Controlling the integrated energy of laser pulses in hyperspectral imaging systems

Abstract

Pulsed hyperspectral imaging in a light-deficient environment is disclosed. A system is disclosed, comprising an emitter for emitting electromagnetic radiation pulses and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The system comprises the electromagnetic sensor for sensing energy emitted by the emitter. The system comprises a controller configured to synchronize the timing of the emitter and the image sensor. The system is configured such that at least a portion of the electromagnetic radiation pulses emitted by the emitter comprises electromagnetic radiation having a wavelength of approximately 513 nm to approximately 545 nm, approximately 565 nm to approximately 585 nm, or approximately 900 nm to approximately 1000 nm.

Description

Technical Field

[0001] The present disclosure relates to digital imaging, and in particular to hyperspectral 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 or cavities. Endoscopes are used to investigate a patient's symptoms, confirm a diagnosis, or provide medical treatment. 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 procedures, procedures performed on joints or bones, procedures performed on the nervous system, and procedures performed within the abdominal cavity.

[0003] In some endoscopic imaging situations, it may be beneficial or necessary to view space in color. A digital color image comprises at least three layers, or "color channels," that cumulatively form an image with a range of hues. 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 band. The luminance information from the individual red, green, and blue layers is combined to produce 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. The 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 it impossible to fit the entire pixel array within the small distal end of an endoscope.

[0004] Because conventional image sensors cannot fit within the distal end of an endoscope, they are traditionally located within the endoscope's handpiece unit, which is held by the endoscope operator and not placed within the 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 implementations, it may be desirable to capture images with hyperspectral image data in addition to color image data. Color images reflect what the human eye detects when observing the environment. However, the human eye is limited to observing visible light and cannot detect other wavelengths of the electromagnetic spectrum. At other wavelengths of the electromagnetic spectrum beyond "visible light," additional information about the environment can be obtained. One means of obtaining image data outside the visible light spectrum is to apply hyperspectral imaging.

[0006] Hyperspectral imaging is used to identify different materials or objects and processes by providing information beyond what the human eye can see. Unlike normal camera images, which provide limited information to the human eye, hyperspectral imaging can identify specific compounds and biological processes based on their unique spectral signatures. Hyperspectral imaging is complex and can require fast computer processing power, sensitive detectors, and large data storage capacities.

[0007] Hyperspectral imaging traditionally requires a dedicated image sensor, which consumes significant physical space and cannot fit within the distal end of an endoscope. Furthermore, if a hyperspectral image is superimposed on a black-and-white or color image to provide context to the practitioner, the camera (or cameras) generating the superimposed image may have many different types of pixel sensors sensitive to different ranges of electromagnetic radiation. This would include three separate types of pixel sensors for generating RGB color images, as well as additional pixel sensors for generating hyperspectral image data at different wavelengths of the electromagnetic spectrum. This consumes significant physical space and requires a large pixel array to ensure satisfactory image resolution. In the case of endoscopic imaging, one or more cameras would be too large to be placed at the distal end of the endoscope and would therefore be placed in an endoscope hand unit or robotic unit. This introduces the same disadvantages as described above and can result in a very delicate endoscope, resulting in significant degradation of image quality if the endoscope is bumped or impacted during use.

[0008] In light of the foregoing, systems, methods, and apparatus are described herein for improved endoscopic imaging in light-poor environments. The systems, methods, and apparatus disclosed herein provide a means for color and hyperspectral imaging with an endoscopic device. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Non-limiting and non-exhaustive implementations of the present disclosure are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified.

[0010] The advantages of the present disclosure will be better understood with reference to the following description and accompanying drawings, in which:

[0011] Figure 1 is a schematic diagram of a system for digital imaging in a light-deficient environment having paired emitters and a pixel array;

[0012] Figure 2 A system for providing illumination to a light-deficient environment for endoscopic imaging;

[0013] Figure 2A is a schematic diagram of the complementary system hardware;

[0014] Figures 3A to 3D is a diagrammatic representation of an operating cycle of a sensor for constructing an exposure frame;

[0015] Figure 4A is a diagrammatic illustration of the operation of an embodiment of an electromagnetic transmitter;

[0016] Figure 4B A diagram for varying the duration and magnitude of the emitted electromagnetic pulses to provide exposure control;

[0017] Figure 5 For the general Figures 3A to 4B An illustration of an embodiment of the present disclosure incorporating an operating cycle of a sensor, an electromagnetic transmitter, and emitted electromagnetic pulses showing the imaging system during operation;

[0018] Figure 6A is a schematic diagram of a method for recording a video with full spectrum light during a time period from t(0) to t(1);

[0019] Figure 6B is a schematic diagram of a process for recording a video by pulsing segmented spectral light during the time period t(0) to t(1);

[0020] 7A to 7E A schematic diagram showing a method for recording video frames of both full spectrum light and partitioned spectrum light within a certain time interval;

[0021] Figure 8 An illumination system for use in conjunction with a pulsed imaging system is shown, wherein the illumination system includes a photodiode for measuring energy emitted by a laser module;

[0022] Figure 9 A laser beam is shown including an electromagnetic sensor in communication with an operational amplifier for measuring energy emitted by the laser unit;

[0023] Figure 10 An embodiment of a transmitter comprising a plurality of laser beams is shown, each laser beam comprising an electromagnetic sensor for measuring the energy emitted by the laser unit;

[0024] Figure 11An embodiment of a digital imaging system including an endoscopic device is shown;

[0025] Figure 12 Schematic diagram of a pattern reconstruction process for generating an RGB image with hyperspectral data superimposed thereon from a partitioned spectrum of pulsed light;

[0026] 13A to 13C A light source having multiple emitters is shown;

[0027] Figure 14 A single optical fiber is shown outputting through a diffuser at the output to illuminate a scene in a light-deficient environment;

[0028] 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;

[0029] Figure 16 is a schematic diagram illustrating the timing of emission and readout for generating an image frame comprising a plurality of exposure frames produced by different partitions of pulsed light;

[0030] Figure 17A and Figure 17B Detailed description of an implementation having multiple pixel arrays for generating three-dimensional images according to the principles and teachings of the present disclosure;

[0031] Figure 18A and 18B illustrates a perspective view and a side view, respectively, of an embodiment 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 circuit columns are located on a second substrate, showing electrical connections and communications between a column of pixels and its associated or corresponding circuit column; and

[0032] Figure 19A and Figure 19B 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

[0033] Disclosed herein are systems, methods, and apparatus for digital imaging that are primarily applicable to medical applications, such as medical endoscopic imaging. One embodiment of the present disclosure is an endoscopic system for hyperspectral and color imaging in a light-deficient environment. Such methods, systems, and computer-based products disclosed herein provide imaging or diagnostic capabilities for medical robotic applications, such as robotic use for performing imaging procedures, surgical procedures, and the like.

[0034] One embodiment of the present disclosure is an imaging system having a light source for providing pulsed illumination in a light-deficient environment. In this embodiment, the total energy emitted by the light source is controlled and maintained to a specified tolerance. The light source can communicate with a camera control unit (CCU) so that the CCU controls the power level, enable / disable, duration, and power level of the light source. The light source can include a digital light source, such as a laser and a light emitting diode, and can also include an analog light source.

[0035] In one embodiment, during operation of the imaging system, a PID (proportional, integral, and derivative) control algorithm is implemented to ensure that the captured scene maintains a desired video exposure level, thereby maximizing the dynamic range of the image sensor or achieving the desired scene response desired by the end user. The PID control algorithm may generally be referred to as automatic shutter control (ASC) in this article. In some embodiments, each light pulse is proportionally adjusted based on a calculated error measurement, and the error measurement is calculated by comparing the desired exposure level with the measured exposure level. The measured exposure level can be calculated using the average pixel value of all pixels or some portions of pixels in the image sensor. The ASC can adjust the light pulses to change the duration and / or intensity of the light source. This ensures that the desired set value is obtained within a specified time. The imaging system can be implemented in an endoscopic device, wherein the image sensor is disposed in a spatially highly restricted area of ​​the distal end of the endoscope.

[0036] 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 precise optical components can easily become misaligned 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 when compared to specific implementations known in the art. However, an acceptable solution to this approach is not simple and presents a series of engineering challenges.

