission, pulsed green 106 emission, and pulsed blue 108 emission. In one embodiment, the controller or emitter 102 modulates the electromagnetic radiation pulses to provide luma and / or chroma information according to color conversion coefficients that convert light energy from red, green, and blue light energy spaces to luma, red, and blue chroma light energy spaces. The pulsed emission of light may also include modulated blue chroma ("Y+Cb") pulses and / or modulated red chroma ("Y+Cr") pulses.

[0090] Light-starved environment 112 includes structures, tissues, and other elements that reflect a combination of red 114, green 116, and / or blue 118 light. Structures perceived as red 114 will reflect pulsed red 104 light. Reflection from red structures causes pixel array 122 to sense red 105 after pulsed red 104 is emitted. Data sensed by pixel array 122 generates a red exposure frame. Structures perceived as green 116 will reflect pulsed green 106 light. Reflection from green structures causes pixel array 122 to sense green 107 after pulsed green 106 is emitted. Data sensed by pixel array 122 generates a green exposure frame. Structures perceived as blue 118 will reflect pulsed blue 108 light. Reflection from blue structures causes pixel array 122 to sense blue 109 after pulsed blue 108 is emitted. Data sensed by pixel array 122 generates a blue exposure frame.

[0091] When the structure is a combination of colors, the structure will reflect a combination of pulsed red 104 emission, pulsed green 106 emission, and / or pulsed blue 108 emission. For example, a structure perceived as purple will reflect light from both pulsed red 104 emission and pulsed blue 108 emission. The resulting data sensed by pixel array 122 will indicate that light was reflected in the same area after both pulsed red 104 emission and pulsed blue 108 emission. When the resulting red exposure frame and blue exposure frame are combined to form an RGB image frame, the RGB image frame will indicate that the structure is purple.

[0092] In embodiments where the light-deficient environment 112 includes a fluorescent agent or fluorescent dye or includes one or more fluorescent structures, tissues, or other elements, the pulse scheme may include the emission of certain fluorescence excitation wavelengths. Certain fluorescence excitation wavelengths may be selected to cause known fluorescent agents, fluorescent dyes, or other structures to fluoresce. The fluorescent structure will be sensitive to the fluorescence excitation wavelength and will emit a fluorescence relaxation wavelength. After emitting the fluorescence excitation wavelength, the fluorescence relaxation wavelength will be sensed by the pixel array 122. The data sensed by the pixel array 122 generates a fluorescence exposure frame. The fluorescence exposure frame can be combined with multiple other exposure frames to form an image frame. The data in the fluorescence exposure frame can be superimposed on an RGB image frame that includes data from a red exposure frame, a green exposure frame, and a blue exposure frame.

[0093] In embodiments where the aphotic environment 112 includes structures, tissues, or other materials that emit spectral responses to certain partitions of the electromagnetic spectrum, the pulse scheme may include emission of a hyperspectral partition of electromagnetic radiation to elicit a spectral response from the structures, tissues, or other materials present in the aphotic environment 112. The spectral response includes emission or reflection of electromagnetic radiation at certain wavelengths. The spectral response may be sensed by the pixel array 122 and a hyperspectral exposure frame may be generated. The hyperspectral exposure frame may be combined with multiple other exposure frames to form an image frame. Data from the hyperspectral exposure frame may be overlaid on an RGB image frame that includes data from a red exposure frame, a green exposure frame, and a blue exposure frame.

[0094] In one embodiment, the pulse scheme includes emitting a laser marking or tool tracking pattern. The reflected electromagnetic radiation sensed by the pixel array 122 after the emission of the laser marking or tool tracking pattern generates a laser marking exposure frame. Data from the laser marking exposure frame can be provided to a corresponding system to identify, for example, the distance between tools present in the light-poor environment 112, the three-dimensional surface topography of a scene in the light-poor environment 112, the distance, size, or position of structures or objects within the scene, and the like. This data can be overlaid on an RGB image frame or otherwise provided to a user of the system.

[0095] Emitter 102 can be a laser emitter capable of emitting pulsed red 104 light for generating sensed red 105 data to identify red 114 elements within an aphotic environment 112. Emitter 102 can also emit pulsed green 106 light for generating sensed green 107 data to identify green 116 elements within an aphotic environment. Emitter 102 can also emit pulsed blue 108 light for generating sensed blue 109 data to identify blue 118 elements within an aphotic environment. Emitter 102 can also emit special 110 emissions for mapping the topography 120 of a scene within the aphotic environment 112. Emitter 102 can emit pulsed red 104 emissions, pulsed green 106 emissions, pulsed blue 108 emissions, and pulsed special 110 emissions in any desired order.

[0096] Pixel array 122 senses reflected electromagnetic radiation. Each of the sensed red 105 data, the sensed green 107 data, the sensed blue 109 data, and the sensed special 111 data can be referred to as an "exposure frame." The sensed special 111 can produce multiple individual exposure frames that are separate and independent of each other. For example, the sensed special 111 can produce a fluorescence exposure frame, a hyperspectral exposure frame, and / or a laser mapping exposure frame that includes laser mapping data. Each exposure frame is assigned a specific color partition or wavelength partition, where the assignment is based on the timing of the pulse color or wavelength partition from the emitter 102. The combination of the exposure frame and the assigned specific color or wavelength partition can be referred to as a data set. Even if the pixels 122 are not color-specific, any given data set can be assigned a color based on a priori information about the emitter.

[0097] For example, during operation, after pulsed red 104 light is pulsed in an abscissa environment 112, pixel array 122 senses reflected electromagnetic radiation. The reflected electromagnetic radiation generates an exposure frame, and this exposure frame is categorized as sensed red 105 data because it corresponds in time to the pulsed red 104 light. The combination of the exposure frame and its indication of its temporal correspondence with the pulsed red 104 light is a "data set." This process is repeated for each subarea of ​​electromagnetic radiation emitted by emitter 102. The data formed by pixel array 122 includes a sensed red 105 exposure frame, which identifies the red 114 component in the abscissa environment and corresponds in time to the pulsed red 104 light. This data also includes a sensed green 107 exposure frame, which identifies the green 116 component in the abscissa environment and corresponds in time to the pulsed green 106 light. This data also includes a sensed blue 109 exposure frame, which identifies the blue 118 component in the abscissa environment and corresponds in time to the pulsed blue 108 light. The data also includes a sensed special 111 exposure frame that is used to identify the feature 120 and corresponds in time to the special 110 shot.

[0098] In one embodiment, three datasets representing RED, GREEN, and BLUE electromagnetic pulses are combined to form a single image frame. Thus, the information in the red, green, and blue exposure frames is combined to form a single RGB image frame. One or more additional datasets representing other wavelength partitions can be overlaid on the single RGB image frame. The one or more additional datasets can represent, for example, laser mapping data, fluorescence imaging data, and / or hyperspectral imaging data.

[0099] It should be understood that the present disclosure is not limited to any particular color combination or any particular electromagnetic partition, and that any color combination or any electromagnetic partition may be used in place of RED, GREEN, and BLUE, such as cyan, magenta, and yellow; ultraviolet; infrared; any combination of the foregoing, or any other color combination, including all visible and invisible wavelengths, without departing from the scope of the present disclosure. In the figure, an aphotic environment 112 to be imaged includes a red 114 portion, a green 116 portion, and a blue 118 portion, and also includes a feature 120 that can be sensed and mapped into a three-dimensional rendering. As shown, the reflected light from the electromagnetic pulse only contains data for the portion of the object having a particular color corresponding to the pulse color partition. These individual color (or color interval) data sets can then be used to reconstruct an image by combining the data sets at 126. The information in each of the multiple exposure frames (i.e., multiple data sets) can be combined by a controller 124, a control unit, a camera control unit, an image sensor, an image signal processing pipeline, or some other computing resource that can be configured to process the multiple exposure frames and combine the data sets at 126. The data sets may be combined to generate a single image frame within the endoscopy unit itself or off-site by some other processing resource.

[0100] Figure 2 A system 200 is provided for providing illumination to light-deficient environments, such as for endoscopic imaging. System 200 can be used in conjunction with any of the systems, methods, or devices disclosed herein. System 200 includes an emitter 202, a controller 204, a jumper waveguide 206, a waveguide connector 208, an intracavity waveguide 210, an intracavity 212, and an image sensor 214 with associated optical components (such as a lens). Emitter 202 (generally referred to as a "light source") generates light that travels through jumper waveguide 206 and intracavity waveguide 210 to illuminate a scene at the distal end of intracavity 212. Emitter 202 can be used to emit electromagnetic energy at any wavelength, including visible, infrared, ultraviolet, hyperspectral, fluorescence excitation, or other wavelengths. Intracavity 212 can be inserted into a patient for imaging, such as during surgery or an examination. Light is output as indicated by dashed line 216. An image sensor 214 can be used to capture the scene illuminated by the light and display it to a physician or other medical personnel. Controller 204 can provide control signals to emitter 202 to control when illumination is provided to a scene. In one embodiment, emitter 202 and controller 204 are located within a camera control unit (CCU) or an external console to which the endoscope is connected. If image sensor 214 comprises a CMOS sensor, light can be periodically provided to the scene as a series of illumination pulses during so-called blanking periods between readout cycles of image sensor 214. Thus, light can be pulsed in a controlled manner to avoid overlap into the readout cycles of image pixels in the pixel array of image sensor 214.

[0101] In one embodiment, the intracavity waveguide 210 comprises one or more optical fibers. To allow for the disposal of the intracavity waveguide 210 and / or other parts of the endoscope, these optical fibers can be made of low-cost materials (such as plastic). In one embodiment, the intracavity waveguide 210 is a single glass fiber with a diameter of 500 microns. The jumper waveguide 206 can be permanently attached to the transmitter 202. For example, the jumper waveguide 206 can receive light from a transmitter within the transmitter 202 and provide light to the intracavity waveguide 210 at the location of the connector 208. In one embodiment, the jumper waveguide 106 comprises one or more glass optical fibers. The jumper waveguide can include any other type of waveguide for guiding light to the intracavity waveguide 210. The connector 208 can selectively couple the jumper waveguide 206 to the intracavity waveguide 210 and allow light within the jumper waveguide 206 to be transferred to the intracavity waveguide 210. In one embodiment, the intracavity waveguide 210 is directly coupled to the light source without any intervening jumper waveguide 206 .

[0102] The image sensor 214 includes a pixel array. In one embodiment, the image sensor 214 includes two or more pixel arrays for generating a three-dimensional image. The image sensor 214 may be composed of more than two image sensors, each having an independent pixel array and operable independently of each other. The pixel array of the image sensor 214 includes active pixels and optically black ("OB") pixels or optically blind pixels. Active pixels can be transparent "color-indeterminate" pixels capable of sensing imaging data for electromagnetic radiation of any wavelength. When the pixel array is "reset" or calibrated, the optically black pixels are read during a blanking period of the pixel array. In one embodiment, when reading the optically black pixels, light is pulsed during the blanking period of the pixel array. After reading the optically black pixels, the active pixels are read during a readout period of the pixel array. The active pixels can be charged by the electromagnetic radiation pulsed during the blanking period, so that the active pixels are ready to be read by the image sensor during the readout period of the pixel array.

[0103] Figure 2A is a schematic diagram of complementary system hardware such as a special-purpose or general-purpose computer. Specific implementations within the scope of the present disclosure may also include physical media and other non-transitory computer-readable media for carrying or storing computer-executable instructions and / or data structures. Such computer-readable media may be any available media that can be accessed by a general-purpose or special-purpose computer system. A computer-readable medium that stores computer-executable instructions is a computer storage medium (device). A computer-readable medium that carries computer-executable instructions is a transmission medium. Therefore, by way of example and not limitation, specific implementations of the present disclosure may include at least two distinct types of computer-readable media: a computer storage medium (device) and a transmission medium.

[0104] Computer storage media (devices) include RAM, ROM, EEPROM, CD-ROM, solid-state drives ("SSD") (e.g., RAM-based), flash memory, phase-change memory ("PCM"), other types of memory, other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other media that can be used to store desired program code means in the form of computer-executable instructions or data structures and that can be accessed by a general-purpose or special-purpose computer.

[0105] "Network" refers to one or more data links that enable electronic data to be transmitted between computer systems and / or modules and / or other electronic devices. In one embodiment, the sensor and camera control unit can be networked to communicate with each other and with other components connected through the network to which they are connected. When information is transmitted or provided to a computer via a network or another communication connection (hardwired, wireless, or a combination of hardwired or wireless), the computer reasonably views the connection as a transmission medium. The transmission medium may include a network and / or data link that can be used to carry the desired program code tools in the form of computer-executable instructions or data structures and can be accessed by a general-purpose or special-purpose computer. The above combinations should also be included within the scope of computer-readable media.

[0106] Additionally, program code means in the form of computer-executable instructions or data structures may be automatically transferred by a transmission medium to a computer storage medium (or vice versa) upon arrival at various computer system components. For example, computer-executable instructions or data structures received over a network or data link may be cached in RAM within a network interface module (e.g., a "NIC") and then ultimately transferred to the computer system RAM and / or the computer system's non-volatile computer storage medium (or devices). RAM may also include solid-state drives (SSDs or PCIx-based real-time memory tiered storage devices, such as FusionIO). Thus, it should be understood that a computer storage medium (or devices) may be included in a computer system component that also (or even primarily) utilizes a transmission medium.

[0107] Computer-executable instructions include, for example, instructions and data that, when executed by one or more processors, cause a general-purpose computer, a special-purpose computer, or a special-purpose processing device to perform certain functions or groups of functions. Computer-executable instructions may be, for example, binary, intermediate format instructions (such as assembly language), or even source code. Although the subject matter of the present invention has been described in terms of structural features and / or method steps, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the features or steps described above. Rather, the features and steps described above are disclosed as example forms of implementing the claims.

[0108] Those skilled in the art will appreciate that the present disclosure can be implemented in a network computing environment having various types of computer system configurations, including personal computers, desktop computers, laptop computers, information processors, control units, camera control units, handheld devices, handheld devices, multi-processor systems, microprocessor-based or programmable consumer electronics, network PCs, minicomputers, mainframe computers, mobile phones, PDAs, tablet computers, pagers, routers, switches, various storage devices, and the like. It should be noted that any of the above computing devices can be provided by or located within a physical organization. The present disclosure can also be implemented in a distributed system environment, in which local and remote computer systems are connected via a network (via hardwired data links, wireless data links, or a combination of hardwired data links and wireless data links), and both can perform tasks. In a distributed system environment, program modules can be located in both local and remote memory storage devices.

[0109] In addition, where appropriate, the functions described herein may be performed by one or more of hardware, software, firmware, digital components, or analog components. For example, one or more application specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs) may be programmed to perform one or more of the systems and programs described herein. Certain terms used throughout the following description and claims refer to specific system components. It will be understood by those skilled in the art that components may have different names. It is not intended herein to distinguish between components that differ in name rather than function.