[0037] When minimizing the overall size of an image sensor so that it 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 an image sensor can be reduced by reducing the number of pixels and / or 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 with the aid of segmented pixel arrays (such as a Bayer pattern array). In light 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 separate 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 hyperspectral imaging data superimposed thereon.

[0038] 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 implementation, alternative pulses may include luminance ("Y"), red chrominance ("Cr"), and blue chrominance ("Cb") pulses of light for generating a YCbCr image frame consisting of luminance data, red chrominance data, and blue chrominance data. A color image frame may also include data from a hyperspectral exposure frame superimposed on an RGB or YCbCr image frame. Hyperspectral pulses may include one or more electromagnetic radiation pulses for eliciting a spectral response. In one embodiment, the hyperspectral emission includes one or more of electromagnetic radiation having wavelengths of approximately 513 nm to approximately 545 nm; approximately 565 nm to approximately 585 nm; or approximately 900 nm to approximately 1000 nm. Alternating the wavelengths of the pulsed electromagnetic radiation allows for utilization of a full pixel array and avoids artifacts introduced by a Bayer pattern pixel array.

[0039] In some cases, it is desirable to generate endoscopic imaging that includes multiple data types or multiple images that overlap one another. For example, it is desirable to generate a color (RGB or YCbCr) image that also includes hyperspectral imaging data superimposed on an RGB image. Overlapping images of this nature can enable a medical practitioner or computer program to identify key body structures based on the hyperspectral imaging data. Historically, this would require the use of a multiple sensor system that includes an image sensor for color imaging and one or more additional image sensors for hyperspectral imaging. In such a system, the multiple image sensors would have multiple types of pixel sensors, each sensitive to a different range of electromagnetic radiation. In systems known in the art, this includes three separate types of pixel sensors for generating RGB color images, and additional pixel sensors for generating hyperspectral image data at different wavelengths of the electromagnetic spectrum. These multiple different pixel sensors occupy 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 end of the endoscope, but rather in the endoscope handpiece or robotic unit. This results in numerous disadvantages and results in very delicate endoscopes. When an endoscope is bumped or impacted during use, delicate endoscopes 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 for employing multiple imaging techniques in a single imaging session while allowing one or more image sensors to be positioned in the distal tip of an endoscope.

[0040] Hyperspectral imaging

[0041] In one embodiment, the systems, methods, and devices disclosed herein provide a device 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 (including red, green, and blue wavelengths) of 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.

[0042] 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. Hyperspectral imaging can also be used in medical imaging applications, where certain tissues, chemical processes, biological processes, and diseases can be identified based on their unique spectral signatures.

[0043] In one embodiment of hyperspectral imaging, a complete spectrum or some spectral information is collected at each pixel in the image plane. Hyperspectral cameras can use specialized hardware to capture any suitable number of wavelength bands per pixel that can be interpreted as a complete spectrum. The goals of hyperspectral imaging vary for different applications. In one application, the goal is to obtain imaging data for the entire electromagnetic spectrum for each pixel in the image scene. In another application, the goal is to obtain imaging data for certain sub-regions of the electromagnetic spectrum for each pixel in the image scene. Certain sub-regions of the electromagnetic spectrum can be selected based on what is likely to be identified in the image scene. These applications enable the precise identification of certain materials, tissues, chemical processes, biological processes, and diseases that cannot be identified in the visible wavelength band. In some medical applications, hyperspectral imaging includes one or more specific sub-regions of the electromagnetic spectrum that have been selected to identify certain tissues, diseases, chemical processes, and the like. Some exemplary sub-regions of the electromagnetic spectrum that can be pulsed for hyperspectral imaging in medical applications include electromagnetic radiation with wavelengths of approximately 513 nm to approximately 545 nm; approximately 565 nm to approximately 585 nm; and / or approximately 900 nm to approximately 1000 nm.

[0044] Hyperspectral imaging offers numerous advantages over conventional imaging, with particular advantages in medical applications. Endoscopic hyperspectral imaging allows a healthcare practitioner or computer-implemented program to identify neural tissue, muscle tissue, blood vessels, cancer cells, typical non-cancerous cells, blood flow direction, and the like. Hyperspectral imaging enables precise differentiation of atypical cancerous tissue from typical healthy tissue, and thus can enable a healthcare practitioner or computer-implemented program to discern the boundaries of cancerous tumors during surgery or research imaging. Information obtained through hyperspectral imaging enables precise identification of certain tissues or conditions that would otherwise be undiagnosable or less accurately diagnosed using conventional imaging. Additionally, hyperspectral imaging can be used during medical procedures to provide image-guided surgery, enabling a healthcare practitioner 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 the like. Hyperspectral imaging provides specialized diagnostic information regarding tissue physiology, morphology, and composition that cannot be generated using conventional imaging.

[0045] In one embodiment of the present disclosure, an endoscope system illuminates a source and pulses electromagnetic radiation for spectral or hyperspectral imaging. Pulsed hyperspectral imaging as discussed herein includes pulsed electromagnetic spectrum or multiple bands and may include infrared wavelengths, visible spectrum, ultraviolet spectrum, x-ray wavelengths, or any suitable combination of wavelength bands. In one embodiment, hyperspectral imaging includes pulsed electromagnetic radiation having a wavelength of about 513 nm to about 545 nm; about 565 nm to about 585 nm; and / or about 900 nm to about 1000 nm.

[0046] Pulse imaging

[0047] Some specific implementations of the present disclosure include various aspects of sensor and system design that can generate high-definition images with a reduced pixel count in restricted lighting environments. This is achieved by pulsing a monochromatic wavelength on a frame-by-frame basis and switching or alternating between a single different color wavelength each frame using a controlled light source in combination with a high frame capture rate and a specially designed corresponding monochromatic sensor. Additionally, electromagnetic radiation outside the visible spectrum can be pulsed to enable the generation of hyperspectral images. Pixels can be color-agnostic, such that each pixel generates data for each pulse of electromagnetic radiation that includes pulses of red, green, and blue visible light wavelengths, as well as other wavelengths that can be used for hyperspectral imaging.

[0048] The system disclosed herein is an endoscopic imaging 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 data. The system includes a transmitter for emitting pulses of electromagnetic radiation. The system includes a controller (alternatively referred to as "control circuitry") in electronic 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 divided into three defined states: a rolling readout state, a service item state, and a configuration state. The system includes an oscillator 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 oscillator frequency. The system transmits clock signal data from the bidirectional pad of the image sensor to the controller during a service item phase and a configuration phase. This system allows exposure frames to be synchronized without using an input clock or a data transmission clock.

[0049] 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.

[0050] 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.

[0051] When describing and claiming the presently disclosed subject matter, the following terminology will be used in accordance with the following definitions.

[0052] 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.

[0053] 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.

[0054] As used herein, the phrase "consisting of and its grammatical equivalents exclude any elements or steps not stated in a claim.

[0055] 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.

[0056] As used herein, the term "proximal side" broadly refers to the concept of a portion close to a starting point.

[0057] 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.

[0058] 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.

[0059] 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. Because fewer incident photons are wasted between individual pixels, monochrome sensors also have higher quantum efficiency.

[0060] As used herein, a transmitter is a device capable of generating and emitting electromagnetic pulses. Various embodiments of transmitters can be configured to emit pulses having very specific frequencies or frequency ranges from across the electromagnetic spectrum. The pulses can include wavelengths in both the visible and invisible ranges. The transmitter can be cycled on and off to generate the pulses, or a shutter mechanism can be used to generate the pulses. The transmitter can have a variable power output level or can be controlled with auxiliary devices such as an aperture or filter. The transmitter can emit broad or full spectrum electromagnetic radiation that can be pulsed using color filtering or a shutter action. The transmitter can include multiple electromagnetic sources acting individually or in concert.

[0061] 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 from the visible and invisible spectrum of electromagnetic radiation. The term "partition" 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.

[0062] Now referring to the accompanying drawings, Figure 1 A schematic diagram of a system 100 for sequential pulse imaging in an aphotic environment is shown. System 100 can be deployed to generate an RGB image with hyperspectral data superimposed on the RGB image. System 100 includes an emitter 102 and a pixel array 122. Emitter 102 pulses a region of electromagnetic radiation in an aphotic environment 112, and pixel array 122 senses instances of reflected electromagnetic radiation. Emitter 102 and pixel array 122 operate sequentially such that one or more pulses of the region of electromagnetic radiation produce an exposure frame including image data sensed by pixel array 122.

[0063] 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 receiving emissions and adjustments made within the system. The emitter 102 can be tuned to emit electromagnetic radiation in the form of a laser, which 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 corresponding in time to each specific electromagnetic sector. For example, Figure 1 1. A specific implementation is shown in which emitter 102 emits four different subregions of electromagnetic radiation, including red 104 wavelengths, green 106 wavelengths, blue 108 wavelengths, and hyperspectral 110 emissions. Hyperspectral 110 emissions may include wavelength bands in the electromagnetic spectrum that induce a spectral response. Hyperspectral 110 emissions may include multiple individual emissions that are separate and independent from each other.

[0064] exist Figure 1In 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 chroma, and blue chroma light energy spaces. The pulsed emission of light may also include modulated blue chroma ("λY+Cb") pulses and / or modulated red chroma ("δY+Cr") pulses.

[0065] 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 back pulses of red 104 light. Reflections from red structures result in red 105, which is sensed by pixel array 122 after the pulses of red 104 are emitted. The data sensed by pixel array 122 generates a red exposure frame. Structures perceived as green 116 will reflect back pulses of green 106 light. Reflections from green structures result in green 107, which is sensed by pixel array 122 after the pulses of green 106 are emitted. The data sensed by pixel array 122 generates a green exposure frame. Structures perceived as blue 118 will reflect back pulses of blue 108 light. Reflections from blue structures result in blue 109, which is sensed by pixel array 122 after the pulses of blue 108 are emitted. The data sensed by pixel array 122 generates a blue exposure frame.

[0066] When the structure is a combination of colors, the structure will reflect back a combination of pulsed red 104 emissions, pulsed green 106 emissions, and / or pulsed blue 108 emissions. For example, a structure perceived as purple will reflect back light from both pulsed red 104 emissions and pulsed blue 108 emissions. The resulting data sensed by pixel array 122 will indicate that light was reflected in the same area after both the pulsed red 104 emissions and the pulsed blue 108 emissions. When the resulting red and blue exposure frames are combined to form an RGB image frame, the RGB image frame will indicate that the structure is purple.

[0067] In an embodiment where the light-deficient environment 112 includes a fluorescent agent or 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, 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 the emission of 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, which includes data from a red exposure frame, a green exposure frame, and a blue exposure frame.

[0068] In embodiments where the aphotic environment 112 includes structures, tissues, or other materials that emit a spectral response to certain partitions of the electromagnetic spectrum, the pulse scheme may include emission of a hyperspectral partition of electromagnetic radiation to induce 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 in the hyperspectral exposure frame may be superimposed on an RGB image frame that includes data from a red exposure frame, a green exposure frame, and a blue exposure frame.

[0069] In one embodiment, the pulse scheme includes a laser marking emission or tool tracking mode. Reflected electromagnetic radiation sensed by the pixel array 122 following the laser marking emission or tool tracking mode results in a laser marking exposure frame. Data in 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 topology of the scene in the light-poor environment 112, the distance, size, or location of structures or objects within the scene, and the like. This data can be superimposed on the RGB image frame or otherwise provided to a user of the system.

[0070] Emitter 102 can be a laser emitter capable of emitting pulsed red 104 light for generating sensed red 105 data for identifying red 114 elements within an aphotic environment 112. Emitter 102 can also emit pulsed green 106 light for generating sensed green 107 data for identifying green 116 elements within an aphotic environment. Emitter 102 can also emit pulsed blue 108 light for generating sensed blue 109 data for identifying blue 118 elements within an aphotic environment. Emitter 102 can further emit hyperspectral 110 emissions to identify elements sensitive to hyperspectral 120 radiation. Emitter 102 can emit pulsed red 104, pulsed green 106, pulsed blue 108, and pulsed hyperspectral 110 emissions in any desired order.

[0071] Pixel array 122 senses reflected electromagnetic radiation. Each of the sensed red 105, sensed green 107, sensed blue 109, and sensed hyperspectral 111 data may be referred to as an "exposure frame." Sensing hyperspectral 111 may result in multiple, separate and independent exposure frames. For example, sensing hyperspectral 111 may produce a first hyperspectral exposure frame at a first partition of electromagnetic radiation, a second hyperspectral exposure frame at a second partition of electromagnetic radiation, and so on. Each exposure frame is assigned a specific color or wavelength partition, where the assignment is based on the timing of the color or wavelength partition of the pulses from emitter 102. The combination of the exposure frame and the assigned specific color or wavelength partition may be referred to as a data set. Even if pixels 122 are not color-dedicated, any given data set may be assigned a color based on a priori information about the emitter.

[0072] For example, during operation, after a pulse of red 104 light is pulsed in an abscissa 112, pixel array 122 senses the reflected electromagnetic radiation. The reflected electromagnetic radiation generates an exposure frame, and the exposure frame is categorized as sensed red 105 data because it corresponds in time to the pulse of red 104 light. The exposure frame, along with an indication that it corresponds in time to the pulse of red 104 light, is referred to as a "data set." This process is repeated for each distribution of electromagnetic radiation emitted by emitter 102. The data created by pixel array 122 includes a sensed red 105 exposure frame, which identifies the red 114 component in the abscissa and corresponds in time to the pulse of red 104 light. The data also includes a sensed green 107 exposure frame, which identifies the green 116 component in the abscissa and corresponds in time to the pulse of green 106 light. The data also includes a sensed blue 109 exposure frame, which identifies the blue 118 component in the abscissa and corresponds in time to the pulse of blue 108 light. The data also includes sensed hyperspectral 111 exposure frames that identify elements sensitive to hyperspectral 120 radiation and that correspond in time to the hyperspectral 110 emissions.

[0073] In one embodiment, three datasets representing red, green, and blue electromagnetic pulses are combined to form a single image frame. Thus, information from the red exposure frame, the green exposure frame, and the blue exposure frame is combined to form a single RGB image frame. One or more additional datasets representing other wavelength partitions can be superimposed 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.

[0074] It should be understood that the present disclosure is not limited to any particular color combination or electromagnetic partition, and that any color combination or 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 an element sensitive to hyperspectral 120 radiation, which 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's 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, control circuitry, a camera controller, an image sensor, an image signal processing pipeline, or some other computing resource, which can be configured to process the multiple exposure frames and combine the data sets at 126. As discussed herein, the controller 124 may include the structure and functionality of control circuitry, a camera controller, and / or an image signal processing pipeline.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.

[0075] Figure 2A system 200 for providing illumination to a light-deficient environment, such as for endoscopic imaging, is provided. 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 (collectively 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, laser mapping pulse schemes, or other wavelengths. Intracavity 212 can be inserted into a patient for imaging, such as during a procedure or 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 controller 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.

[0076] In one embodiment, the intracavity waveguide 210 comprises one or more optical fibers. These optical fibers can be made of low-cost materials, such as plastic, to allow for handling of the intracavity waveguide 210 and / or other parts of the endoscope. 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 pass 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.

[0077] Image sensor 214 includes a pixel array. In one embodiment, image sensor 214 includes two or more pixel arrays for generating a three-dimensional image. Image sensor 214 may constitute two additional image sensors, each having an independent pixel array and operable independently of one another. The pixel array of image sensor 214 includes active pixels and optically black ("OB") or optically blind pixels. Active pixels can be transparent "color-indeterminate" pixels capable of sensing imaging data of 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 the optically black pixels are being read, light is pulsed during the blanking period of the pixel array. After the optically black pixels have been read, 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.

[0078] 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 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: computer storage media (devices) and transmission media.

[0079] 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.

[0080] "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 controller 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 through 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. Transmission media may include networks and / or data links that can be used to carry desired program code tools in the form of computer-executable instructions or data structures and can be accessed by general-purpose or special-purpose computers. The above combinations should also be included within the scope of computer-readable media.

[0081] 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.

[0082] 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 methodological 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.

[0083] 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, controllers, camera controllers, 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.

[0084] 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.

[0085] 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 controller, a tablet computer, and the like.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] I / O devices 260 include various devices that allow data and / or other information to be input to or retrieved from computing device 250. Exemplary I / O devices 260 include digital imaging devices, electromagnetic sensors and emitters, 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.

[0090] 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.

[0091] Interfaces 256 include various interfaces that enable 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.