[0110] Figure 2A is a block diagram illustrating an exemplary computing device 250. Computing device 250 can be used to execute various programs, such as those discussed herein. Computing device 250 can function as a server, a client, or any other computing entity. Computing device 250 can perform the various monitoring functions discussed herein and can execute one or more applications, such as those described herein. Computing device 250 can be any of a variety of computing devices, such as a desktop computer, a laptop computer, a server computer, a handheld computer, a camera control unit, a tablet computer, and the like.

[0111] Computing device 250 includes one or more processors 252, one or more memory devices 254, one or more interfaces 256, one or more mass storage devices 258, one or more input / output (I / O) devices 260, and a display device 280, all coupled to a bus 262. Processor 252 includes one or more processors or controllers that execute instructions stored in memory device 254 and / or mass storage device 258. Processor 252 may also include various types of computer-readable media, such as cache memory.

[0112] Memory device 254 includes various computer-readable media such as volatile memory (e.g., random access memory (RAM) 264) and / or nonvolatile memory (e.g., read-only memory (ROM) 266). Memory device 254 may also include rewritable ROM such as flash memory.

[0113] The mass storage device 258 includes various computer readable media such as magnetic tapes, magnetic disks, optical disks, solid-state memory (e.g., flash memory), etc. Figure 2 , a particular mass storage device is shown as a hard drive 274. Various drives may also be included in the mass storage device 258 to enable reading from and / or writing to various computer-readable media. The mass storage device 258 includes removable media 276 and / or non-removable media.

[0114] I / O devices 260 include various devices that allow data and / or information to be input to or retrieved from computing device 250. Exemplary I / O devices 260 include digital imaging devices, electromagnetic sensors and transmitters, cursor control devices, keyboards, keypads, microphones, monitors or other display devices, speakers, printers, network interface cards, modems, lenses, CCD or other image capture devices, and the like.

[0115] Display device 280 includes any type of device capable of displaying information to one or more users of computing device 250. Examples of display device 280 include a monitor, a display terminal, a video projection device, and the like.

[0116] Interfaces 256 include various interfaces that allow computing device 250 to interact with other systems, devices, or computing environments. Exemplary interfaces 256 may include any number of different network interfaces 270, such as interfaces for connecting to a local area network (LAN), a wide area network (WAN), a wireless network, and the Internet. Other interfaces include a user interface 268 and a peripheral device interface 272. Interfaces 256 may also include one or more user interface elements 268. Interfaces 256 may also include one or more peripheral interfaces, such as interfaces for a printer, a pointing device (mouse, touchpad, etc.), a keyboard, etc.

[0117] The bus 262 allows the processor 252, memory device 254, interface 256, mass storage device 258, and I / O device 260 to communicate with each other and with other devices or components coupled to the bus 262. The bus 262 represents one or more of several types of bus structures, such as a system bus, a PCI bus, an IEEE 1394 bus, a USB bus, and the like.

[0118] For illustrative purposes, the programs and other executable program devices shown herein are discrete blocks, but it should be understood that such programs and devices may reside at various times in different memory devices of the computing device 250 and be executed by the processor 252. Alternatively, the systems and programs described herein may be implemented in hardware, or in a combination of hardware, software, and / or firmware. For example, one or more application specific integrated circuits (ASICs) or field programmable gate arrays may be programmed to execute one or more of the systems and programs described herein.

[0119] Figure 3A An operating cycle of a sensor used in a rolling readout mode or during sensor readout 300 is shown. Frame readout may begin at and may be represented by vertical line 310. A readout cycle is represented by a diagonal or slanted line 302. The active pixels of the pixel array of the image sensor may be read out row by row, with the top of the downward sloping edge being the sensor top row 312 and the bottom of the downward sloping edge being the sensor bottom row 314. The time between the last row readout and the next readout cycle may be referred to as a blanking period 316. It should be noted that some of the sensor pixel rows may be covered with a light shield (e.g., a metal coating or any other substantially black layer of another material type). These covered pixel rows may be referred to as optical black rows 318 and 320. The optical black rows 318 and 320 may be used as input to a correction algorithm. As Figure 3A As shown, these optically black rows 318 and 320 may be located on the top of the pixel array or on the bottom of the pixel array or on both the top and bottom of the pixel array.

[0120] Figure 3B A method for controlling the amount of electromagnetic radiation (e.g., light) exposed to a pixel and thus integrated or accumulated by the pixel is shown. It should be understood that photons are the elementary particles of electromagnetic radiation. Photons are integrated, absorbed, or accumulated by each pixel and converted into an electric charge or current. An electronic shutter or rolling shutter (shown by dotted line 322) can be used to start the integration time by resetting the pixel. The light will then be integrated until the next readout phase. The position of the electronic shutter 322 can be moved between two readout cycles 302 to control the pixel saturation for a given amount of light. It should be noted that this technique allows for a constant integration time between two different rows, but introduces a delay when moving from the top row to the bottom row.

[0121] Figure 3C The case is shown where the electronic shutter 322 has been removed. In this configuration, integration of incident light may begin during readout 302 and may end at the next readout cycle 302, which also defines the start of the next integration.

[0122] Figure 3D A configuration is shown without the electronic shutter 322 but with controlled and pulsed light 330 during the blanking period 316. This ensures that all rows see the same light as that emitted from the same light pulse 330. In other words, each row will begin its integration in a dark environment, which may be located at the optically black trailing row 320 of the readout frame (m) for maximum light pulse width, and will then receive light through and will end its integration in a dark environment, which may be located at the optically black leading row 318 of the next subsequent readout frame (m+1) for maximum light pulse width. In, for example Figure 3D In the example of FIG. 3 , the image generated by the light pulse will be available only during the readout of frame (m+1) without interfering with frames (m) and (m+2). It should be noted that the condition for the light pulse to be read out in only one frame and not interfering with adjacent frames is that the given light pulse is fired during the blanking period 316. Because the optically black rows 318 and 320 are insensitive to light, the time of the optically black post-row 320 of frame (m) and the time of the optically black pre-row 318 of frame (m+1) can be added to the blanking period 316 to determine the maximum range of the firing time of the light pulse 330.

[0123] like Figure 3A As shown, the sensor may cycle multiple times to receive data for each pulse color or wavelength (e.g., red, green, blue, or other wavelengths on the electromagnetic spectrum). Each cycle may be timed. In one embodiment, the cycles may be timed to operate within 16.67 ms intervals. In another embodiment, the cycles may be timed to operate within 8.3 ms intervals. It should be understood that other timing intervals are contemplated by the present disclosure and are intended to fall within the scope of the present disclosure.

[0124] Figure 4A The operation of an embodiment of an electromagnetic transmitter is illustrated graphically.The transmitter may be timed to correspond to the cycle of the sensor such that electromagnetic radiation is emitted within and / or during a portion of the sensor operating cycle. Figure 4APulse 1 at 402, pulse 2 at 404, and pulse 3 at 406 are shown. In one embodiment, the emitter can pulse during the readout period 302 of the sensor operating cycle. In one embodiment, the emitter can pulse during the blanking portion 316 of the sensor operating cycle. In one embodiment, the emitter can pulse for a duration that lasts for a portion of two or more sensor operating cycles. In one embodiment, the emitter can begin pulsing during the blanking portion 316 or during the optically black portion 320 of the readout period 302 and end pulsing during the readout period 302 or during the optically black portion 318 of the readout period 302 of the next subsequent cycle. It should be understood that any combination of the above is intended to fall within the scope of the present disclosure as long as the pulsing of the emitter corresponds to the cycles of the sensor.

[0125] Figure 4B The duration and magnitude of the emitted electromagnetic pulses (e.g., pulse 1 at 412, pulse 2 at 414, pulse 3 at 416) are graphically represented to control exposure. An emitter with a fixed output magnitude may be combined with the above Figure 3D and Figure 4A During any of the cycles described, the pulses are spaced apart to provide the desired electromagnetic energy to the pixel array. An emitter with a fixed output magnitude can be pulsed for longer intervals, thereby providing more electromagnetic energy to the pixel, or the emitter can be pulsed for shorter intervals, thereby providing less electromagnetic energy. Whether longer or shorter intervals are required depends on the operating conditions.

[0126] Rather than adjusting the time intervals during which the transmitter pulses a fixed output magnitude, the emission magnitude itself can be increased to provide more electromagnetic energy to the pixel. Similarly, decreasing the magnitude of the pulses can provide less electromagnetic energy to the pixel. It should be noted that embodiments of the system may include the ability to adjust both magnitude and duration, if desired. Furthermore, the sensor can be adjusted to increase its sensitivity and duration as needed for optimal image quality. Figure 4B The magnitude and duration of the pulses are shown. In the illustration, pulse 1 at 412 has a higher magnitude or intensity than pulse 2 at 414 or pulse 3 at 416. Additionally, pulse 1 at 412 has a shorter duration than pulse 2 at 414 or pulse 3 at 416, such that the electromagnetic energy provided by the pulses is indicated by the area under the pulses shown in the illustration. In the illustration, pulse 2 at 414 has a relatively lower magnitude or intensity and a longer duration when compared to pulse 1 at 412 or pulse 3 at 416. Finally, in the illustration, pulse 3 at 416 has an intermediate magnitude or intensity and duration when compared to pulse 1 at 412 and pulse 2 at 414.

[0127] Figure 5 It is a combination of the principles and teachings of this disclosure Figures 3A to 3D 4 , an operating cycle, an electromagnetic emitter, and a graphical representation of an embodiment of the present disclosure of an imaging system during operation. As can be seen in the figure, the electromagnetic emitter pulses primarily during the blanking period 316 of the image sensor so that the pixels will be charged and ready to be read during the readout period 302 of the image sensor cycle. Figure 5 The dotted lines in the figure represent electromagnetic radiation pulses (from Figure 4A ). The electromagnetic radiation pulses are primarily emitted during the blanking period 316 of the image sensor, but may overlap with the readout period 302 of the image sensor.

[0128] An exposure frame includes data read by the pixel array of the image sensor during readout cycle 302. The exposure frame can be combined with an indication of what type of pulse was emitted by the emitter prior to readout cycle 302. The combination of the exposure frame and the indication of the pulse type can be referred to as a data set. Multiple exposure frames can be combined to generate a black and white or RGB color image. Additionally, hyperspectral imaging data, fluorescence imaging data, and / or laser mapping imaging data can be overlaid on the black and white or RGB image.

[0129] In one embodiment, an RGB image frame is generated based on three exposure frames, including a red exposure frame generated by the image sensor after red emission, a green exposure frame generated by the image sensor after green emission, and a blue exposure frame generated by the image sensor after blue emission. Fluorescence imaging data may be superimposed on the RGB image frame. Fluorescence imaging data may be extracted from one or more fluorescence exposure frames. A fluorescence exposure frame includes data generated by the image sensor during a readout period 302 after emitting electromagnetic radiation at an excitation wavelength for exciting a fluorescent agent. The data sensed by the pixel array after exciting the fluorescent agent may be the relaxation wavelength emitted by the fluorescent agent. The fluorescence exposure frames may include multiple fluorescence exposure frames, each generated by the image sensor after a different type of fluorescence excitation emission. In one embodiment, the fluorescence exposure frames include multiple fluorescence exposure frames, including a first fluorescence exposure frame generated by the image sensor after emitting electromagnetic radiation having a wavelength of approximately 770 nm to approximately 790 nm, and a second fluorescence exposure frame generated by the image sensor after emitting electromagnetic radiation having a wavelength of approximately 795 nm to approximately 815 nm. The fluorescence exposure frames may include further additional fluorescence exposure frames generated by the image sensor after other fluorescence excitation emissions of light as needed based on the imaging application.

[0130] In one embodiment, the exposure frame is data sensed by the pixel array during a readout period 302 that occurs after a blanking period 316. The emission of electromagnetic radiation occurs during the blanking period 316. In one embodiment, a portion of the emission of electromagnetic radiation is overlapped with the readout period 316. The blanking period 316 occurs when optically black pixels of the pixel array are read, and the readout period 302 occurs when valid pixels of the pixel array are read. The blanking period 316 can overlap with the readout period 302.

[0131] Figure 6A and Figure 6B A process for recording image frames is shown. Multiple image frames can be strung together to generate a video stream. A single image frame can include data from multiple exposure frames, where an exposure frame is data sensed by the pixel array after emitting electromagnetic radiation. Figure 6A A conventional process is shown that is typically implemented with a color image sensor having a color filter array (CFA) to filter out certain wavelengths of light for each pixel. Figure 6B is a process disclosed herein and can be implemented using a monochromatic "color-indeterminate" image sensor capable of receiving electromagnetic radiation of all wavelengths.

[0132] Figure 6A The process shown occurs from time t(0) to time t(1). The process begins by emitting white light 602 and sensing white light 604. At 606, an image is processed and displayed based on the sensing at 604.

[0133] Figure 6B The process shown occurs from time t(0) to time t(1). The process first emits green light 612 and senses reflected electromagnetic radiation 614 after emitting green light 612. The process continues by emitting red light 616 and sensing reflected electromagnetic radiation 618 after emitting red light 616. The process continues by emitting blue light 620 and sensing reflected electromagnetic radiation 622 after emitting blue light 620. The process continues with one or more emissions of special 624 emissions and sensing reflected electromagnetic energy 626 after each of the one or more emissions of special 624 emissions. Special emissions may include one or more individual emissions, such as excitation wavelengths of fluorescent agents, hyperspectral emissions, and / or laser marking emissions. Each of the individual multiple special emissions can be independently sensed by the image sensor to generate a separate and independent exposure frame. At 628, an image is processed and displayed based on each of the sensed reflected electromagnetic energy instances 614, 618, 622, and 626.

[0134] Figure 6B The process shown provides a higher resolution image and provides a way to generate RGB images that also include special data. Figure 6B(as shown), making the sensor sensitive to electromagnetic energy of all wavelengths. Figure 6B In the illustrated process, a monochrome pixel array is instructed to sense electromagnetic energy from a predetermined sub-segment of the full-spectrum electromagnetic energy during each cycle. Thus, to form an image, the sensor need only cycle through multiple different sub-segments within the full-spectrum light. The final image is assembled based on multiple cycles. Because the image from each color-partitioned frame cycle has a higher resolution (compared to a CFA pixel array), the resulting image formed when the sub-segmented light frames are combined also has a higher resolution. In other words, because every pixel within the array (rather than, at most, every other pixel in a sensor with a CFA) is sensing an amount of energy for a given pulse and a given scene, a higher-resolution image is formed for each scene only at intervals.

[0135] As in Figure 6A and Figure 6B In the embodiment shown in FIG, it can be seen graphically between time t(0) and t(1) that Figure 6B The sensor pair of the partitioned spectral system Figure 6A Each system in the full spectrum system in the embodiment is cycled at least four times. In one embodiment, the display device (LCD panel) operates at a speed of 50 to 60 frames per second. In such an embodiment, Figure 6B The partitioned optical system in the embodiment can operate at a rate of 200 to 240 frames per second to maintain the continuity and smoothness of the displayed video. In other embodiments, different capture and display frame rates may exist. In addition, the average capture rate can be any multiple of the display rate.