[0092] The bus 262 enables 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.

[0093] For illustrative purposes, the programs and other executable program components shown herein are discrete blocks, but it should be understood that such programs and components may reside in different storage components of the computing device 250 at various times and be executed by the processor(s) 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.

[0094] Figure 3A An operating cycle of the sensor used in a rolling readout mode or during a sensor readout 300 is shown. A frame readout may begin at and may be represented by a vertical line 310. A readout cycle is represented by a diagonal or slanted line 302. The 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.

[0095] 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 a constant integration time between two different rows, but introduces a delay when moving from the top row to the bottom row.

[0096] 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.

[0097] Figure 3DA configuration is shown without the electronic shutter 322 but with controlled and pulsed light 210 during the blanking period 316. This ensures that all rows see the same light as that emitted from the same light pulse 210. 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 embodiment of the present invention, 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 optical black lines 318 and 320 are not sensitive to light, the time of the optical black line 320 after frame (m) and the time of the optical black line 318 before frame (m+1) can be added to the blanking period 316 to determine the maximum range of the firing time of the light pulse 210.

[0098] like Figure 3A As shown, the sensor can 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 can be timed. In one embodiment, the cycle can be timed to operate within an interval of 16.67 ms. In another embodiment, the cycle can be timed to operate within an interval of 8.3 ms. 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.

[0099] 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 4A Pulse 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 and the cycles of the sensor correspond.

[0100] 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.

[0101] 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 can 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. In addition, pulse 1 at 412 has a shorter duration than pulse 2 at 414 or pulse 3 at 416, so that the electromagnetic energy provided by the pulse is shown by the area under the pulses shown in the illustration. In the illustration, pulse 2 at 414 has a relatively low 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.

[0102] Figure 5 In accordance with the principles and teachings of this disclosure Figures 3A to 3D and Figure 4A 3. An operating cycle of an image sensor, an electromagnetic emitter, and emitted electromagnetic pulses are shown to illustrate 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 dashed lines in the figure represent pulses of electromagnetic radiation (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.

[0103] An exposure frame includes data read by the pixel array of the image sensor during readout period 302. The exposure frame can be combined with an indication of the type of pulse emitted by the emitter prior to readout period 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, fluorescence, and / or laser mapping imaging data can be superimposed on the black and white or RGB image.

[0104] 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 light emission, a green exposure frame generated by the image sensor after green light emission, and a blue exposure frame generated by the image sensor after blue light emission. Hyperspectral imaging data can be superimposed on the RGB image frames. Hyperspectral imaging data can be extracted from one or more hyperspectral exposure frames. A hyperspectral exposure frame includes data generated by the image sensor during readout cycle 302 after hyperspectral emission of electromagnetic radiation. Hyperspectral emission includes any suitable emission in the electromagnetic spectrum and can include multiple light emissions across the entire electromagnetic spectrum. In one embodiment, hyperspectral emission includes emission of electromagnetic radiation having a wavelength of approximately 513 nm to approximately 545 nm; approximately 565 nm to approximately 585 nm; and / or approximately 900 nm to approximately 1000 nm. The hyperspectral exposure frame can include multiple hyperspectral exposure frames, each generated by the image sensor after a different type of hyperspectral emission. In one embodiment, the hyperspectral exposure frame includes a plurality of hyperspectral exposure frames, including a first hyperspectral exposure frame generated by the image sensor after emission of electromagnetic radiation having a wavelength of about 513 nm to about 545 nm, a second hyperspectral exposure frame generated by the image sensor after emission of electromagnetic radiation having a wavelength of about 565 nm to about 585 nm, and a third hyperspectral exposure frame generated by the image sensor after emission of electromagnetic radiation having a wavelength of about 900 nm to about 1000 nm. The hyperspectral exposure frames may include additional hyperspectral exposure frames generated by the image sensor after other hyperspectral emissions of light required based on the imaging application.

[0105] A hyperspectral exposure frame can be generated by the image sensor after emitting multiple different sub-regions of electromagnetic radiation. For example, a single hyperspectral exposure frame can be sensed by the pixel array after emitting electromagnetic radiation having wavelengths of about 513 nm to about 545 nm; about 565 nm to about 585 nm; and about 900 nm to about 1000 nm. The emission of electromagnetic radiation can include a single pulse in which each of the multiple wavelengths is emitted simultaneously; multiple sub-pulses in which each sub-pulse is electromagnetic radiation of a different wavelength; or some combination thereof. The emission of electromagnetic radiation having one or more pulses can occur during a blanking period 316 that occurs before a readout period 302 in which the pixel array senses the exposure frame.

[0106] 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 is emitted during the blanking period 316. In one embodiment, a portion of the emission of electromagnetic radiation overlaps with the readout period 316. The blanking period 316 occurs when optically black pixels of the pixel array are being read, and the readout period 302 occurs when active pixels of the pixel array are being read. The blanking period 316 may overlap with the readout period 302.

[0107] 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 a pixel array after emission of 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-agnostic" image sensor that receives electromagnetic radiation of all wavelengths.

[0108] Figure 6A The process shown occurs from time t(0) to time t(1). The process begins with white light emission 602 and sensing of white light 604. At 606, an image is processed and displayed based on the sensing at 604.

[0109] Figure 6BThe process shown occurs from time t(0) to time t(1). The process begins with the emission of green light 612, and after the emission of green light 612, the reflected electromagnetic radiation 614 is sensed. The process continues with the emission of red light 616, and after the emission of red light 616, the reflected electromagnetic radiation 618 is sensed. The process continues with the emission of blue light 620, and after the emission of blue light 620, the reflected electromagnetic radiation 622 is sensed. The process continues with one or more emissions of hyperspectral 624 emissions, and after each of the one or more emissions of hyperspectral 624 emissions, the reflected electromagnetic energy 626 is sensed.

[0110] Figure 6B The method shown provides higher resolution images and provides a means for generating an RGB image that also includes hyperspectral imaging 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 of electromagnetic energy during each cycle. Thus, to form an image, the sensor need only cycle through a different plurality of sub-segments within the full spectrum of light. The final image is combined based on multiple cycles. Because the image from each color-partitioned frame cycle (compared to a CFA pixel array) has a higher resolution, the resulting image produced 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) senses the magnitude of energy for a given pulse and a given scene, only a fraction of a second apart, a higher-resolution image is produced for each scene.

[0111] As in Figures 6A to 6B In the embodiment shown in FIG, between time t(0) and t(1), it can be seen from the graph that Figure 6B The sensor pair of the partitioned spectroscopy system Figure 6A Each of the full spectrum systems in the full spectrum system 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.

[0112] 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.

[0113] Embodiments may include the following pulse cycle patterns:

[0114] i. Green pulse;

[0115] ii. Red pulse;

[0116] iii. Blue pulse;

[0117] iv. Green pulse;

[0118] v.Red pulse;

[0119] vi.Blue pulse;

[0120] vii. Hyperspectral pulses;

[0121] viii.(repeat)

[0122] Embodiments may include the following pulse cycle patterns:

[0123] i. Brightness pulse;

[0124] ii. Red chroma pulse;

[0125] iii. Brightness pulse;

[0126] iv. Blue chroma pulse;

[0127] v.Hyperspectral pulse;

[0128] vi.(repeat)

[0129] Embodiments may include the following pulse cycle patterns:

[0130] i. Brightness pulse;

[0131] ii. Red chroma pulse;

[0132] iii. Brightness pulse;

[0133] iv. Blue chroma pulse;

[0134] v.Brightness pulse;

[0135] vi. Red chroma pulse;

[0136] vii. Brightness pulse;

[0137] viii. Blue chroma pulse;

[0138] ix. Hyperspectral pulses;

[0139] x.(repeat)

[0140] As can be seen in this example, a hyperspectral partition can be pulsed at a different rate than the other partitions. Doing so can emphasize a certain aspect of a scene, with the hyperspectral data simply overlaid with other data in the video output to create the desired emphasis. It should be noted that adding a hyperspectral partition on top of the red, green, and blue partitions does not necessarily require a serialized system to operate at four times the rate of a full-spectrum, non-serial system, as each partition does not necessarily need to be equally represented in the pulsed pattern. As seen in this embodiment, adding a hyperspectral partition that pulses less frequently in the pulsed pattern will result in a less than 20% increase in the sensor's cycle speed to accommodate the irregular sampling of the partitions.

[0141] 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:

[0142] i.770±20nm;

[0143] ii.770±10nm;

[0144] iii.770±5nm;

[0145] iv.790±20nm;

[0146] v.790±10nm;

[0147] vi.790±5nm;

[0148] vii.795±20nm;

[0149] viii.795±10nm;

[0150] ix.795±5nm;

[0151] x.815±20nm;

[0152] xi.815±10nm;

[0153] xii.815±5nm;

[0154] xiii. 770nm to 790nm; and / or

[0155] xiv.795nm to 815nm.

[0156] 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:

[0157] i.513±545nm;

[0158] ii.565nm to 585nm;

[0159] iii.900nm to 1000nm;

[0160] iv.513±5nm;

[0161] v.513±10nm;

[0162] vi.513±20nm;

[0163] vii.513±30nm;

[0164] viii.513±35nm;

[0165] ix.545±5nm;

[0166] x.545±10nm;

[0167] xi.545±20nm;

[0168] xii.545±30nm;

[0169] xiii.545±35nm;

[0170] xiv.565±5nm;

[0171] xv.565±10nm;

[0172] xvi.565±20nm;

[0173] xvii.565±30nm;

[0174] xviii.565±35nm;

[0175] xix.585±5nm;

[0176] xx.585±10nm;

[0177] xxi.585±20nm;

[0178] xxii.585±30nm;

[0179] xxiii.585±35nm;

[0180] xxiv.900±5nm;

[0181] xxv.900±10nm;

[0182] xxvi.900±20nm;

[0183] xxvii.900±30nm;

[0184] xxviii.900±35nm;

[0185] xxix.1000±5nm;

[0186] xxx.1000±10nm;

[0187] xxxi.1000±20nm;

[0188] xxxii.1000±30nm; or

[0189] xxxiii.1000±35nm.

[0190] The partition loop can be divided into various imaging and video standards to accommodate or approximate them. In one embodiment, the partition loop includes the following: 7A to 7D The timing relationship between the emission of the electromagnetic radiation pulses by the emitter and the readout of the pixel array is shown in FIG. 7A to 7D Further shown in .

[0191] exist Figure 7A In Figure 5, 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 7A The general timing relationship between the mixing of pulses at three wavelengths and the readout cycle of the image sensor's pixel array over a four-frame cycle is shown. In one embodiment, three monochromatic pulsed light sources are present under the control of a controller. For example, a periodic sequence of monochromatic red, monochromatic green, and monochromatic blue exposure frames is captured using an RGBG pulse pattern and combined into an sRGB image frame by an image signal processor chain.

[0192] exist 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.

[0193] Figure 7CThe example shows a case where both the optical power and optical pulse width are modulated to provide greater flexibility. The zone cycle can utilize cyan, magenta, yellow (CMY), infrared, ultraviolet, hyperspectral, and fluorescent light, invisible pulse sources mixed with visible pulse sources, and 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.

[0194] 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 image 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.

[0195] In one embodiment, all three light sources are pulsed in unison with light energy modulated to provide pure luminance information in the same exposure frame. The light energy may be modulated according to color conversion coefficients from the RGB color space to the YCbCr color space. It should be understood that the color conversion may be implemented according to any suitable standard, such as the ITU-R BT.709 HD standard, the ITU-R BT.601 standard, the ITU-R BT.2020 standard, or any other suitable standard or formula. The conversion may be performed according to the ITU-R BT.709 HD standard as follows:

[0196]

[0197] In addition to the modulation of the luminance information, a full-color image requires a red chrominance component and a blue chrominance component. However, the algorithm applied to the luminance component cannot be directly applied to the chrominance components because the algorithm is signed, as reflected in the fact that some of the RGB coefficients are negative. In one embodiment, the luminance is increased so that all final pulse energies are positive. As long as the color fusion process in the image signal processor knows the composition of the chrominance exposure frames, they can be decoded by subtracting the appropriate amount of luminance from the adjacent frames. The pulse energy ratio is given by:

[0198] Y=0.183·R+0.614·G+0.062·B

[0199] Cb=λ·Y-0.101·R-0.339·G+0.439·B

[0200] Cr=δ·Y+0.439·R-0.399·G-0.040·B

[0201] in

[0202]

[0203]

[0204] If the λ factor is equal to 0.552, the red and green components are canceled. In this case, blue chromaticity information can be provided as pure blue light. Similarly, if the δ factor is equal to 0.650, the blue and green components are canceled, and red chromaticity information can be provided as pure red light. This embodiment is a convenient approximation for digital frame reconstruction.

[0205] In embodiments where white balancing is performed in the illumination domain, a modulation is applied in addition to the white balance modulation.

[0206] In one embodiment, replicating the pulses of the weaker subareas 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 the blanking period (the time 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 shown 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 two frames or three frames or four frames or n frames.

[0207] exist Figure 7E In Figure 1, four different light pulses are shown, and pulse 1 can be repeated after pulse 4, for example, and a four-frame pattern with different blanking periods can be used. 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 in 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.

[0208] Figure 8A system 800 is shown for controlling the integrated energy of laser pulses in the context of hyperspectral, fluorescence, and / or laser mapping imaging. In conventional systems known in the art, lasers consistently deliver a specified light level. These conventional systems do not have a means to offset problems that arise during normal use. Such problems can be caused by warm-up requirements, temperature variations, manufacturing defects, etc. These problems can degrade image quality due to flickering light and image artifacts. These problems can be addressed by the systems disclosed herein, including Figure 8 to improve the system 800 shown).

[0209] Figure 8 The system 800 shown represents one exemplary embodiment, and many other embodiments may be implemented without departing from the scope of the present disclosure. The system 800 includes a laser module 802, an optical fiber 804 connected to the laser module 802, and a light sensing element such as a photodiode 806 connected to the optical fiber 804. The laser module 802 may generally be referred to as a "transmitter" herein, and the term transmitter as used herein may include multiple laser modules. The laser module 802 and the photodiode 806 each communicate with a controller 808. The controller 808 receives light sensing readings from the photodiode 806 and changes the wavelength and / or power emitted by the laser module 802 in response to the real-time light readings received from the photodiode 806.

[0210] exist Figure 8 In the exemplary implementation shown, system 800 includes two separate laser modules 802, two separate optical fibers 804, and two separate photodiodes 806. It should be understood that system 800 may include any number of laser modules 802, photodiodes 806, and optical fibers 804 without departing from the scope of the present disclosure.

[0211] In one embodiment, the system 800 is implemented to control the duration and / or intensity of pulsed light to illuminate a light-deficient environment. A laser controller 808 communicates with each of the plurality of laser modules 802 and is configured to control the duration and / or intensity of light emitted by the laser module 802. The photodiode 806 is configured to measure the duration and / or intensity of light emitted by the laser module 802 by measuring light traveling through the optical fiber 804. The laser controller 808 is used to limit the output light energy of the laser module 802 to within an acceptable tolerance.

[0212] The laser module 802 may include one or more lasers or other light emitters capable of emitting electromagnetic radiation over a wide range of wavelengths. The wavelength and power of the emitted electromagnetic radiation may be selected to meet application requirements. In one embodiment, the laser module 802 includes a plurality of lasers or other light emitters arranged as follows: Figure 9Multiple lasers may be arranged in a linear array or some other geometric pattern as shown. Laser module 802 may typically include ten or more individual laser diodes to ensure precise light output.

[0213] The optical fiber 804 may include a single optical fiber or a bundle of optical fibers. The optical fiber 804 is directly connected to the laser module 802 and may be directly connected to the optical output of the laser within the laser module 802. In some embodiments, the optical fiber 804 may be in the range of 0.05 mm to 0.5 mm.

[0214] Photodiode 806 is a light sensing element. In alternative embodiments, different types of light sensing elements may be used. Photodiode 806 senses the light level traveling through optical fiber 804 by reading the energy transmission on individual optical fibers 804 or a bundle of optical fibers 804. In an embodiment, photodiode 806 measures light level information by sensing voltage or current across optical fiber 804, and in such embodiments, photodiode 806 may be directly attached to optical fiber 804. Photodiode 806 transmits the light level information to controller 808. In some embodiments, photodiode 806 converts the raw data into a usable light level measurement, and in other embodiments, controller 808 converts the raw data into a usable light level measurement.