[0136] In one embodiment, it may be desirable that not all sectors are represented equally within the system frame rate. In other words, not all light sources must be pulsed with the same regularity in order to emphasize and de-emphasize various aspects of the recorded scene as desired by the user. It should also be understood that invisible and visible sectors of the electromagnetic spectrum can be pulsed together within the system, with their corresponding data values ​​stitched into the video output for display to the user.

[0137] One exemplary embodiment may include the following pulse cycle pattern:

[0138] i. Green pulse;

[0139] ii. Red pulse;

[0140] iii. Blue pulse;

[0141] iv. Green pulse;

[0142] v.Red pulse;

[0143] vi.Blue pulse;

[0144] vii. Laser mapping pulse scheme;

[0145] viii. Fluorescence excitation pulse;

[0146] ix. Hyperspectral pulses;

[0147] x.(repeat)

[0148] Another exemplary embodiment may include the following pulse cycle pattern:

[0149] i. Green pulse;

[0150] ii. Red pulse;

[0151] iii. Blue pulse;

[0152] iv. Fluorescence excitation pulse;

[0153] v.Hyperspectral pulse;

[0154] vi. Green pulse;

[0155] vii.Red pulse;

[0156] viii.Blue pulse;

[0157] ix. Fluorescence excitation pulse;

[0158] x.Hyperspectral pulse;

[0159] xi. Laser mapping pulse scheme;

[0160] xii.(repeat)

[0161] Embodiments may include pulse cycle patterns such as:

[0162] i. Brightness pulse;

[0163] ii. Red chroma pulse;

[0164] iii. Brightness pulse;

[0165] iv. Blue chroma pulse;

[0166] v.Hyperspectral pulse;

[0167] vi. Fluorescence excitation pulse;

[0168] vii. Laser marking pulse;

[0169] viii.(repeat)

[0170] Embodiments may include pulse cycle patterns such as:

[0171] i. Brightness pulse;

[0172] ii. Red chroma pulse;

[0173] iii. Brightness pulse;

[0174] iv. Blue chroma pulse;

[0175] v.Brightness pulse;

[0176] vi. Red chroma pulse;

[0177] vii. Brightness pulse;

[0178] viii. Blue chroma pulse;

[0179] ix. Hyperspectral pulses;

[0180] x. Fluorescence excitation pulse;

[0181] xi. Laser marking pulse;

[0182] xii.(repeat)

[0183] The pulse pattern can be changed to suit the imaging objectives of a particular implementation. One exemplary imaging objective is to obtain hyperspectral imaging data and fluorescence imaging data, and also to obtain laser mapping data and / or tool tracking data based on an analysis of the hyperspectral imaging data and / or fluorescence imaging data. In such an example, the laser mapping data and / or tool tracking data can be analyzed for certain areas of the scene that have been highlighted by the hyperspectral imaging data and / or fluorescence imaging data. Another exemplary imaging objective is to obtain hyperspectral imaging data or fluorescence imaging data, and also to obtain laser mapping data and / or tool tracking data. Another exemplary imaging objective is to obtain laser mapping data and / or tool tracking data. Another exemplary imaging objective is to obtain hyperspectral imaging data. Another exemplary imaging objective is to obtain fluorescence imaging data. It should be understood that the imaging objectives can be specialized, depending on the reason for deploying the imaging system. In addition, the imaging objectives can change during a single imaging session, and the pulse pattern can be changed to match the changing imaging objectives.

[0184] As can be seen in this example, the laser mapped partition can be pulsed at a different rate than the other partitions. Doing so can emphasize a certain aspect of the scene, with the laser mapped data simply overlaid with other data in the video output to make the desired emphasis. It should be noted that adding the laser mapped partition on top of the red, green, and blue partitions does not necessarily require the serialized system to operate at four times the rate of a full spectrum non-serial system, as each partition does not have to be equally represented in the pulse pattern. As seen in this embodiment, adding the partition pulses that represent fewer partitions in the pulse pattern (the laser marker in the example above) will result in an increase of less than 20% in the cycle speed of the sensor to accommodate the irregular sampling of the partitions.

[0185] In various embodiments, the pulse cycle pattern can also include any of the following wavelengths in any suitable order. Such wavelengths can be particularly suitable for exciting a fluorescent agent to generate fluorescence imaging data by sensing the relaxation emission of the fluorescent agent based on the relaxation emission of the fluorescent agent:

[0186] i.770±20nm;

[0187] ii.770±10nm;

[0188] iii.770±5nm;

[0189] iv.790±20nm;

[0190] v.790±10nm;

[0191] vi.790±5nm;

[0192] vii.795±20nm;

[0193] viii.795±10nm;

[0194] ix.795±5nm;

[0195] x.815±20nm;

[0196] xi.815±10nm;

[0197] xii.815±5nm;

[0198] xiii. 770nm to 790nm; and / or

[0199] xiv.795nm to 815nm.

[0200] In various embodiments, the pulse cycle may also include any of the following wavelengths in any suitable order. Such wavelengths may be particularly suitable for generating hyperspectral imaging data:

[0201] i. 513nm to 545nm;

[0202] ii.565nm to 585nm;

[0203] iii.900nm to 1000nm;

[0204] iv.513±5nm;

[0205] v.513±10nm;

[0206] vi.513±20nm;

[0207] vii.513±30nm;

[0208] viii.513±35nm;

[0209] ix.545±5nm;

[0210] x.545±10nm;

[0211] xi.545±20nm;

[0212] xii.545±30nm;

[0213] xiii.545±35nm;

[0214] xiv.565±5nm;

[0215] xv.565±10nm;

[0216] xvi.565±20nm;

[0217] xvii.565±30nm;

[0218] xviii.565±35nm;

[0219] xix.585±5nm;

[0220] xx.585±10nm;

[0221] xxi.585±20nm;

[0222] xxii.585±30nm;

[0223] xxiii.585±35nm;

[0224] xxiv.900±5nm;

[0225] xxv.900±10nm;

[0226] xxvi.900±20nm;

[0227] xxvii.900±30nm;

[0228] xxviii.900±35nm;

[0229] xxix.1000±5nm;

[0230] xxx.1000±10nm;

[0231] xxxi.1000±20nm;

[0232] xxxii.1000±30nm; or

[0233] xxxiii.1000±35nm.

[0234] The partition loop can be divided to accommodate or approximate various imaging and video standards. In one embodiment, the partition loop may include the following: 7A to 7D Pulses of electromagnetic energy in the red, green, and blue spectrum are best shown in . Figure 7A In , different light intensities have been achieved by modulating the light pulse width or duration within the operating range shown by the vertical grey dashed line. Figure 7B In , different light intensities have been achieved by modulating the power of an optical or electromagnetic emitter (which may be a laser or LED emitter), but keeping the pulse width or duration constant. Figure 7C The example shows a case where both the optical power and optical pulse width are modulated to provide greater flexibility. The zoned loop can use cyan, magenta, yellow (CMY), infrared, ultraviolet, hyperspectral, and fluorescent light, using invisible pulse sources mixed with visible pulse sources, as well as any other color space required to produce an image or approximate a desired video standard, currently known or yet to be developed. It should also be understood that the system can switch between color spaces on the fly to provide the desired image output quality.

[0235] When using the color space green-blue-green-red (such as Figure 7D In an embodiment such as that shown in , it may be desirable to pulse the luma component more frequently than the chroma components because users are generally more sensitive to differences in light magnitude than to differences in light color. Figure 7D The monochrome sensor shown in utilises this principle. Figure 7D In the (GBGRGBGR...) scheme, green, which contains the most luminance information, can be pulsed more frequently or with greater intensity to obtain luminance data. Such a configuration will create a video stream with more perceptible details without creating and transmitting imperceptible data.

[0236] In one embodiment, replicating the pulses of the weaker sub-areas can be used to produce an output that has been adjusted for the weaker pulses. For example, given the weak sensitivity of blue lasers relative to silicon based pixels, and the difficulty of producing blue lasers compared to red or green light, it can be pulsed more frequently during the frame cycle to compensate for the weakness of the light. These additional pulses can be done continuously over time, or by using multiple lasers to be pulsed simultaneously to produce the desired compensating effect. It should be noted that by pulsing during blanking periods (times during which the sensor is not reading out the pixel array), the sensor is insensitive to differences / mismatches between lasers of the same kind, and simply accumulates the light for the desired output. In another embodiment, the maximum light pulse range may be different from frame to frame. This is in Figure 7E , where the light pulses are different from frame to frame. The sensor can be constructed to be able to program different blanking periods in a repeating pattern of 2 frames or 3 frames or 4 frames or n frames.

[0237] exist Figure 7E In Figure 1, four different light pulses are shown, and pulse 1 can be repeated, for example, after pulse 4, and can have a pattern of four frames with different blanking periods. This technique can be used to place the most powerful partition at the minimum blanking period, thereby allowing the weakest partition to have a wider pulse over one of the subsequent frames without increasing the readout speed. The reconstructed frame can still have a regular pattern from frame to frame because it is composed of many pulse frames.

[0238] Figure 8A and Figure 8B An embodiment of a system 800 for removing speckle from a digital image is shown. The system 800 is an endoscopic imaging system for an abluminal environment, wherein the abluminal environment is illuminated with a pulsed coherent light source. The system 800 may include Figure 2 Each component of the system 200 shown. It should be understood that the system 800 may also include components relative to Figure 2 Fewer or additional components of system 200 are shown.

[0239] System 800 includes a coherent light source 802 in communication with a controller 804. The coherent light source 802 provides light to an endoscope 810 via a fiber optic bundle 808 that connects the coherent light source 802 to the endoscope 810. The light can then be transmitted through the endoscope 810 to illuminate a scene that is imaged by an image sensor 812. Figure 8A In the illustrated embodiment, the image sensor 812 is located at the distal end of the endoscope and is Figure 8BIn an alternative implementation shown in FIG, an image sensor 812 is located at the proximal end of the endoscope 810. The endoscope 810 includes an imaging unit 814 in communication with the image sensor 812 and the controller 804. The imaging unit 814 can be configured to perform image signal processing on data received from the image sensor 812. The system 800 also includes a display 816 for displaying a scene imaged by the image sensor 812 and illuminated by the coherent light source 802.

[0240] System 800 includes a vibration mechanism 806 attached to a fiber optic bundle 808. Vibration mechanism 806 is attached between coherent light source 802 and endoscope 810 at a location along the length of fiber optic bundle 808. Vibration mechanism 806 causes the coherent light emitted by coherent light source 802 to temporarily lose coherence by changing the geometry of the coherent light path. Vibration mechanism 806 introduces a series of changes to the path geometry of the coherent light. When the path geometry changes at a rapid frequency, the observable speckle pattern is substantially reduced or eliminated, rendering the speckle pattern undetectable to a person viewing display 816. In one embodiment, the minimum oscillation frequency for eliminating observable speckle is approximately 20 Hz. If images of the environment are captured using image sensor 812, this minimum frequency can be varied based on the image acquisition frame rate and the display frame rate.

[0241] In an embodiment, the imaging unit 814 is configured to remove speckle from exposure frames and / or image frames. The imaging unit 814 may be positioned within the image sensor 812. The image sensor 812 includes a pixel array that includes a plurality of pixels for sensing reflected electromagnetic radiation that has been emitted by the coherent light source 802 and then reflected from surfaces within the scene. The image sensor 812 sequentially generates exposure frames according to a pulse schedule as discussed herein.

[0242] The coherent light source 802 emits pulses of electromagnetic radiation to illuminate a light-deficient environment. As discussed herein, the coherent light source 802 is an embodiment of a transmitter such as Figure 2 Emitter 202 is shown. Coherent light source 802 may include multiple laser emitters for emitting pulses of electromagnetic radiation of different wavelengths. Coherent light source 802 may include, for example, one or more laser emitters for each of the following electromagnetic radiation wavelengths: red visible light, green visible light, blue visible light, a luminance component, a red chrominance component, a blue chrominance component, hyperspectral emission for eliciting a spectral response, fluorescence excitation emission for fluorescing an agent, and / or laser mapping emission for measuring distance, size, and / or generating a three-dimensional topographic map of a scene.

[0243] In one embodiment, the hyperspectral emission includes one or more of electromagnetic radiation having a wavelength of about 513-545 nm, about 565-585 nm, and / or about 900-1000 nm. In such an embodiment, the coherent light source 802 includes at least one laser emitter for the 513-545 nm sub-region, at least one laser emitter for the 565-585 nm sub-region, and at least one laser emitter for the 900-1000 nm sub-region. It should be understood that additional hyperspectral emissions for eliciting a spectral response can be emitted without departing from the scope of the present disclosure.

[0244] In one embodiment, the fluorescence excitation emission comprises one or more of electromagnetic radiation having a wavelength of about 460-470 nm, 529-537 nm, 633-643 nm, 775-785 nm, 800-810 nm, 970-980 nm, 575-579 nm, 519-527 nm, 770-790 nm, and / or 795-815 nm. In such embodiments, the coherent light source 802 may comprise at least one laser emitter for each of the aforementioned zones of electromagnetic radiation. It should be understood that additional fluorescence excitation emissions for causing the reagent to fluoresce may be emitted without departing from the scope of this disclosure.

[0245] The coherent light source 802 may include an emitter configured to emit pulses of electromagnetic radiation to illuminate a light-deficient environment. The coherent light source 802 may be any suitable coherent light source that is known or may become known in the future and may be used in a surgical setting without departing from the scope of the present disclosure. The optical fiber bundle 808 may be connected to the coherent light source 802 and the endoscopic device 810, such as Figure 8A and Figure 8B The fiber optic bundle 808 may be any suitable fiber optic bundle that is known or may become known in the future for use in a surgical setting without departing from the scope of the present disclosure.

[0246] The control unit 804 may include circuitry for sending data to and receiving data from the image sensor 812 to create an exposure frame of the scene. The control unit 804 may be any suitable control unit that is known or may become known in the future that can be used in a surgical setting without departing from the scope of the present disclosure. Similarly, the display 816 of the present disclosure allows a user to visualize the surgical site and may be any suitable display 816 that is known or may become known in the future that can be used in a surgical setting without departing from the scope of the present disclosure.

[0247] It should be understood that the imaging device 814 of the system 800 can be in electronic communication with the control unit 804. In a specific implementation, the imaging sensor 812 can be a CMOS sensor. In a specific implementation, the imaging sensor 812 can be a CCD sensor.

[0248] It should be understood that the above disclosure can be applied to any MIS or endoscopic visualization system using a laser-based light source, including conventional reusable systems, limited-use systems, or reconfigurable systems or single-use systems. This also applies to white or colored laser light sources within or outside the visible spectrum.