[0215] In one embodiment, the total amount of light in the scene is calculated based on measurements of one, two, or N photodiodes 806. One, two, or N photodiodes 806 can be used with an amplifier to compare the light output measurement to a desired reference voltage or current level. This circuit can provide direct feedback to the bias current or voltage of the laser module 802 to ensure that the desired output light level is met.

[0216] In one embodiment, a photodiode 806 or other light sensing element is built into each laser module 802. A portion of the electromagnetic radiation emitted by the laser module 802 may be directed at the photodiode 806 or other sensing element capable of converting light into a voltage or current level to measure the light output.

[0217] The controller 808 receives light level information from the photodiode 806 in real time. The controller 808 calculates the amount of light emitted by the laser module 802 based on the energy transfer readings received from the photodiode 806. These energy transfer readings serve as independent feedback from the photodiode 806 to the controller 808. The controller 808 can compare this independent feedback with a register or variable value that indicates a predetermined desired light level. The register or variable value can be retrieved from computer memory.

[0218] In one embodiment, the controller 808 calculates the light level and integrates the light energy in less than 1 ms. The controller 808 implements an automatic exposure control (AEC) system to adjust the wavelength and / or duration of light emitted by the laser module 802 in response to the current light reading received from the photodiode 806. The AEC may include a PID (proportional, integral, and derivative) control algorithm, and the PID control algorithm may be implemented by the controller 808.

[0219] In one embodiment, each pulse of electromagnetic radiation is proportionally adjusted based on the error measurement. Controller 808 calculates the error measurement by comparing the desired exposure level with the measured exposure level. The measured exposure level is calculated based on the average pixel value of all pixels within the pixel array of the image sensor. The ASC may request adjustments to the duration and / or intensity of the light emitted by laser module 802 to ensure that the desired exposure level is achieved.

[0220] The controller 808 ensures that once the light energy level is reached, the laser module 802 is turned off or disabled to maintain the desired image quality.

[0221] In one embodiment, the controller 808 is a camera control unit (CCU) or includes a CCU. The controller 808 may include a microcontroller, a field programmable gate array (FPGA) board, an application specific integrated circuit (ASIC), hardware, software, an image signal processor (ISP), supporting circuits, etc. The controller 808 controls the activation and deactivation of the laser module 802. The controller 808 also controls the power level and light level of the laser module 802. The controller 808 receives information from the photodiode 806 and changes the light energy emitted by the laser module 802 based on the information received from the photodiode 806.

[0222] Figure 9 A system 900 for emitting electromagnetic radiation is shown. The system 900 can be implemented in conjunction with a digital imaging system for a light-deficient environment as described herein. The system 900 can be deployed to control the output of electromagnetic radiation to illuminate a scene.

[0223] System 900 includes a laser beam 902 having multiple laser units. Laser beam 902 may generally be referred to herein as a "transmitter," and as the term transmitter is used herein, it may include multiple laser beams. Laser beam 902 is connected to an optical fiber 904. The system includes an electromagnetic sensor 906, such as a photodiode or other light sensing element. Electromagnetic sensor 906 senses the output of electromagnetic radiation by at least one laser unit of laser beam 902. System 900 includes an operational amplifier (OPA) 908 circuit electrically connected to electromagnetic sensor 906. Operational amplifier 908 may apply feedback, or in an alternative embodiment, an optical frequency multiplier may apply feedback.

[0224] Electromagnetic sensor 906 senses the output of at least one laser element of laser beam 902. Based on this measured value, the overall output of laser beam 902 is controlled and adjusted in real time to ensure proper exposure of the scene. In one embodiment, the light output is controlled to a precision level of 0.01% to 10%.

[0225] Figure 10 A specific implementation of a system 1000 for laser illumination is shown. The system 1000 includes multiple laser beams for emitting electromagnetic energy at multiple wavelengths. The system 1000 can be implemented to generate a color RGB image based on separate pulses of red electromagnetic radiation, green electromagnetic radiation, and blue electromagnetic radiation.

[0226] exist Figure 10 In the exemplary embodiment shown, system 1000 includes a red laser beam 1010, a green laser beam 1012, a blue laser beam 1014, and a hyperspectral laser beam 1016. Hyperspectral laser beam 1016 may include multiple different laser beams for emitting electromagnetic radiation at different hyperspectral wavelengths for eliciting a spectral response from some object or material within a scene. Laser beams 1010, 1012, 1014, 1016 may generally be referred to herein as "emitters," and the term "emitter" may include any suitable number of laser beams as desired. In one embodiment, hyperspectral laser beam 1016 includes three separate hyperspectral laser beams 1016, one of which is configured to emit electromagnetic radiation having a wavelength of about 513 nm to about 545 nm; one of which is configured to emit electromagnetic radiation having a wavelength of about 565 nm to about 585 nm; and one of which is configured to emit electromagnetic radiation having a wavelength of about 900 nm to about 1000 nm. In alternative embodiments, the hyperspectral laser beam 1016 is configured to emit electromagnetic radiation to excite fluorescent agents within the scene, or to emit a laser mapping pattern to take measurements of the scene.

[0227] It should be understood that the system 1000 can include any number of laser beams, and each of the laser beams can be configured to emit electromagnetic radiation of a different wavelength. As described herein, the system 1000 can include an "emitter," and the emitter can include multiple laser beams, such as laser beams for red, green, and blue wavelengths, and laser beams for hyperspectral, fluorescence, and / or laser mapping imaging. In one embodiment, the system 1000 includes laser beams for emitting electromagnetic radiation of red, green, and blue wavelengths, and also includes laser beams for emitting electromagnetic radiation of hyperspectral wavelengths, for emitting fluorescence excitation wavelengths for causing reagents to fluoresce, and for emitting laser mapping mode.

[0228] Each of the laser beams includes a plurality of laser units for emitting electromagnetic radiation pulses. The system 1000 includes a dedicated electromagnetic sensor 1006 for measuring the electromagnetic radiation emitted by each laser beam. Figure 10 As shown, system 1000 includes a separate electromagnetic sensor 1006 for each of a red laser beam 1010, a green laser beam 1012, a blue laser beam 1014, and a hyperspectral laser beam 1016. Electromagnetic sensor 1006 can be connected to one or more laser units of laser beams 1010, 1012, 1014, 1016. Electromagnetic sensor 1006 senses the output of electromagnetic radiation by measuring the current or voltage emitted by at least one laser unit.

[0229] Light is transmitted from the laser beams through optical fiber 1004. Each of the laser beams 1010, 1012, 1014, 1016 includes an optical fiber 1004. The optical fibers 1004 are combined to include a single exit optical fiber 1018.

[0230] Figure 11 Schematic diagram of a system 1100 for providing illumination to a light-deficient environment (such as for endoscopic imaging). System 1100 can be used in conjunction with any of the systems, methods, or devices disclosed herein. System 1100 includes a light source 1102, a controller 1104, a jumper waveguide 1106, a waveguide connector 1108, an intracavity waveguide 1110, an intracavity 1112, and an image sensor 1114 with accompanying optical components (such as a lens). Light source 1102 (which may be referred to as an "emitter" in some embodiments) generates light that travels through jumper waveguide 1106 and intracavity waveguide 1110 to illuminate a scene at the distal end of intracavity 1112. Light source 1100 can be used to emit electromagnetic energy of any wavelength, including visible, infrared, ultraviolet, or other wavelengths. Intracavity 1112 can be inserted into a patient for imaging, such as during a procedure or examination. Light is output as shown by dashed line 1116. An image sensor 1114 can be used to capture a scene illuminated by light and display the scene to a physician or other medical personnel. A controller 1104 can provide control signals to the light source 1102 to control when illumination is provided to a scene. In one embodiment, the light source 1102 and the controller 1104 are located within a camera control unit (CCU) or an external console to which the endoscope is connected. If the image sensor 1114 comprises a CMOS sensor, light can be periodically provided to the scene as a series of illumination pulses between readout cycles of the image sensor 1114 during so-called blanking periods. Thus, the light can be pulsed in a controlled manner to avoid overlap into the readout cycles of image pixels in the pixel array of the image sensor 1114.