[0249] Figures 9A to 9C and FIG. 10A to FIG. 10B Various views and embodiments of vibration mechanism 806 are shown. Figures 9A to 9C One embodiment of the vibration mechanism 806 is shown, and FIG. 10A to FIG. 10B Another embodiment of a vibration mechanism 806 is shown. Figure 9A is an exploded cross-sectional side view of vibration mechanism 806 attached to sleeve 924 , where sleeve 924 is configured to connect to a segment of fiber optic bundle 808 . Figure 9B is an exploded cross-sectional side view of vibration mechanism 806 , illustrating how housing 920 of vibration mechanism 806 may be attached to sleeve 924 . Figure 9C is a cross-sectional side view of a vibration mechanism 806 attached to a fiber optic bundle 808. Figure 10A is an exploded cross-sectional side view of the vibration mechanism 806 , wherein the vibration mechanism is a vibration device 922 that can be directly attached to the fiber optic bundle 808 separate from the sleeve 924 . Figure 10B is a cross-sectional side view of a vibration mechanism 806 attached to a fiber optic bundle 808.

[0250] Figures 9A to 9C 808a and 808b. The embodiment of the vibration mechanism 806 is shown, which includes a housing 920 for enclosing a vibration device 922. The housing 920 of the vibration mechanism 806 can be attached to sleeves 924a, 924b (collectively referred to as sleeves 924). The sleeve 924 can include a first sleeve portion 924a and a second sleeve portion 924b, which can be used to connect a first optical fiber portion 808a and a second optical fiber portion 808b, respectively. The first optical fiber portion 808a and the second optical fiber portion 808b can be collectively referred to herein as the optical fiber bundle 808.

[0251] Figures 9A to 9B 806 is shown without being attached to the fiber optic bundle 808 and illustrates how the housing 920 and sleeve 924 may be connected. Figure 9BAn exploded cross-sectional side view is shown including dashed arrows indicating how recesses in housing 920 may connect with corresponding channels in sleeve 924. It should be understood that in alternative embodiments, housing 920 may include channels and sleeve 924 include corresponding recesses. Figure 9C A cross-sectional view of the housing 920 of the vibration mechanism 806 is shown attached to the sleeve 924 and wherein the first sleeve portion 924a and the second sleeve portion 924b have been connected to connect the first optical fiber portion 808a and the second optical fiber portion 808b.

[0252] Sleeve 924 can be used to connect two separate sections of fiber optic cable. It should be understood that in alternative embodiments, the optical fiber bundle 808 is a continuous cable and is not connected to the sleeve 924. In such embodiments, the optical fiber bundle 808 can still be protected or enclosed by the sleeve 924. In one embodiment, the entire length of the optical fiber bundle 808 is enclosed by the sleeve 924.

[0253] A vibration device 922 is disposed within the housing 920. The vibration device 922 oscillates or shakes, causing the entire vibration mechanism 806 to oscillate or shake, thereby causing the optical fiber bundle 808 to move. When the optical fiber bundle 808 oscillates while carrying the emission of coherent light, the coherent light loses some coherence. The vibration device 922 can be one or more of a small mechanical motor, a piezoelectric crystal, an oscillator, and / or a resonator component. The vibration device 922 can be selected from a small mechanical motor, a piezoelectric crystal, an oscillator, or a resonator component.

[0254] Vibration mechanism 806 can be located anywhere along fiber bundle 808. Vibration mechanism 806 causes light emitted from coherent light source 802 to temporarily lose coherence due to the altered geometry of the light's path. When the new light path is stopped, a new speckle pattern emerges. Introducing vibration or a vibration stimulus into fiber bundle 808 introduces a series of changes in the path geometry. This series of changes can be performed at a sufficiently rapid frequency to substantially reduce or eliminate the observable speckle pattern, rendering it undetectable to the human eye when the video is output to display 816.

[0255] In one embodiment, the vibration mechanism 806 is located or positioned at the junction or connection point of the two lengths of the optical fiber bundle 808, such as Figures 9A to 9C In this embodiment, the vibration device 922 is integrated into the housing 920, which connects the two lengths of the optical fiber bundle 808, as shown. Figure 9C In one embodiment, the vibration mechanism 806 is coupled to a single location along the length of the fiber optic bundle 808, rather than multiple locations.

[0256] In one embodiment, the endoscopic imaging system further includes a vibration damper to minimize vibrations experienced by the user. The vibration damper can be located anywhere along the fiber optic bundle 808 to reduce the amplitude of the oscillations or vibrations so that the user of the endoscopic system 800 does not experience or receive the oscillations or vibrations.

[0257] FIG. 10A to FIG. 10B An embodiment of a vibration mechanism 806 is shown that does not include a housing (e.g., Figures 9A to 9C shown) and instead attached directly to the fiber optic bundle. Figure 10A An exploded cross-sectional view is shown in which the vibration device 922 is not attached to the optical fiber bundle 808, and Figure 10B A cross-sectional view is shown in which a vibration device 922 is attached to the optical fiber bundle 808. In this embodiment, the vibration device 922 is directly attached to the optical fiber bundle 808 without any intermediate connectors or components. In such an embodiment, the vibration device 922 can be a small mechanical motor, a piezoelectric crystal, an oscillator, and / or a resonator component. The vibration device 922 can be selected from a small mechanical motor, a piezoelectric crystal, an oscillator, and a resonator component.

[0258] Figure 11 1 is an example of color fusion hardware 1100. Color fusion hardware 1100 is deployed to generate image frames according to the pulsed illumination scheme discussed herein. The color fusion process is more straightforward than demosaicing, which is required for image sensors with color filter arrays, because there is no spatial interpolation. The color fusion process performed by color fusion hardware 1100 does not require buffering of exposure frames to have all the necessary information available for each pixel.

[0259] Memory writer 1102 receives a video data stream. In one embodiment, the video data stream includes Y-Cb-Y-Cr-Y-Cb-Y-special exposure frames. In another embodiment, the video data stream includes RGBG-special exposure frames. The video data stream may include YCbCr or RGB exposure frames combined with one or more of hyperspectral exposure frames, fluorescence exposure frames, and / or laser mapping or tool tracking exposure frames.

[0260] Memory writer 1102 writes the video data stream to memory 1104. The video data stream can be parsed into, for example, a Cb+δY exposure frame, one or more luma exposure frames, a Cr+λY exposure frame, a hyperspectral exposure frame, a fluorescence exposure frame, and / or a laser mapping exposure frame. Alternatively, the video data stream can be parsed into, for example, a red exposure frame, one or more green exposure frames, a blue exposure frame, a hyperspectral exposure frame, a fluorescence exposure frame, and / or a laser mapping exposure frame. The different exposure frames are read by memory reader 1106, and a parallel RGB video data stream is generated at 1108. A pulse generator and frame sync 1110 sends information to memory writer 1104 and memory reader 1106 to facilitate fusion of the multiple exposure frames. This information is output by pulse generator and frame sync 1110 to the light source.

[0261] Figure 12 is a schematic diagram of the pattern reconstruction process. Figure 12 The exemplary pattern shown includes red, green, blue, and special pulses of light, each lasting for a duration of T1. In various embodiments, the light pulses can have the same duration or different durations. The red, green, blue, and special exposure frames are combined to generate an RGB image with special data, such as hyperspectral, fluorescence, and / or laser mapping data, superimposed thereon. A time period of 4*T1 is required to generate a single image frame including the red, green, blue, and special exposure frames.

[0262] Figure 12 The durations shown are illustrative only and may vary for different specific implementations. For example, a pulse scheme may include red pulses, green pulses, blue pulses, hyperspectral pulses, laser marking pulses of light. An alternative pulse scheme may include red pulses, green pulses, blue pulses, hyperspectral pulses, fluorescence pulses, and laser marking pulses of light. An alternative pulse scheme may include red pulses, green pulses, blue pulses, and hyperspectral pulses of light. An alternative pulse scheme may include red pulses, green pulses, blue pulses, and fluorescence pulses of light. An alternative pulse scheme may include red pulses, green pulses, blue pulses, and laser marking pulses of light. It should be understood that the pulse sequence may vary depending on the desired specific implementation. For example, red pulses, green pulses, and blue pulses may be pulsed more frequently than any of the hyperspectral pulses, fluorescence pulses, and laser marking pulses. This may be determined on a case-by-case basis based on the importance of the specialized imaging data relative to the RGB color imaging data.

[0263] In other embodiments, different pulse schemes may be used. For example, an embodiment may be based on the timing of each color component or frame (T1), with the reconstructed frame having a period that is twice the period of the input color frame (2×T1). Different frames within a sequence may have different frame periods, and the average capture rate may be any multiple of the final frame rate.

[0264] In one embodiment, the dynamic range of the system is increased by varying the pixel sensitivity of pixels within a pixel array of an image sensor. Some pixels may sense reflected electromagnetic radiation at a first sensitivity level, other pixels may sense reflected electromagnetic radiation at a second sensitivity level, and so on. The different pixel sensitivities may be combined to increase the dynamic range provided by the pixel configuration of the image sensor. In one embodiment, adjacent pixels are set at different sensitivities so that each cycle includes data generated by pixels that are more sensitive and less sensitive relative to each other. When multiple sensitivities are recorded in a single cycle of the pixel array, the dynamic range is increased. In one embodiment, a wide dynamic range may be achieved by having multiple global TXs, each TX firing only on a different set of pixels. For example, in global mode, the global TX1 signal is firing pixel group 1, the global TX2 signal is firing pixel group 2, the global TXn signal is firing pixel group n, and so on.

[0265] 13A to 13C Each light source 1300 is shown having multiple emitters. The emitters include a first emitter 1302, a second reflector 1304, and a third emitter 1306. Additional emitters may be included, as discussed further below. The emitters 1302, 1304, and 1306 may include one or more laser generators that emit light having different wavelengths. For example, the first emitter 1302 may emit a wavelength consistent with a blue laser, the third emitter 1304 may emit a wavelength consistent with a green laser, and the third emitter 1306 may emit a wavelength consistent with a red laser. For example, the first emitter 1302 may include one or more blue lasers, the second emitter 1304 may include one or more green lasers, and the third emitter 1306 may include one or more red lasers. The lasers 1302, 1304, 1306 emit laser beams toward a collection area 1308, which may be a waveguide, a lens, or a device for collecting light and / or transmitting light to a waveguide such as Figure 2 The jumper waveguide 206 or the intracavity waveguide 210) provides a location for other optical components of the light.

[0266] In one embodiment, the emitters 1302, 1304, and 1306 emit electromagnetic radiation at hyperspectral wavelengths. Certain hyperspectral wavelengths can penetrate tissue and enable a medical practitioner to "see through" tissue in the foreground to identify chemical processes, structures, compounds, biological processes, etc., located behind the tissue in the foreground. Hyperspectral wavelengths can be specifically selected to identify specific diseases, tissue conditions, biological processes, chemical processes, tissue types, etc., which are known to have certain spectral responses.

[0267] In embodiments where a reagent or dye that aids in identifying certain tissues, structures, chemical reactions, biological processes, etc. has been administered to a patient, emitters 1302, 1304, and 1306 may emit wavelengths that cause the reagent or dye to fluoresce. Such wavelengths may be determined based on the reagent or dye administered to the patient. In such embodiments, the emitters may need to be highly precise in order to emit the desired wavelengths to cause certain reagents or dyes to fluoresce or activate.

[0268] In one embodiment, emitters 1302, 1304, and 1306 emit laser mapping patterns for mapping the topography of a scene and / or for calculating the size and distance between objects in the scene. In one embodiment, an endoscopic imaging system is used in conjunction with multiple tools (such as scalpels, retractors, clamps, etc.). In such an embodiment, each of emitters 1302, 1304, and 1306 can emit a laser mapping pattern such that the laser mapping pattern is projected onto each tool individually. In such an embodiment, the laser mapping data for each of the tools can be analyzed to identify the distance between the tool and other objects in the scene.

[0269] exist Figure 13B In an embodiment, emitters 1302, 1304, 1306 each deliver laser light to collection area 1308 at a different angle. Variations in the angles can result in variations in the location of the electromagnetic energy in the output waveguide. For example, if the light enters a fiber bundle (glass or plastic) immediately at collection area 1308, the varying angles can result in varying amounts of light entering different fibers. For example, the angles can result in intensity variations across collection area 1308. Additionally, light from different emitters may not be evenly mixed, so some fibers may receive varying amounts of different colors of light. Variations in the color or intensity of the light in different fibers can result in non-optimal illumination of the scene. For example, variations in the delivered light or light intensity can result in variations in the scene and captured image.

[0270] In one embodiment, an intervening optical element may be placed between the fiber bundle and the emitters 1302, 1304, 1306 to mix light of different colors (wavelengths) before entering the fiber or other waveguide. Exemplary intervening optical elements include a diffuser, a mixing rod, one or more lenses, or other optical components for mixing light so that a given fiber receives the same amount of each color (wavelength). For example, each fiber in the fiber bundle may have the same color. This mixing may result in the same color in each fiber, but, in some embodiments, may still result in different total brightness delivered to different fibers. In one embodiment, the intervening optical element may also spread or evenly distribute the light over the collection area so that each fiber carries the same total amount of light (e.g., the light may be spread out in a top-hat profile). A diffuser or mixing rod may result in light loss.

[0271] Although collection area 1308 is Figure 13A 1306, but collection region 1308 may simply be the region where light from emitters 1302, 1304, and 1306 is delivered. In some cases, collection region 1308 may include optical components such as diffusers, mixing rods, lenses, or any other intervening optical components between emitters 1302, 1304, 1306 and the output waveguide.

[0272] Figure 13C An embodiment of a light source 1300 is shown having emitters 1302, 1304, 1306 that provide light at the same or approximately the same angle to a collection area 1308. The light is provided at an angle that is substantially perpendicular to the collection area 1308. The light source 1300 includes a plurality of dichroic mirrors, including a first dichroic mirror 1310, a second dichroic mirror 1312, and a third dichroic mirror 1314. The dichroic mirrors 1310, 1312, 1314 include mirrors that reflect light of a first wavelength but transmit (or are transparent to) light of a second wavelength. For example, the third dichroic mirror 1314 may reflect blue laser light provided by a third emitter while being transparent to red and green light provided by the first and second emitters 1302, 1304, respectively. The second dichroic mirror 1312 may be transparent to light from the first emitter 1302 but reflective to light from the second emitter 1304. If other colors or wavelengths are included, the dichroic mirrors can be selected to reflect light corresponding to at least one emitter and be transparent to other emitters. For example, third dichroic mirror 1314 reflects light from third emitter 1306 but is transparent to emitters "behind" it, such as first emitter 1302 and second emitter 1304. In embodiments where there are dozens or hundreds of emitters, each dichroic mirror can reflect light from the corresponding emitter and the emitter in front of it, while being transparent to the emitter behind it. This can allow dozens or hundreds of emitters to emit electromagnetic energy at substantially the same angle into collection area 1308.

[0273] Because these dichroic mirrors allow other wavelengths to be transmitted or passed through, each of these wavelengths can arrive at the collection area 1308 from the same angle and / or with the same center point or focal point. Providing light from the same angle and / or the same focal point / center point can significantly improve reception and color mixing at the collection area 1308. For example, a particular fiber can receive different colors in the same proportions as they are transmitted / reflected by the emitters 1302, 1304, 1306 and the mirrors 1310, 1312, 1314. Figure 13B In one embodiment, any of the optical components discussed herein can be used at the collection region 1308 to collect light before providing it to a fiber or fiber bundle.