[0231] In one embodiment, the intracavity waveguide 1110 includes one or more optical fibers. These optical fibers can be made of low-cost materials (such as plastic) to allow for handling of the intracavity waveguide 1110 and / or other parts of the endoscope. In one embodiment, a single glass fiber having a diameter of 500 microns can be used. The jumper waveguide 1106 can be permanently attached to the light source 1102. For example, the jumper waveguide 1106 can receive light from a transmitter within the light source 1102 and provide light to the intracavity waveguide 1110 at the location of the connector 1108. In one embodiment, the jumper waveguide 106 can include one or more glass optical fibers. The jumper waveguide can include any other type of waveguide for guiding light to the intracavity waveguide 1110. The connector 1108 can selectively couple the jumper waveguide 1106 to the intracavity waveguide 1110 and allow light within the jumper waveguide 1106 to be transferred to the intracavity waveguide 1110. In one embodiment, the intracavity waveguide 1110 can be directly coupled to the light source without any intervening jumper waveguide 1106 .

[0232] Figure 11 A digital imaging system 1100 is shown that utilizes minimum pad interconnects to reduce the size of image sensors for use with endoscopic devices in light-poor environments. Figure 11 The illustrated digital imaging system 1100 includes an endoscopic device 1102 for use in a low-light environment. Endoscopic device 1102 includes an endoscope 1104, an endoscope housing 1106, a controller 1108, an electronic communication device 1120, a light source 1110, an optical cable 1126, a display 1112, and an imaging device 1114. Electronic communication 1120 may include an electronic cable or other form of wired or wireless communication. In some embodiments, optical cable 1126 may be a fiber optic cable. Imaging device 1114 may be an image sensor, such as a CMOS image sensor having an array of pixels.

[0233] exist Figure 11In the illustrated example, for ease of discussion, the endoscopic device 1104, endoscope housing 1106, controller 1108, light source 1110, display 1112, and imaging device 1114 are shown separately from one another. However, it should be understood and appreciated that this is not to be construed as limiting, and any one or more of these components may be integrated and / or connected in any suitable manner. It should be understood that the image sensor senses reflected electromagnetic radiation using a pixel array. The pixel array generates exposure frames comprising image data in response to the electromagnetic radiation pulses. The processor 1124 can detect image texture and edges within the image frames and can further enhance the texture and edges within the image frames. Whether in the housing 1106 or at the controller 1108, the processor 1124 can also retrieve characteristics related to the pixel technology and applied sensor gain from memory to assess the expected amount of noise within the image frames generated by the image sensor and use this noise expectation to control the application of edge enhancement. An image frame stream can be generated by sequentially combining multiple image frames, where each image frame includes data from multiple exposure frames.

[0234] It should be understood that conventional rod-lens endoscopes used for laparoscopic, arthroscopic, urological, gynecological, and ENT (ear, nose, and throat) procedures are expensive to manufacture due to their complex optical components. Incident image information is transmitted in the optical domain along the entire length of the endoscope. Typically, these conventional endoscopes are optically coupled to a handpiece unit that includes an image sensor. Conventional endoscopes of this type are delicate and susceptible to damage during handling, use, and sterilization. The necessary repair and sterilization processes add additional costs to each procedure that utilizes them.

[0235] Endoscope 1102 can be improved by placing an image sensing device at the distal end of the endoscope. In such an embodiment, the optical transmission assembly can be replaced with a simple plastic lens stack. Such endoscopes can be very inexpensive, so it may make more economic sense to manufacture them for a single use and then dispose of or recycle them, as this would eliminate the need for repair and sterilization processes.

[0236] However, when the image sensor is located at the distal end of endoscope 1102, the image sensor must be very small. The distal end of endoscope 1102 is spatially constrained in both the x and y dimensions. One approach to reducing the size of the image sensor is to reduce the number of bonding pads within the image sensor chip. Each bonding pad occupies significant physical space on the image sensor chip. Each bonding pad is used to provide power or input / output signals to and from the image sensor chip. Therefore, to minimize area, it is desirable to reduce the number of bonding pads. This disclosure describes systems and methods for reducing pad count by combining digital input and output functionality into the same bidirectional pads. During image transmission, these bidirectional pads act as differential outputs. In one embodiment, during a defined portion of each exposure frame, the bidirectional pads switch direction to receive commands. In such an embodiment, the camera control electronics are synchronized so that when the bidirectional pads are configured to receive commands, the commands are issued to the image sensor bidirectional pads at specific times.

[0237] Furthermore, in the context of endoscope systems, simplicity and manufacturability can be enhanced by customizing the image sensor to receive commands and information from the endoscope handpiece. This information can be incorporated into the output data from the image sensor. This reduces the overall conductor count from the endoscope to the camera system. Such information sources can include user-initiated button events or measurements of the rotation angle of the endoscope relative to the handpiece. Certain embodiments of endoscopes require angle measurements, where the image sensor of the endoscope is placed at the distal end.

[0238] CMOS image sensors typically combine two different power supplies, requiring three pads: VDD1, VDD2, and GND. The higher of the two voltages is primarily used to bias the pixel array. Occasionally, the higher of the two voltages is also used to power input and output circuitry. Where applicable, the lower of the two voltages is typically used to power peripheral analog circuitry and the digital portion of the image sensor.

[0239] In one embodiment, pad count is reduced by using only a single external power supply. This can be achieved by providing multiple internal power supplies, for example, using an internal DC to DC converter or voltage regulator. Furthermore, pad count can be reduced by providing only a single power level. A second power level can then be derived on-chip. This embodiment effectively removes power supply circuitry, such as voltage regulators, from the camera system.

[0240] Figure 12 It is a schematic diagram of the pattern reconstruction process. Figure 12The exemplary pattern shown includes red, green, blue, and hyperspectral light pulses, each lasting a duration of T1. In various embodiments, the light pulses can have the same duration or different durations. The red, green, blue, and hyperspectral exposure frames are combined to generate an RGB image with hyperspectral data superimposed thereon. A single image frame comprising the red, green, blue, and hyperspectral exposure frames requires a time period of 4*T1 to generate. Figure 12 The durations shown are exemplary only and may vary for different implementations. In other embodiments, different pulse schemes may be employed. 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.

[0241] 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 can 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.

[0242] 13A to 13CEach light source 1300 is shown having multiple emitters. The emitters include a first emitter 1302, a second emitter 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 second 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 emitters 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 a laser. Figure 2 The jumper waveguide 206 or the intracavity waveguide 210) provides a location for other optical components of the light.

[0243] 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" the tissue in front to identify chemical processes, structures, compounds, biological processes, etc. located behind the tissue in front. Hyperspectral wavelengths can be specifically selected to identify specific diseases, tissue conditions, biological processes, chemical processes, types of tissues, etc. that are known to have specific spectral responses.

[0244] 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.

[0245] In one specific implementation, emitters 1302, 1304, and 1306 emit laser mapping patterns for mapping the topology of a scene and / or for calculating the sizes of objects in the scene and the distances between them. In one embodiment, an endoscopic imaging system is used in conjunction with multiple tools, such as surgical scalpels, retractors, clamps, and the like. 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 tool can be analyzed to identify the distance between the tool and other objects in the scene.

[0246] 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 varying intensities 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.

[0247] 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.

[0248] 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.

[0249] Figure 13CAn 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 comprise 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.

[0250] 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 reflectors 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.

[0251] Figure 13CAn 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.

[0252] 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.

[0253] In one embodiment, the intracavity waveguide 210 comprises a single plastic or glass optical fiber of approximately 500 microns. Plastic fibers are relatively low in cost, but their width allows the fiber to carry a sufficient amount of light to the scene due to 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.

[0254] Although 13A to 13CThree 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 be further configured to emit hyperspectral emissions of electromagnetic radiation, fluorescence excitation wavelengths for causing agents to fluoresce, and / or laser mapping modes for calculating parameters and distances between objects in a scene.

[0255] 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.

[0256] Hyperspectral imaging includes imaging information from the entire 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 partition of the wavelengths of 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.

[0257] In one embodiment, 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, with 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 plurality of 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 may 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 may be included to provide sufficient output power for imaging. The number of emitters required for a particular wavelength band may depend on the sensitivity of the monochromatic sensor to the wavelength band and / or the power output capability of the emitters in that wavelength band.