[0274] Figure 13C An embodiment of a light source 1300 is shown having emitters 1302, 1304, 1306 that also provide light to a collection area 1308 at the same or approximately the same angle. For example, the light incident on the collection area 1308 is offset from vertical. Angle 1316 indicates the angle of the offset from vertical. In one embodiment, the laser emitters 1302, 1304, 1306 may have a Gaussian cross-sectional intensity profile. As previously described, improved distribution of light energy between fibers can be achieved by forming a flatter or top-hat shaped intensity profile. In one embodiment, as angle 1316 increases, the intensity across the collection area 1308 approaches a top-hat profile. For example, by increasing angle 1316 until the profile is sufficiently flat, a top-hat profile can even be approximated for a non-flat output beam. A top-hat profile can also be achieved using one or more lenses, diffusers, mixing rods, or any other intervening optical components between the emitters 1302, 1304, 1306 and the output waveguide, fiber, or fiber bundle.

[0275] Figure 14 14 is a schematic diagram showing a single optical fiber 1402 outputted through a diffuser 1404 at the output. In one embodiment, optical fiber 1402 has a diameter of 500 microns, a numerical aperture of 0.65, and emits a light cone 1406 of approximately 70 or 80 degrees without diffuser 1404. With diffuser 1404, light cone 1406 may have an angle of approximately 110 or 120 degrees. Light cone 1406 may be the bulk of where all light arrives and is evenly distributed. Diffuser 1404 may allow for a more even distribution of the electromagnetic energy of the scene observed by the image sensor.

[0276] In one embodiment, the intracavity waveguide 210 comprises a single plastic or glass optical fiber of approximately 500 microns. Plastic fibers are relatively low-cost and their width allows the fiber to carry sufficient light to the scene, but with coupling, diffusion, or other losses. For example, a smaller fiber may not be able to carry as much light or power as a larger fiber. The intracavity waveguide 210 can comprise a single or multiple optical fibers. The intracavity waveguide 210 can receive light directly from a light source or via a patch waveguide. A diffuser can be used to widen the light output 206 to achieve the desired field of view for the image sensor 214 or other optical components.

[0277] Although 13A to 13C Three emitters are shown, but in some embodiments, a number ranging from one to hundreds or more emitters may be used. The emitters can have different wavelengths or spectra of light that they emit, and these can be used to continuously cover desired portions of the electromagnetic spectrum (e.g., the visible spectrum as well as the infrared and ultraviolet spectra). The emitters can be configured to emit visible light such as red, green, and blue light, and can also be configured to emit hyperspectral emissions of electromagnetic radiation, fluorescence excitation wavelengths for causing reagents to fluoresce, and / or laser mapping patterns for calculating parameters and distances between objects in a scene.

[0278] Figure 15 A portion of the electromagnetic spectrum 1500 is shown divided into twenty different sub-spectra. The number of sub-spectra is exemplary only. In at least one embodiment, spectrum 1500 can be divided into hundreds of sub-spectra, each with a small wavelength band. The spectrum can extend from infrared spectrum 1502, through visible spectrum 1504, and into ultraviolet spectrum 1506. Each sub-spectra has a wavelength band 1508 covering a portion of spectrum 1500. Each wavelength band can be defined by an upper wavelength and a lower wavelength.

[0279] Hyperspectral imaging includes imaging information from across the electromagnetic spectrum 1500. A hyperspectral pulse of electromagnetic radiation may include multiple sub-pulses spanning one or more portions of the electromagnetic spectrum 1500 or the entire electromagnetic spectrum 1500. A hyperspectral pulse of electromagnetic radiation may include a single wavelength partition of the electromagnetic radiation. The resulting hyperspectral exposure frame includes information sensed by the pixel array following the hyperspectral pulse of electromagnetic radiation. Thus, a hyperspectral exposure frame may include data for any suitable partition of the electromagnetic spectrum 1500 and may include multiple exposure frames for multiple partitions of the electromagnetic spectrum 1500. In one embodiment, a hyperspectral exposure frame includes multiple hyperspectral exposure frames such that the combined hyperspectral exposure frame includes data for the entire electromagnetic spectrum 1500.

[0280] In one embodiment, for each sub-spectrum, at least one emitter (such as a laser emitter) is included in a light source (such as light source 202, 1300) to provide complete and continuous coverage of the entire spectrum 1500. For example, a light source for providing coverage of the sub-spectra shown may include at least 20 different emitters, at least one emitter for each sub-spectrum. In one embodiment, each emitter covers 40 nanometers of the spectrum. For example, one emitter may emit light in a band from 500 nm to 540 nm, while another emitter may emit light in a band from 540 nm to 580 nm. In another embodiment, the emitters may cover bands of other sizes, depending on the type of emitters available or the imaging needs. For example, the multiple emitters may include a first emitter covering a band from 500 nm to 540 nm, a second emitter covering a band from 540 nm to 640 nm, and a third emitter covering a band from 640 nm to 650 nm. Each emitter can cover a different segment of the electromagnetic spectrum, ranging from the far infrared, mid-infrared, near infrared, visible light, near ultraviolet, and / or far ultraviolet. In some cases, multiple emitters of the same type or wavelength can be included to provide sufficient output power for imaging. The number of emitters required for a particular wavelength band can depend on the sensitivity of the monochromatic sensor to that wavelength band and / or the power output capability of the emitters in that wavelength band.

[0281] The bandwidth and coverage provided by the emitters can be selected to provide any desired combination of spectra. For example, continuous coverage of the spectrum using very small bandwidths (e.g., 10 nm or less) can allow for highly selective hyperspectral imaging and / or fluorescence imaging. This bandwidth can allow for the selective emission of excitation wavelengths for one or more specific fluorescent agents. Additionally, this bandwidth can allow for the selective emission of certain subregions of the hyperspectral electromagnetic radiation for use in identifying specific structures, chemical processes, tissues, biological processes, and the like. Because the wavelengths originate from selectively activatable emitters, extreme flexibility can be achieved in causing one or more specific fluorescent agents to fluoresce during an examination. Additionally, extreme flexibility can be achieved in identifying one or more objects or processes through hyperspectral imaging. Consequently, more fluorescence and / or hyperspectral information can be obtained in less time and within a single examination, which would otherwise require multiple examinations, delays due to the application of dyes or stains, and the like.

[0282] Figure 1616 is a schematic diagram illustrating a timing diagram 1600 for emission and readout used to generate an image. The solid lines represent the readout (peak 1602) and blanking period (valley) used to capture a series of exposure frames 1604 to 1614. The series of exposure frames 1604 to 1614 may include a series of repeated exposure frames that can be used to generate laser mapping, hyperspectral, and / or fluorescence data that can be superimposed on an RGB video stream. In one embodiment, a single image frame includes information from multiple exposure frames, wherein one exposure frame includes red image data, another exposure frame includes green image data, and another exposure frame includes blue image data. In addition, a single image frame may include one or more of hyperspectral image data, fluorescence image data, and laser mapping data. Multiple exposure frames are combined to produce a single image frame. The single image frame is an RGB image with hyperspectral imaging data. The series of exposure frames includes a first exposure frame 1604, a second exposure frame 1606, a third exposure frame 1608, a fourth exposure frame 1610, a fifth exposure frame 1612, and an Nth exposure frame 1626.

[0283] In addition, hyperspectral image data, fluorescence image data, and laser mapping data can be used in combination to identify key tissues or structures and further measure the size of those key tissues or structures. For example, hyperspectral image data can be provided to a corresponding system to identify certain key structures in the body, such as nerves, ureters, blood vessels, cancerous tissue, etc. The location and identification of the key structures can be received from the corresponding system and can also be used to generate the topography of the key structures using laser mapping data. For example, the corresponding system determines the location of a cancerous tumor based on the hyperspectral imaging data. Since the location of the cancerous tumor is known based on the hyperspectral imaging data, the topography and distance of the cancerous tumor can then be calculated based on the laser mapping data. This example is also applicable when identifying cancerous tumors or other structures based on fluorescence imaging data.

[0284] In one embodiment, each exposure frame is generated based on at least one pulse of electromagnetic energy. The pulse of electromagnetic energy is reflected and detected by the image sensor and then read out in a subsequent readout (1602). Thus, each blanking period and readout results in an image frame for a particular spectrum of electromagnetic energy. For example, a first exposure frame 1604 may be generated based on the spectrum of a first one or more pulses 1616, a second exposure frame 1606 may be generated based on the spectrum of a second one or more pulses 1618, a third exposure frame 1608 may be generated based on the spectrum of a third one or more pulses 1620, a fourth exposure frame 1610 may be generated based on the spectrum of a fourth one or more pulses 1622, a fifth exposure frame 1612 may be generated based on the spectrum of a fifth one or more pulses 2424, and an Nth exposure frame 1626 may be generated based on the spectrum of the Nth one or more pulses 1626.

[0285] Pulses 1616 to 1626 may include energy from a single emitter or from a combination of two or more emitters. For example, the spectrum included in a single readout cycle or within multiple exposure frames 1604 to 1614 may be selected for the desired examination or detection of a particular tissue or condition. According to one embodiment, one or more pulses may include visible spectrum light for generating an RGB or black and white image, while one or more additional pulses are emitted to sense the spectral response to electromagnetic radiation at hyperspectral wavelengths. For example, pulse 1616 may include red light, pulse 1618 may include blue light, and pulse 1620 may include green light, while the remaining pulses 1622 to 1626 may include wavelengths and spectra for detecting a particular tissue type, causing an agent to fluoresce, and / or mapping the topography of a scene. As another example, the pulses of a single readout cycle may include spectra generated by multiple different emitters (e.g., different segments of the electromagnetic spectrum) that can be used to detect a particular tissue type. For example, if a combination of wavelengths results in a pixel having a value above or below a threshold, the pixel may be classified as corresponding to a particular type of tissue. Each frame can be used to further narrow down the type of tissue present at that pixel (e.g., and every pixel in the image) to provide a very specific classification of the tissue and / or the state of the tissue (disease / healthy) based on the spectral response of the tissue and / or the presence or absence of fluorescent agents in the tissue.

[0286] Multiple frames 1604 to 1614 are shown with readout periods of varying lengths and pulses of varying lengths or intensities. The blanking period, pulse length or intensity, etc. may be selected based on the sensitivity of the monochromatic sensor to a particular wavelength, the power output capability of the transmitter, and / or the carrying capacity of the waveguide.

[0287] In one embodiment, dual image sensors can be used to obtain three-dimensional images or video feeds.Three-dimensional examination can allow for an improved understanding of the three-dimensional structure of the examination region and mapping of different tissue or material types within the region.

[0288] In one exemplary embodiment, a fluorescent agent is provided to a patient and is configured to attach to cancer cells. The fluorescent agent is known to fluoresce when irradiated with a specific region of electromagnetic radiation. The relaxation wavelength of the fluorescent agent is also known. In this exemplary embodiment, an endoscopic imaging system is used to image the patient as described herein. The endoscopic imaging system pulses light at regions of red, green, and blue wavelengths to generate an RGB video stream of the patient's interior. Additionally, the endoscopic imaging system pulses electromagnetic radiation at an excitation wavelength to the fluorescent agent administered to the patient. In this example, the patient has cancer cells and the fluorescent agent has attached to the cancer cells. When the endoscopic imaging system pulses the excitation wavelength to the fluorescent agent, the fluorescent agent will fluoresce and emit a relaxation wavelength. If cancer cells are present in the scene imaged by the endoscopic imaging system, the fluorescent agent will also be present in the scene and, due to the emission of the excitation wavelength, will emit its relaxation wavelength after fluorescing. The endoscopic imaging system senses the relaxation wavelength of the fluorescent agent and, thereby, the presence of the fluorescent agent in the scene. Because the fluorescent agent is known to attach to cancer cells, the presence of the fluorescent agent further indicates the presence of cancer cells in the scene. The endoscopic imaging system thereby identifies the location of cancer cells within the scene. The endoscopic imaging system may also emit a laser mapping pulse pattern used to generate a topography of the scene and calculate the size of objects within the scene. The location of the cancer cells (as identified by the fluorescence imaging data) may be combined with the topography and size information calculated based on the laser mapping data. Thus, the precise location, size, dimensions, and topography of the cancer cells may be identified. This information may be provided to a medical practitioner to aid in the removal of the cancer cells. Additionally, this information may be provided to a robotic surgical system to enable the surgical system to remove the cancer cells.

[0289] In another exemplary implementation, an endoscopic imaging system is used to image a patient to identify quantitative diagnostic information regarding the patient's tissue pathology. In this example, the patient is suspected or known to have a disease that can be tracked using hyperspectral imaging to observe the progression of the disease within the patient's tissue. The endoscopic imaging system pulses light at partitions of red, green, and blue wavelengths to generate an RGB video stream of the patient's interior. Additionally, the endoscopic imaging system pulses light at one or more hyperspectral wavelengths, which allow the system to "see through" certain tissues and generate images of tissue affected by the disease. The endoscopic imaging system senses reflected hyperspectral electromagnetic radiation to generate hyperspectral imaging data of the diseased tissue, thereby identifying the location of the diseased tissue within the patient's body. The endoscopic imaging system can also emit a laser mapping pulse pattern used to generate a topography of the scene and calculate the size of objects within the scene. The location of the diseased tissue (as identified by the hyperspectral imaging data) can be combined with the topography and size information calculated using the laser mapping data. Thus, the precise location, size, dimensions, and topography of the diseased tissue can be identified. This information can be provided to a medical practitioner to aid in the removal, imaging, or study of the diseased tissue. Additionally, this information may be provided to a robotic surgical system to enable the surgical system to resect diseased tissue.

[0290] Figure 17 17 is a schematic diagram of an imaging system 1700 having a single cutoff filter. System 1700 includes an endoscope 1706 or other suitable imaging device having a light source 1708 for use in a light-deficient environment. Endoscope 1706 includes an image sensor 1704 and a filter 1702 for filtering out unwanted wavelengths of light or other electromagnetic radiation before reaching image sensor 1704. Light source 1708 transmits light that can illuminate a surface 1712 in a light-deficient environment, such as a body cavity. Light 1710 reflects from surface 1712 and passes through filter 1702 before striking image sensor 1704.

[0291] Filter 1702 can be used in embodiments where a fluorescent agent or dye is used. In such embodiments, light source 1708 emits an excitation wavelength for causing the fluorescent agent or dye to fluoresce. Typically, the relaxation wavelength emitted by the fluorescent agent or dye will have a different wavelength than the excitation wavelength. Filter 1702 can be selected to filter out the excitation wavelength and allow only the relaxation wavelength to pass through the filter and be sensed by image sensor 1704.

[0292] In one embodiment, the optical filter 1702 is configured to filter out excitation wavelengths of electromagnetic radiation that cause the reagent or dye to fluoresce, allowing only the expected relaxation wavelength of the fluorescing reagent or dye to pass through the optical filter 1702 and reach the image sensor 1704. In one embodiment, the optical filter 1702 filters out at least the fluorescent reagent excitation wavelengths between 770nm and 790nm. In one embodiment, the optical filter 1702 filters out at least the fluorescent reagent excitation wavelengths between 795nm and 815nm. In one embodiment, the optical filter 1702 filters out at least the fluorescent reagent excitation wavelengths between 770nm and 790nm and between 795nm and 815nm. In these embodiments, the optical filter 1702 filters out the excitation wavelength of the reagent and allows only the relaxation wavelength of the fluorescent reagent to be read by the image sensor 1704. The image sensor 1704 can be a wavelength-indeterminate image sensor, and the optical filter 1702 can be configured to allow the image sensor 1704 to receive only the relaxation wavelength of the fluorescent reagent and not the emitted excitation wavelength of the reagent. The data determined by the image sensor 1704 may then indicate the presence of key body structures, tissues, biological processes, or chemical processes as determined by the location of the agent or dye.

[0293] Filter 1702 may also be used in implementations where a fluorescent agent or dye has not been administered. Filter 1702 may be selected to allow wavelengths corresponding to a desired spectral response to pass through and be read by image sensor 1704. Image sensor 1704 may be a monochrome image sensor, such that pixels of a captured image that exceed or fall below a threshold value may be characterized as corresponding to a certain spectral response or fluorescent emission. The spectral response or fluorescent emission determined by the pixels captured by image sensor 1704 may indicate the presence of certain bodily tissues or structures, certain pathologies, certain chemical processes, and the like.

[0294] Figure 18 is a schematic diagram of an imaging system 1800 having multiple cutoff filters. System 1800 includes an endoscope 1806 or other suitable imaging device having a light source 1808 for use in light-deficient environments. Endoscope 1806 includes an image sensor 1804 and two filters 1802a and 1802b. It should be understood that in alternative embodiments, system 1800 may include any number of filters, and the number and type of filters may be selected for a particular purpose, such as acquiring imaging information of a specific body tissue, bodily condition, chemical process, etc. Filters 1802a and 1802b are configured to prevent image sensor 1804 from sensing light or other electromagnetic radiation of undesirable wavelengths. Filters 1802a and 1802b may be configured to filter out undesirable wavelengths from white light or other electromagnetic radiation that may be emitted by light source 1808.

[0295] Relative to Figure 17 To further illustrate the present invention, filters 1802a, 1802b may be used in implementations where a fluorescent reagent or dye has been administered. Filters 1802a, 1802b may be configured to block the emission excitation wavelengths of the reagent or dye and allow image sensor 1804 to read only the relaxation wavelengths of the reagent or dye. Furthermore, filters 1802a, 1802b may be used in implementations where a fluorescent reagent or dye has not been administered. In such implementations, filters 1802a, 1802b may be selected to allow wavelengths corresponding to a desired spectral response to pass through and be read by image sensor 1804.

[0296] Multiple filters 1802a, 1802b can each be configured to filter out different ranges of wavelengths from the electromagnetic spectrum. For example, one filter can be configured to filter out wavelengths longer than a desired wavelength range, and an additional filter can be configured to filter out wavelengths shorter than the desired wavelength range. The combination of two or more filters can result in only certain wavelengths or wavelength bands being read by image sensor 1804.

[0297] In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 513 nm and 545 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 565 nm and 585 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 900 nm and 1000 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 417 nm and 475 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 520 nm and 545 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 617 nm and 645 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 760 nm and 795 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 795 nm and 815 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 370 nm and 420 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are tailored to allow electromagnetic radiation between 600 nm and 670 nm to contact the image sensor 1804. In one embodiment, the filters 1802a, 1802b are configured to allow only certain fluorescent relaxation emissions to pass through the filters 1802a, 1802b and contact the image sensor 1804. In one embodiment, the first filter blocks electromagnetic radiation having a wavelength of about 770 nm to about 790 nm, and the second filter blocks electromagnetic radiation having a wavelength of about 795 nm to about 815 nm.

[0298] In one embodiment, system 1800 includes a plurality of image sensors 1804, and may specifically include two image sensors for generating a three-dimensional image. Image sensors 1804 may be color / wavelength agnostic and configured to read electromagnetic radiation of any wavelength reflected from surface 1812. In one embodiment, image sensors 1804 are each color-dependent or wavelength-dependent and configured to read electromagnetic radiation of a specific wavelength reflected from surface 1812 and returned to image sensor 1804. Alternatively, image sensor 1804 may include a single image sensor having a plurality of different pixel sensors configured to read light of different wavelengths or colors, such as a Bayer filter color filter array. Alternatively, image sensor 1804 may include one or more color-agnostic image sensors that may be configured to read electromagnetic radiation of a specific wavelength according to a pulse schedule such as Figures 5 to 7E Those shown in ) read electromagnetic radiation of different wavelengths.

[0299] Figure 19 1 is a schematic diagram illustrating a system 1900 for mapping a surface and / or tracking an object by laser mapping imaging in an abscissa. In one embodiment, an endoscope 1906 pulses a grid array 1906 (which may be referred to as a laser mapping pattern) onto a surface 1904 in an abscissa. Figure 19 In one embodiment shown in FIG, the grid array 1906 includes vertical hashes 1908 and horizontal hashes 1910. It should be understood that the grid array 1906 may include any suitable array for mapping the surface 1904, including, for example, a raster grid of discrete points, an occupancy grid map, a dot array, etc. Additionally, the endoscope 1906 may pulse multiple grid arrays 1906, and may pulse one or more separate grid arrays on each of multiple objects or structures, for example, in an aphotic environment.

[0300] In one embodiment, system 1900 pulses a grid array 1906 that can be used to map the three-dimensional topography of a surface and / or track the position of an object, such as a tool or another device, in a light-deficient environment. In one embodiment, system 1900 provides data to a third-party system or computer algorithm for use in determining surface size and configuration by way of light detection and ranging (LIDAR) mapping. System 1900 can pulse any suitable wavelength of light or electromagnetic radiation in grid array 1906, including, for example, ultraviolet light, visible light, and / or infrared or near-infrared light. Surfaces 1904 and / or objects within an environment can be mapped and tracked at very high resolution and with very high accuracy and precision.

[0301] In one embodiment, system 1900 includes an imaging device having a tube, one or more image sensors, and a lens assembly having optical elements corresponding to the one or more image sensors. System 1900 may include a light engine having an emitter and an internal cavity, the emitter generating one or more electromagnetic radiation pulses, and the internal cavity transmitting the one or more electromagnetic radiation pulses to a distal tip of an endoscope within a light-deficient environment, such as a body cavity. In one embodiment, at least a portion of the one or more electromagnetic radiation pulses includes a laser mapping pattern emitted onto a surface within the light-deficient environment (such as the surface of body tissue and / or the surface of a tool or other device within the body cavity). Endoscope 1906 may include a two-dimensional, three-dimensional, or n-dimensional camera for mapping and / or tracking surfaces, dimensions, and configurations within the light-deficient environment.

[0302] In one embodiment, system 1900 includes a processor for determining a distance between an endoscope or tool and an object, such as surface 1904. The processor may also determine an angle between the endoscope or tool and the object. The processor may also determine surface area information about the object, including, for example, the size of the surgical tool, the size of the structure, the size of the anatomical structure, position information, and other position data and measurements. System 1900 may include one or more image sensors that provide image data output to a control system for determining a distance between an endoscope or tool and an object, such as surface 1904. The image sensor may output information to the control system for determining an angle between the endoscope or tool and the object. Additionally, the image sensor may output information to the control system for determining surface area information about the object, the size of the surgical tool, the size of the structure, the size of the anatomical structure, position information, and other position data and measurements.

[0303] In one embodiment, the transmitter of endoscope 1906 pulses grid array 1906 at a sufficient rate so that grid array 1906 is not visible to the user. In various implementations, viewing grid array 1906 during an endoscopic imaging procedure and / or endoscopic surgery may be distracting to the user. Grid array 1906 may be pulsed at a sufficiently short period so that it is not detectable by the human eye. In an alternative embodiment, endoscope 1906 pulses grid array 1906 at a sufficient repetition rate so that grid array 1906 is viewable by the user. In such an embodiment, grid array 1906 may be superimposed on the image of surface 1904 on a display. Grid array 1906 may be superimposed on a black and white or RGB image of surface 1904 so that grid array 1906 is visible to the user during use of system 1900. The user of system 1900 may indicate whether grid array 1906 should be superimposed on the image of surface 1904 and / or whether grid array 1906 should be visible to the user. System 1900 can include a display that provides a real-time measurement of the distance from endoscope 1906 to surface 1904 or another object within the light-deficient environment. The display can also provide real-time surface area information about surface 1904 and / or any object, structure, or tool within the light-deficient environment. The accuracy of the measurement can be precise to less than one millimeter.

[0304] In one embodiment, system 1900 pulses multiple grid arrays 1906. In one embodiment, each of multiple grid arrays 1906 corresponds to a tool or other device present in the light-deficient environment. The precise position and parameters of each of the tools and other devices can be tracked by pulsing and sensing multiple grid arrays 1906. The information generated by sensing the reflected grid arrays 1906 can be evaluated to identify the relative positions of the tools and other devices in the light-deficient environment.

[0305] Endoscope 1906 can pulse electromagnetic radiation according to a pulse schedule (such as those shown herein), for example, which can also include pulsing grid array 1906 and pulsing red, green, and blue light to generate RGB images and also generate grid array 1906 that can be superimposed on the RGB images and / or used to map and track surfaces 1904 and objects in an aphotic environment. Grid array 1906 can also be pulsed in conjunction with electromagnetic radiation at hyperspectral or fluorescence excitation wavelengths. Data from each of RGB imaging, laser mapping imaging, hyperspectral imaging, and fluorescence imaging can be combined to identify the location, size, and surface topography of key structures in the body.

[0306] In one embodiment, endoscope 1906 includes one or more color-amorphous image sensors. In one embodiment, endoscope 1906 includes two color-amorphous image sensors for generating a three-dimensional image or map of an aphotic environment. The image sensors can generate RGB images of the aphotic environment according to a pulse schedule as disclosed herein. Furthermore, the image sensors can determine data for mapping the aphotic environment and tracking one or more objects within the aphotic environment based on data determined when pulsing grid array 1906. Furthermore, the image sensors can determine spectral or hyperspectral data and fluorescence imaging data according to a pulse schedule that can be modified by the user to accommodate the specific needs of the imaging procedure. In one embodiment, the pulse schedule includes red, green, and blue pulses, as well as pulses of grid array 1906 and / or pulses for generating hyperspectral image data and / or fluorescence image data. In various implementations, the pulse schedule can include any suitable combination of electromagnetic radiation pulses as desired by the user. The recurrence frequency of electromagnetic radiation of different wavelengths can be determined based on, for example, the energy of certain pulses, user requirements, whether certain data (e.g., hyperspectral data and / or fluorescence imaging data) needs to be updated continuously or less frequently, and the like.

[0307] The pulse schedule can be modified in any suitable manner, and certain electromagnetic radiation pulses can be repeated at any suitable frequency, as desired by a user or a computer-implemented program for certain imaging procedures. For example, in embodiments where surface tracking data generated based on the grid array 1906 is provided to a computer-implemented program for use in, for example, robotic surgery, the grid array 1906 can be pulsed more frequently than when the surface tracking data is provided to a user visualizing a scene during an imaging procedure. In such embodiments where the surface tracking data is used for robotic surgery, the surface tracking data may need to be updated more frequently or may need to be extremely accurate so that the computer-implemented program can perform the robotic surgery with precision and accuracy.

[0308] In one embodiment, the system 1900 is configured to generate an occupancy grid map comprising an array of cells divided into a grid, and the system 1900 is configured to store a height value of each of the corresponding grid cells to determine a surface map of the three-dimensional environment in an aphotic environment.

[0309] Figure 20A and Figure 20BA perspective view and a side view, respectively, of an implementation of a monolithic sensor 2000 having multiple pixel arrays for producing a three-dimensional image in accordance with the teachings and principles of the present disclosure are shown. Such an implementation may be desirable for three-dimensional image capture, wherein the two pixel arrays 2002 and 2004 may be offset during use. In another implementation, the first pixel array 2002 and the second pixel array 2004 may be dedicated to receiving electromagnetic radiation of a predetermined wavelength range, wherein the first pixel array is dedicated to electromagnetic radiation of a different wavelength range than the second pixel array.

[0310] Figure 21A and Figure 21B A perspective view and a side view, respectively, of an embodiment of an imaging sensor 2100 constructed on multiple substrates are shown. As shown, multiple pixel columns 2104 forming a pixel array are located on a first substrate 2102, and multiple circuit columns 2108 are located on a second substrate 2106. The figure also shows the electrical connections and communications between a pixel column and its associated or corresponding circuit column. In one embodiment, an image sensor may have a pixel array separate from all or most of the supporting circuitry, while it may otherwise be manufactured with its pixel array and supporting circuitry on a single, monolithic substrate / chip. The present disclosure may utilize at least two substrates / chips, which are stacked together using three-dimensional stacking techniques. The first of the two substrates / chips 2102 may be fabricated using an imaging CMOS process. The first substrate / chip 2102 may consist solely of the pixel array, or may consist of the pixel array surrounded by limited circuitry. The second or subsequent substrates / chips 2106 may be fabricated using any process, not necessarily an imaging CMOS process. The second substrate / chip 1306 can be, but is not limited to, a high-density digital process for integrating various and multiple functions into a very limited space or area on the substrate / chip, a mixed-mode or analog process for integrating, for example, precise analog functions, an RF process for implementing wireless capabilities, or a MEMS (micro-electromechanical system) process for integrating MEMS devices. The imaging CMOS substrate / chip 2102 can be stacked with the second or subsequent substrate / chip 2106 using any three-dimensional technology. The second substrate / chip 2106 can support most or most of the circuitry that would otherwise be implemented as peripheral circuitry in the first imaging CMOS chip 2102 (if implemented on a monolithic substrate / chip), thereby increasing the overall system area while keeping the pixel array size constant and optimized to the greatest extent possible. Electrical connections between the two substrates / chips can be made via interconnects, which can be bond wires, bumps, and / or TSVs (through silicon vias).

[0311] Figure 22A and Figure 22BA perspective view and a side view, respectively, of an implementation of an imaging sensor 2200 having multiple pixel arrays for generating three-dimensional images are shown. The three-dimensional image sensor can be constructed on multiple substrates and can include multiple pixel arrays and other associated circuitry, wherein a plurality of pixel columns 2204a forming a first pixel array and a plurality of pixel columns 2204b forming a second pixel array are located on respective substrates 2202a and 2202b, respectively, and a plurality of circuitry columns 2208a and 2208b are located on a separate substrate 2206. The electrical connections and communications between the pixel columns and the associated or corresponding circuitry columns are also shown.

[0312] Multiple pixel arrays can sense information simultaneously, and information from the multiple pixel arrays can be combined to generate a three-dimensional image. In one embodiment, the endoscopic imaging system includes two or more pixel arrays that can be deployed to generate three-dimensional imaging. The endoscopic imaging system may include an emitter for emitting electromagnetic radiation pulses during a blanking period of the pixel array. The pixel arrays can be synchronized so that optically black pixels are read simultaneously for two or more pixel arrays (i.e., a blanking period occurs). The emitter can emit electromagnetic radiation pulses for charging each pixel array in the two or more pixel arrays. The two or more pixel arrays can read their corresponding charged pixels simultaneously so that the readout periods of the two or more pixel arrays occur simultaneously or approximately simultaneously. In one embodiment, the endoscopic imaging system includes multiple emitters, each emitter being individually synchronized with one or more pixel arrays in the multiple pixel arrays. Information from the multiple pixel arrays can be combined to generate three-dimensional image frames and video streams.

[0313] It should be understood that the teachings and principles of the present disclosure can be applied to reusable device platforms, limited-use device platforms, resettable device platforms, or single-use / disposable device platforms without departing from the scope of the present disclosure. It should be understood that in a reusable device platform, the end user is responsible for the cleaning and disinfection of the device. In a limited-use device platform, the device can be used a specified number of times before becoming inoperable. Typical new devices are sterilized before delivery and, if they are to be used for other purposes, should be cleaned and disinfected by the end user before other uses. In a resettable device platform, a third party can reprocess the device (e.g., clean, package, and disinfect) the single-use device for additional use at a lower cost than a new unit. In a single-use / disposable device platform, the device is provided to the operating room in a sterile manner and can only be used once before being discarded.

[0314] Example

[0315] The following examples relate to preferred features of further embodiments:

[0316] Embodiment 1 is a system. The system includes a coherent light source for emitting pulses of coherent light and an optical fiber bundle connected to the coherent light source. The system includes an image sensor, the image sensor including a pixel array for sensing reflected electromagnetic radiation. The system includes a vibration mechanism, the vibration mechanism attached to the optical fiber bundle. The system includes a controller, the controller is in electronic communication with the coherent light source and the image sensor and is configured to synchronize the timing of the coherent light source and the image sensor. The system is such that at least a portion of the pulses of coherent light emitted by the coherent light source includes one or more of the following: electromagnetic radiation having a wavelength of about 513 nm to about 545 nm; electromagnetic radiation having a wavelength of about 565 nm to about 585 nm; electromagnetic radiation having a wavelength of about 900 nm to about 1000 nm; an electromagnetic radiation excitation wavelength that causes a reagent to fluoresce; or a laser marking pattern.

[0317] Embodiment 2 is the system of embodiment 1, wherein the vibration mechanism comprises one or more of: a mechanical motor, a piezoelectric crystal, an oscillator, or a resonator component.

[0318] Embodiment 3 is a system according to any one of embodiments 1 to 2, wherein the controller is further in electronic communication with the vibration mechanism and is further configured to control the operation of the vibration mechanism so that the coherence of the pulses of coherent light is reduced.

[0319] Embodiment 4 is a system according to any one of embodiments 1 to 3, wherein the controller is further configured to control the operation of the vibration mechanism so that speckle caused at least in part by the coherence of the pulses of coherent light is not visible to a user in an exposure frame generated by the image sensor.

[0320] Embodiment 5 is a system according to any one of embodiments 1 to 4, further comprising: a sleeve for coupling the first optical fiber portion of the optical fiber bundle to the second optical fiber portion of the optical fiber bundle; and a housing configured to accommodate the vibration mechanism of the vibration device, wherein the vibration device includes one or more of the following: a mechanical motor, a piezoelectric crystal, an oscillator or a resonator component; wherein the housing of the vibration mechanism is attached to the sleeve.

[0321] Embodiment 6 is the system of any one of embodiments 1 to 5, wherein the vibration mechanism is the only vibration mechanism attached to the optical fiber bundle, and wherein the vibration mechanism vibrates each of the first optical fiber portion and the second optical fiber portion.

[0322] Embodiment 7 is a system according to any one of embodiments 1 to 6, wherein the vibration mechanism is configured to vibrate the optical fiber bundle so that at least one of the pulses of coherent light transmitted on the optical fiber bundle temporarily loses coherence due to the geometry of the path along which the pulses of coherent light travel being changed by the vibration of the vibration mechanism.

[0323] Example 8 is a system according to any one of Examples 1 to 7, wherein the emitter includes multiple laser beams, and each of the multiple laser beams includes multiple laser units, wherein the multiple laser beams include: a red laser beam, the red laser beam is used to emit electromagnetic radiation of a red wavelength; a green laser beam, the green laser beam is used to emit electromagnetic radiation of a green wavelength; a blue laser beam, the blue laser beam is used to emit electromagnetic radiation of a blue wavelength; a hyperspectral laser beam, the hyperspectral laser beam is used to emit electromagnetic radiation of a hyperspectral wavelength for stimulating a spectral response; a fluorescent laser beam, the fluorescent laser beam is used to emit a fluorescent excitation wavelength for causing the reagent to fluoresce; and a laser marking beam, the laser marking beam is used to emit the laser marking pattern.

[0324] Embodiment 9 is a system according to any one of embodiments 1 to 8, wherein the laser marking beam is configured to be capable of emitting the laser marking pattern so that one or more of a distance, a size, or a three-dimensional topography can be calculated based on the reflected electromagnetic radiation sensed by the image sensor in response to the emission of the laser marking pattern.

[0325] Embodiment 10 is a system according to any one of embodiments 1 to 9, wherein the vibration mechanism introduces a vibration stimulus into the optical fiber bundle to cause a series of changes to the path geometry of the optical fiber bundle; and wherein the series of changes to the path geometry are performed at a high frequency so as to substantially remove observable speckle patterns in exposure frames generated by the image sensor.

[0326] Embodiment 11 is a system according to any one of embodiments 1 to 10, wherein the image sensor is configured to generate multiple exposure frames, wherein each exposure frame of the multiple exposure frames corresponds to a pulse of coherent light emitted by the coherent light source.

[0327] Embodiment 12 is a system according to any one of embodiments 1 to 11, wherein the pixel array of the image sensor senses reflected electromagnetic radiation during a readout period of the pixel array to generate the multiple exposure frames, wherein the readout period is the duration when active pixels in the pixel array are read.

[0328] Embodiment 13 is a system according to any one of embodiments 1 to 12, wherein at least a portion of the pulses of coherent light emitted by the coherent light source is fluorescence excitation emission, and the fluorescence excitation emission comprises electromagnetic radiation having a wavelength of about 770 nm to about 790 nm and / or about 795 nm to about 815 nm.

[0329] Embodiment 14 is a system according to any one of embodiments 1 to 13, wherein the coherent light source is configured to be capable of emitting multiple sub-pulses of coherent light during a pulse duration, and the multiple sub-pulses have sub-durations shorter than the pulse duration.

[0330] Embodiment 15 is a system according to any one of embodiments 1 to 14, wherein one or more of the pulses of coherent light emitted by the coherent light source includes electromagnetic radiation emitted simultaneously at two or more wavelengths as a single pulse or a single sub-pulse.

[0331] Embodiment 16 is a system according to any one of embodiments 1 to 15, wherein at least a portion of the pulses of coherent light emitted by the coherent light source are fluorescence excitation emissions that result in a fluorescence exposure frame formed by the image sensor, and wherein the controller is configured to provide the fluorescence exposure frame to a corresponding fluorescence system that determines the position of a key tissue structure within a scene based on the fluorescence exposure frame.

[0332] Embodiment 17 is a system according to any one of embodiments 1 to 16, wherein the fluorescence excitation emission comprises one or more of: electromagnetic radiation having a wavelength of about 770 nm to about 790 nm and / or 795 nm to about 815 nm;

[0333] Example 18 is a system according to any one of Examples 1 to 17, wherein the controller is further configured to be capable of: receiving the position of the critical tissue structure from the corresponding fluorescence system; generating an overlay frame including the position of the critical tissue structure; and combining the overlay frame with a color image frame depicting a scene to indicate the position of the critical tissue structure within the scene.

[0334] Embodiment 19 is a system according to any one of embodiments 1 to 18, wherein the critical structure comprises one or more of a nerve, a ureter, a blood vessel, an artery, blood flow, or a tumor.

[0335] Embodiment 20 is a system according to any one of embodiments 1 to 19, wherein the controller is configured to synchronize the timing of the pulses of coherent light during a blanking period of the image sensor, wherein the blanking period corresponds to the time between the readout of the last row of valid pixels in the pixel array and the start of the next subsequent readout of valid pixels in the pixel array.

[0336] Embodiment 21 is a system according to any one of embodiments 1 to 20, wherein two or more pulses of coherent light emitted by the coherent light source result in two or more instances of reflected electromagnetic radiation, and the two or more instances are sensed by the pixel array to generate two or more exposure frames that are combined to form an image frame.

[0337] Embodiment 22 is a system according to any one of embodiments 1 to 21, wherein the image sensor includes a first image sensor and a second image sensor, such that the image sensor is capable of generating a three-dimensional image.

[0338] Embodiment 23 is a system according to any one of embodiments 1 to 22, wherein the coherent light source is configured to be capable of repeatedly emitting a sequence of pulses of coherent light sufficient to generate a video stream comprising a plurality of image frames, wherein each image frame in the video stream comprises data from a plurality of exposure frames, and wherein each of the exposure frames corresponds to a pulse of coherent light.

[0339] Embodiment 24 is a system according to any one of embodiments 1 to 23, wherein the pulses of coherent light are emitted in a pattern of electromagnetic radiation of varying wavelengths, and wherein the coherent light source repeats the pattern of electromagnetic radiation of varying wavelengths.

[0340] Embodiment 25 is a system according to any one of embodiments 1 to 24, wherein at least a portion of the pulses of coherent light include a red wavelength, a green wavelength, a blue wavelength, and a fluorescence excitation wavelength, so that reflected electromagnetic radiation corresponding to each of the red wavelength, the green wavelength, the blue wavelength, and the fluorescence excitation wavelength sensed by the pixel array can be processed to generate a superimposed red-green-blue (RGB) image frame including fluorescence imaging data, wherein the fluorescence excitation wavelength of the electromagnetic radiation includes the electromagnetic radiation having a wavelength of about 770 nm to about 790 nm and / or about 795 nm to about 815 nm.

[0341] Embodiment 26 is a system according to any one of embodiments 1 to 25, wherein at least a portion of the pulses of coherent light include luminance emissions, red chrominance emissions, blue chrominance emissions, and fluorescence excitation emissions, so that reflected electromagnetic radiation corresponding to each of the luminance emissions, the red chrominance emissions, the blue chrominance emissions, and the fluorescence excitation emissions sensed by the pixel array can be processed to generate an overlaid YCbCr image frame including fluorescence imaging data, wherein the fluorescence excitation emissions of the electromagnetic radiation include the electromagnetic radiation having a wavelength of about 770 nm to about 790 nm and / or about 795 nm to about 815 nm.

[0342] Embodiment 27 is a system according to any one of embodiments 1 to 26, wherein the coherent light source emits pulses of the coherent light at intervals corresponding to the operation of the pixel array of the image sensor.

[0343] Embodiment 28 is a system according to any one of embodiments 1 to 27, further comprising a display for displaying a video stream, wherein the video stream comprises a plurality of image frames, and each of the plurality of image frames is composed of two or more exposure frames captured by the image sensor.

[0344] Embodiment 29 is a system according to any one of embodiments 1 to 28, wherein the vibration mechanism introduces a series of changes in path geometry into the fiber bundle.

[0345] Embodiment 30 is a system according to any one of embodiments 1 to 29, wherein the vibration mechanism includes: a housing, a sleeve configured to be attached to the optical fiber bundle, and a vibration device, wherein the vibration device is disposed within the housing and the housing is attached to the sleeve.

[0346] Embodiment 31 is a system according to any one of embodiments 1 to 30, wherein the sleeve includes a first sleeve and a second sleeve, and the first sleeve and the second sleeve are used to attach the first optical fiber portion of the optical fiber bundle to the second optical fiber portion of the optical fiber bundle, so that the optical fiber bundle is used as a single continuous cable to transmit the pulses of coherent light.

[0347] Embodiment 32 is a system according to any one of embodiments 1 to 31, wherein the fiber optic bundle transmits the pulses of coherent light from the coherent light source to a light-deficient environment imaged by the image sensor.

[0348] Embodiment 33 is the system of any one of embodiments 1 to 32, wherein the vibration mechanism comprises only a vibration device directly attached to the optical fiber bundle.

[0349] Embodiment 34 is a system according to any one of embodiments 1 to 33, further comprising an endoscope for insertion into the body, wherein the image sensor is located at the distal end of the endoscope.

[0350] Embodiment 35 is a system according to any one of embodiments 1 to 34, wherein the coherent light source is a transmitter for pulsed laser light, and the laser light is used to illuminate the light-deficient environment imaged by the image sensor.

[0351] Embodiment 36 is the system of any one of embodiments 1 to 35, wherein the image sensor is sensitive to electromagnetic radiation of any wavelength.

[0352] Embodiment 37 is a system according to any one of embodiments 1 to 36, further comprising an optical filter that filters electromagnetic radiation having a wavelength of about 770 nm to about 790 nm.

[0353] Embodiment 38 is a system according to any one of embodiments 1 to 37, further comprising an optical filter that filters electromagnetic radiation having a wavelength of about 795 nm to about 815 nm.

[0354] Embodiment 39 is a system according to any one of embodiments 1 to 38, wherein at least a portion of the pulses of coherent light include red emissions, green emissions, blue emissions, and laser marking emissions, so that the reflected electromagnetic radiation corresponding to each of the red emissions, the green emissions, the blue emissions, and the laser marking emissions sensed by the pixel array can be processed to generate a superimposed red-green-blue (RGB) image frame including laser marking data.

[0355] Embodiment 40 is a system according to any one of embodiments 1 to 39, wherein at least a portion of the pulses of coherent light include luminance emissions, red chrominance emissions, blue chrominance emissions, and laser marking emissions, so that reflected electromagnetic radiation sensed by the pixel array corresponding to each of the luminance emissions, red chrominance emissions, blue chrominance emissions, and laser marking emissions can be processed to generate a YCbCr image frame including a laser marking data stack.

[0356] Embodiment 41 is a system according to any one of embodiments 1 to 40, wherein sensing the reflected electromagnetic radiation by the pixel array includes: generating a laser marking exposure frame by sensing the reflected electromagnetic radiation produced by the laser marking pattern of the coherent light source pulses, wherein the laser marking exposure frame includes information for determining real-time measurement, the information including one or more of the following: the distance from the endoscope to the object; the angle between the endoscope and the object; or surface morphology information about the object.

[0357] Embodiment 42 is a system according to any one of embodiments 1 to 41, wherein the laser mapping exposure frame includes information for determining the real-time measurement with an accuracy of less than 10 centimeters.

[0358] Embodiment 43 is a system according to any one of embodiments 1 to 42, wherein the laser mapping exposure frame includes information for determining the real-time measurement with an accuracy of less than one millimeter.

[0359] Embodiment 44 is a system according to any one of embodiments 1 to 43, wherein at least a portion of the pulses of coherent light emitted by the coherent light source includes multiple tool-specific laser marking patterns for each of a plurality of tools within a scene.

[0360] Embodiment 45 is a system according to any one of embodiments 1 to 44, wherein the laser marking pattern emitted by the coherent light source includes a first output and a second output that are independent of each other, wherein the first output is used for light illumination and the second output is used for tool tracking.

[0361] Embodiment 46 is a system according to any one of embodiments 1 to 45, wherein at least a portion of the pulses of coherent light emitted by the coherent light source are hyperspectral emissions that result in a hyperspectral exposure frame generated by the image sensor, and wherein the controller is configured to be capable of providing the hyperspectral exposure frame to a corresponding hyperspectral system, and the corresponding hyperspectral system determines the position of the key tissue structure within the scene based on the hyperspectral exposure frame.

[0362] Embodiment 47 is a system according to any one of embodiments 1 to 46, wherein the hyperspectral emission comprises one or more of: electromagnetic radiation having a wavelength of about 513 nm to about 545 nm; electromagnetic radiation having a wavelength of about 565 nm to about 585 nm; or electromagnetic radiation having a wavelength of about 900 nm to about 1000 nm.

[0363] Embodiment 48 is a system according to any one of embodiments 1 to 47, wherein the controller is further configured to be capable of: receiving the location of the critical tissue structure from the corresponding hyperspectral system; generating a stacked frame including the location of the critical tissue structure; and combining the stacked frame with a color image frame depicting a scene to indicate the location of the critical tissue structure within the scene.

[0364] Embodiment 49 is a system according to any one of embodiments 1 to 48, wherein the pixel array sensing the reflected electromagnetic radiation includes generating a laser marking exposure frame by sensing the reflected electromagnetic radiation produced by the laser marking pattern pulsed by the coherent light source, and wherein the controller is further configured to be able to: provide the laser marking exposure frame to a corresponding laser marking system, the corresponding laser marking system determines the morphology of the scene and / or the size of one or more objects in the scene; provide the position of the key tissue structure to the corresponding laser marking system; and receive the morphology and / or size of the key tissue structure from the corresponding laser marking system.

[0365] Embodiment 50 is a system according to any one of embodiments 1 to 49, wherein the critical structure includes one of a nerve, a ureter, a blood vessel, an artery, blood flow, and a tumor.

[0366] Embodiment 51 is a system according to any one of embodiments 1 to 50, wherein the hyperspectral laser beam comprises one or more of the following: a first hyperspectral beam, the first hyperspectral beam being used to emit the electromagnetic radiation having a wavelength of about 513 nm to about 545 nm; a second hyperspectral beam, the second hyperspectral beam being used to emit electromagnetic radiation having a wavelength of about 565 nm to about 585 nm; or a third hyperspectral beam, the third hyperspectral beam being used to emit electromagnetic radiation having a wavelength of about 900 nm to about 1000 nm.

[0367] Embodiment 52 is a system according to any one of embodiments 1 to 51, wherein the fluorescent beam for emitting electromagnetic radiation at the fluorescence excitation wavelength includes one or more of the following: a first fluorescent beam for emitting electromagnetic radiation having a wavelength of about 770 nm to about 790 nm; or a second fluorescent beam for emitting electromagnetic radiation having a wavelength of about 795 nm to about 815 nm.

[0368] It will be appreciated that the various features disclosed herein provide significant advantages and advances in the art. The following claims are examples of some of those features.

[0369] In the above detailed description of the present disclosure, various features of the present disclosure are grouped together in a single embodiment for the purpose of streamlining the disclosure. This approach should not be interpreted as reflecting an intention that the claimed disclosure requires more features than expressly recited in each claim. Conversely, an innovative aspect may not embody all features of a single embodiment disclosed above.

[0370] It should be understood that any features of the above-described arrangements, examples, and embodiments may be combined in a single embodiment comprising a combination of features taken from any of the disclosed arrangements, examples, and embodiments.

[0371] It should be understood that the above configuration is only an exemplary application of the principles of the present disclosure. Without departing from the spirit and scope of the present disclosure, those skilled in the art may design many modifications and alternative configurations, and the appended claims are intended to cover these modifications and configurations.

[0372] Thus, while the present disclosure has been shown in the drawings and described above with particularity and detail, it will be apparent to those skilled in the art that numerous modifications can be made without departing from the principles and concepts described herein, including but not limited to changes in size, materials, shape, form, function and mode of operation, assembly and use.

[0373] In addition, where appropriate, the functions described herein may be performed by one or more of hardware, software, firmware, digital components, or analog components. For example, one or more application specific integrated circuits (ASICs) or field programmable gate arrays (FPGAs) may be programmed to perform one or more of the systems and programs described herein. Certain terms used throughout the following description and claims refer to specific system components. It will be understood by those skilled in the art that components may have different names. It is not intended herein to distinguish between components that differ in name rather than function.

[0374] For the purpose of illustration and description, the above-mentioned specific embodiments have been provided. These specific embodiments are not intended to be exhaustive or to limit the present disclosure to the specific forms disclosed. Many modifications and variations can be made to the present disclosure based on the above-mentioned teachings. In addition, it should be noted that any or all of the aforementioned alternative embodiments can be used in any desired combination to form another mixed embodiment of the present disclosure.

[0375] In addition, although specific embodiments of the present disclosure have been described and illustrated, the present disclosure is not limited to the specific forms or arrangements of parts as described and illustrated. The scope of the present disclosure will be defined by the claims appended hereto, any future claims filed here and in different applications, and their equivalents.

Claims

1. An imaging system comprising: A coherent light source for emitting pulses of coherent light, wherein the coherent light source comprises a plurality of electromagnetic radiation sources, and wherein the plurality of electromagnetic radiation sources comprises a laser marking source configured to pulse electromagnetic radiation in a laser marking pattern, wherein the laser marking pattern comprises an array suitable for marking a surface, and wherein the coherent light source further comprises one or more of the following: a hyperspectral source configured to emit electromagnetic radiation of a hyperspectral wavelength for stimulating a spectral response; and a fluorescence source configured to emit electromagnetic radiation at a fluorescence excitation wavelength for causing the agent to fluoresce; an optical fiber bundle connected to the coherent light source; an image sensor comprising an array of pixels for sensing reflected electromagnetic radiation; a vibrating mechanism attached to the optical fiber bundle; and a controller in electronic communication with the coherent light source and the image sensor and configured to synchronize timing of the coherent light source and the image sensor; wherein the image sensor is configured to generate a plurality of exposure frames, wherein each exposure frame of the plurality of exposure frames corresponds to a pulse of coherent light emitted by the coherent light source; The multiple exposure frames include: a laser marking exposure frame, wherein the laser marking exposure frame is generated by sensing a reflected laser marking pattern generated by pulsing the laser marking pattern by the laser marking source, wherein the laser marking exposure frame includes the sensed reflected laser marking pattern; and one or more of the following: a hyperspectral exposure frame sensed in response to emissions from the hyperspectral source; and a fluorescent exposure frame sensed in response to emission from the fluorescent source; The laser mapping exposure frame includes information for determining real-time measurement, and the information includes one or more of the following: distance from the endoscope to the subject; The size of the object; the angle between the endoscope and the object; and Surface topography information about the object.

2. The system according to claim 1, wherein: The vibration mechanism includes one or more of the following: a mechanical motor, a piezoelectric crystal, an oscillator, or a resonator component.

3. The system according to claim 1, wherein: The controller is further in electronic communication with the vibration mechanism and is further configured to control operation of the vibration mechanism such that the coherence of the pulses of coherent light decreases.

4. The system according to claim 3, wherein: The controller is further configured to control the operation of the vibration mechanism such that speckle caused at least in part by the coherence of the pulses of coherent light is not visible to a user in an exposure frame generated by the image sensor.

5. The system of claim 1 , further comprising: a sleeve for coupling the first optical fiber portion of the optical fiber bundle to the second optical fiber portion of the optical fiber bundle; as well as a housing configured to house the vibration mechanism of a vibration device, wherein the vibration device includes one or more of: a mechanical motor, a piezoelectric crystal, an oscillator, or a resonator component; Wherein, the housing of the vibration mechanism is attached to the sleeve.

6. The system according to claim 5, wherein: The vibrating mechanism is the only vibrating mechanism attached to the optical fiber bundle, and wherein the vibrating mechanism vibrates each of the first optical fiber portion and the second optical fiber portion.

7. The system according to claim 1, wherein: The vibration mechanism is configured to vibrate the optical fiber bundle so that at least one of the pulses of coherent light transmitted through the optical fiber bundle temporarily loses coherence due to a change in the geometry of a path traveled by the pulses of coherent light due to the vibration of the vibration mechanism.

8. The system according to claim 1, wherein: The coherent light source includes a plurality of laser beams, and each of the plurality of laser beams includes a plurality of laser units, wherein the plurality of laser beams includes one or more of the following: a red laser beam configured to emit electromagnetic radiation of a red wavelength; a green laser beam configured to emit electromagnetic radiation having a green wavelength; A blue laser beam configured to emit electromagnetic radiation of a blue wavelength; or A laser marking beam is used to emit the laser marking pattern.

9. The system according to claim 8, wherein: The hyperspectral source is a hyperspectral laser beam comprising one or more of: a first hyperspectral beam configured to emit electromagnetic radiation having a wavelength of about 513 nm to about 545 nm; a second hyperspectral beam configured to emit electromagnetic radiation having a wavelength of about 565 nm to about 585 nm; or A third hyperspectral beam is configured to emit electromagnetic radiation having a wavelength of about 900 nm to about 1000 nm.

10. The system according to claim 8, wherein: The fluorescence source is a fluorescence laser beam, which is used to emit electromagnetic radiation at the fluorescence excitation wavelength, including one or more of the following: a first fluorescent beam configured to emit electromagnetic radiation having a wavelength of about 770 nm to about 790 nm; or A second fluorescent beam is configured to emit electromagnetic radiation having a wavelength of about 795 nm to about 815 nm.

11. The system according to claim 8, wherein The laser marking beam is configured to emit the laser marking pattern such that one or more of a distance, a size, or a three-dimensional topography can be calculated based on reflected electromagnetic radiation sensed by the image sensor in response to the emission of the laser marking pattern.

12. The system of claim 1 , wherein: The vibration mechanism introduces a vibration stimulus into the optical fiber bundle to induce a series of changes in the path geometry of the optical fiber bundle; and wherein the series of changes to the path geometry are performed at a high frequency such that observable speckle patterns in exposure frames generated by the image sensor are substantially removed.

13. The system according to claim 11, wherein: The pixel array of the image sensor senses reflected electromagnetic radiation during a readout period of the pixel array to generate the plurality of exposure frames, wherein the readout period is a duration when active pixels in the pixel array are read.

14. The system according to claim 1, wherein: The coherent light source is configured to be capable of emitting a plurality of sub-pulses of coherent light during a pulse duration, the plurality of sub-pulses having a sub-duration shorter than the pulse duration.

15. The system of claim 1, wherein: One or more of the pulses of coherent light emitted by the coherent light source comprises electromagnetic radiation emitted simultaneously at two or more wavelengths as a single pulse or a single sub-pulse.

16. The system of claim 1, wherein: The controller is configured to provide the fluorescence exposure frame to a corresponding fluorescence system, which determines the location of a key tissue structure within a scene based on the fluorescence exposure frame.

17. The system according to claim 16, wherein: The fluorescence excitation emission includes one or more of the following: Electromagnetic radiation having a wavelength of about 770 nm to about 790 nm; or Electromagnetic radiation having a wavelength of about 795 nm to about 815 nm.

18. The system according to claim 17, wherein: The controller is further configured to: receiving the position of the critical tissue structure from the corresponding fluorescence system; generating a stacked frame including the location of the critical tissue structure; and The overlay frame is combined with a color image frame depicting the scene to indicate the location of the key tissue structure within the scene.

19. The system according to claim 18, wherein: The controller is further configured to: providing the laser mapping exposure frame to a corresponding laser mapping system, the corresponding laser mapping system determining the topography of the scene and / or the size of one or more objects within the scene; providing the position of the critical tissue structure to the corresponding laser mapping system; and The topography and / or dimensions of the critical tissue structure are received from the corresponding laser mapping system.

20. The system of claim 19, wherein: The critical tissue structures include one or more of nerves, ureters, blood vessels, blood flow, or tumors.

21. The system of claim 1, wherein: The controller is configured to synchronize the timing of the pulses of coherent light during a blanking period of the image sensor, wherein the blanking period corresponds to a time between a readout of a last row of valid pixels in the pixel array and a start of a next subsequent readout of valid pixels in the pixel array.

22. The system of claim 1, wherein: Two or more pulses of coherent light emitted by the coherent light source result in two or more instances of reflected electromagnetic radiation that are sensed by the pixel array to generate two or more exposure frames that are combined to form an image frame.

23. The system of claim 1, wherein: The image sensor includes a first image sensor and a second image sensor, such that the image sensor can generate a three-dimensional image.

24. The system of claim 1, wherein: The coherent light source is configured to repeatedly emit a sequence of pulses of coherent light sufficient to generate a video stream comprising a plurality of image frames, wherein each image frame in the video stream comprises data from a plurality of exposure frames.

25. The system of claim 1, wherein: The pulses of coherent light are emitted in a pattern of electromagnetic radiation of different wavelengths, and wherein the coherent light source repeats the pattern of electromagnetic radiation of different wavelengths.

26. The system of claim 1, wherein: At least a portion of the pulses of coherent light emitted by the coherent light source includes a plurality of tool-specific laser marking patterns for each of a plurality of tools within a scene.

27. The system of claim 1, wherein: The laser marking pattern emitted by the laser marking source includes a first output and a second output that are independent of each other, wherein the first output is used for light illumination and the second output is used for tool tracking.

28. The system of claim 1, wherein: The controller is configured to provide the hyperspectral exposure frame to a corresponding hyperspectral system, and the corresponding hyperspectral system determines a location of a key tissue structure within a scene based on the hyperspectral exposure frame.

29. The system of claim 28, wherein: The hyperspectral emission includes one or more of the following: electromagnetic radiation having a wavelength of about 513 nm to about 545 nm; Electromagnetic radiation having a wavelength of about 565 nm to about 585 nm; or Electromagnetic radiation having a wavelength of about 900 nm to about 1000 nm.

30. The system of claim 29, wherein: The controller is further configured to: receiving the location of the critical tissue structure from the corresponding hyperspectral system; generating a stacked frame including the location of the critical tissue structure; and The overlay frame is combined with a color image frame depicting the scene to indicate the location of the key tissue structure within the scene.

31. The system of claim 30, wherein: The controller is further configured to: providing the laser mapping exposure frame to a corresponding laser mapping system, the corresponding laser mapping system determining the topography of the scene and / or the size of one or more objects within the scene; providing the position of the critical tissue structure to the corresponding laser mapping system; and The topography and / or dimensions of the critical tissue structure are received from the corresponding laser mapping system.

32. The system of claim 31, wherein: The critical tissue structures include one or more of nerves, ureters, blood vessels, arteries, blood flow, or tumors.

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