[0258] 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 highly selective hyperspectral and / or fluorescence imaging. The bandwidth can allow the excitation wavelengths of one or more specific fluorescent agents to be selectively emitted. In addition, the bandwidth can allow certain partitions of the hyperspectral electromagnetic radiation to be selectively emitted for identifying specific structures, chemical processes, tissues, biological processes, etc. Because the wavelengths come from selectively activatable emitters, great flexibility can be achieved in fluorescing one or more specific fluorescent agents during an examination. In addition, extreme flexibility can be achieved in identifying one or more objects or processes through hyperspectral imaging. As a result, 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, etc.

[0259] 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, where one exposure frame includes red image data, another exposure frame includes green image data, and another exposure frame includes blue image data. Additionally, 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.

[0260] 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 sizes 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, and the like. The location and identification of the key structures can be received from the corresponding system and can also be used to generate the topology 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 morphology and distance of the cancerous tumor can 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.

[0261] In one embodiment, each exposure frame is generated based on at least one pulse of electromagnetic energy. The electromagnetic energy pulse 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 exposure 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.

[0262] 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 light from the visible spectrum for generating an RGB or black image, while one or more additional pulses are emitted to sense spectral responses 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 topology of a scene. As another example, the pulses of a single readout cycle may include spectra (e.g., different segments of the electromagnetic spectrum) generated by multiple different emitters that can be used to detect a particular tissue type. For example, if the 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.

[0263] 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.

[0264] 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.

[0265] In one exemplary embodiment, a fluorescent agent is administered to a patient, and the fluorescent agent is configured to adhere to cancer cells. The fluorescent agent is known to fluoresce when irradiated with a specific subregion of electromagnetic radiation. The relaxation wavelength of the fluorescent agent is also known. In the exemplary embodiment, the patient is imaged using an endoscopic imaging system as described herein. The endoscopic imaging system pulses subregions of red, green, and blue wavelengths of light to generate an RGB video stream of the patient's interior. Additionally, the endoscopic imaging system pulses electromagnetic radiation at the excitation wavelength of the fluorescent agent administered to the patient. In this example, the patient has cancer cells, and the fluorescent agent has adhered to the cancer cells. When the endoscopic imaging system pulses the excitation wavelength of 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, after fluorescing, emit its relaxation wavelength due to the emission of the excitation wavelength. The endoscopic imaging system senses the relaxation wavelength of the fluorescent agent, thereby sensing the presence of the fluorescent agent in the scene. Because the fluorescent agent is known to adhere 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 scheme to generate the topology 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 topology and size information calculated based on the laser mapping data. Thus, the precise location, size, dimensions, and topology 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.

[0266] In another exemplary embodiment, an endoscopic imaging system is used to image a patient to identify quantitative diagnostic information regarding pathological changes in the patient's tissue. 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 subregions 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, allowing the system to "see through" some tissue and generate images of tissue affected by the disease. The endoscopic imaging system senses the 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 may also emit a laser mapping pulse pattern to generate a topological structure of the scene and calculate the dimensions of objects within the scene. The location of the diseased tissue (as identified by the hyperspectral imaging data) can be combined with the topological and dimensional information calculated using the laser mapping data. Thus, the precise location, size, dimensions, and topological structure 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.

[0267] Figure 17A and Figure 17B A perspective view and a side view, respectively, of an implementation of a monolithic sensor 1700, in accordance with the teachings and principles of the present disclosure, are shown, which includes multiple pixel arrays for generating a three-dimensional image. Such an implementation may be desirable for three-dimensional image capture, wherein the two pixel arrays 1702 and 1704 may be offset during use. In another implementation, the first pixel array 1702 and the second pixel array 1704 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.

[0268] Figure 18A and Figure 18BA perspective view and a side view, respectively, of an embodiment of an imaging sensor 1800 constructed on multiple substrates are shown. As shown, multiple pixel columns 1804 forming the pixel array are located on a first substrate 1802, and multiple circuit columns 1808 are located on a second substrate 1306. 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 1802 may be fabricated using an imaging CMOS process. The first substrate / chip 1802 may consist solely of the pixel array, or may consist of the pixel array surrounded by limited circuitry. The second or subsequent substrate / chips 1306 may be fabricated using any process, not necessarily an imaging CMOS process. 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. Image CMOS substrate / chip 1802 can be stacked with second or subsequent substrate / chips 1306 using any three-dimensional technology. Second substrate / chip 1306 can support most or most of the circuitry that would otherwise be implemented as peripheral circuitry in first image CMOS chip 1802 (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).

[0269] Figure 19A and Figure 19B A perspective view and a side view, respectively, of an implementation of an imaging sensor 1900 having multiple pixel arrays for generating a three-dimensional image are shown. The three-dimensional image sensor can be constructed on multiple substrates and can include multiple pixel arrays and other associated circuitry, wherein multiple pixel columns 1904a forming a first pixel array and multiple pixel columns 1904b forming a second pixel array are located on respective substrates 1902a and 1902b, respectively, and multiple circuitry columns 1908a and 1908b are located on a separate substrate 1906. Also shown are electrical connections and communications between the pixel columns and the associated or corresponding circuitry columns.

[0270] 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 of which is 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.

[0271] It should be understood that the teachings and principles of the present disclosure can be used for 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 have been 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, a sterile device is provided to the operating room and can only be used once before being disposed of.

[0272] Example

[0273] The following examples relate to preferred features of further embodiments:

[0274] Embodiment 1 is a system. The present invention discloses a system comprising an emitter for emitting electromagnetic radiation pulses and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The system comprises an electromagnetic sensor for sensing energy emitted by the emitter. The system comprises a controller in electronic communication with the emitter, the electromagnetic sensor, and the image sensor, wherein the controller is configured to synchronize the timing of the emitter and the image sensor to generate a plurality of exposure frames. The system is configured such that at least a portion of the electromagnetic radiation pulses emitted by the emitter comprises one or more of the following: electromagnetic radiation having a wavelength of approximately 513 nm to approximately 545 nm; electromagnetic radiation having a wavelength of approximately 565 nm to approximately 585 nm; or electromagnetic radiation having a wavelength of approximately 900 nm to approximately 1000 nm.

[0275] Embodiment 2 is the system of embodiment 1, wherein the emitter comprises a laser beam, and the laser beam comprises a plurality of discrete laser units, each discrete laser unit capable of emitting electromagnetic radiation.

[0276] Embodiment 3 is a system according to any one of embodiments 1 to 2, wherein the electromagnetic sensor is embedded within the emitter, and wherein the electromagnetic sensor senses the energy emitted by the emitter by sensing energy emitted by at least one, but less than all, of the plurality of discrete laser units within the laser beam.

[0277] Embodiment 4 is a system according to any one of embodiments 1 to 3, wherein: the electromagnetic sensor provides the value of the energy emitted by the emitter to the controller; and the controller controls the duty cycle of the emitter based on a predetermined known output and the value of the energy emitted by the emitter, so that the emitter illuminates the scene with a desired exposure of the image captured by the image sensor.

[0278] Embodiment 5 is a system according to any one of embodiments 1 to 4, wherein: the emitter includes a plurality of laser beams, and each of the plurality of laser beams includes a plurality of laser units; the system includes a dedicated electromagnetic sensor for each of the plurality of laser beams, so that energy emitted by each of the plurality of laser beams is sensed by a different dedicated electromagnetic sensor; and the dedicated electromagnetic sensor is configured to sense energy emitted by at least one, but less than all, of the plurality of laser units of the laser beam assigned thereto.

[0279] Embodiment 6 is a system according to any one of embodiments 1 to 5, wherein the controller includes one or more processors configurable to execute instructions stored in a non-transitory computer-readable storage medium, the instructions including: receiving a value of the energy emitted by the emitter from the electromagnetic sensor; comparing the value of the energy emitted by the emitter with a desired light output of the emitter; determining whether the value of the energy emitted by the emitter is within an acceptable tolerance relative to the desired light output of the emitter; and adjusting the duration of at least one of the electromagnetic radiation pulses in response to the value of the energy emitted by the emitter being not within the acceptable tolerance.

[0280] Embodiment 7 is a system according to any one of embodiments 1 to 6, wherein: the emitter includes a plurality of laser beams, and each laser beam of the plurality of laser beams includes a plurality of laser units, wherein the plurality of 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; and a hyperspectral beam, the hyperspectral beam is used to emit electromagnetic radiation of a hyperspectral wavelength for stimulating a spectral response.

[0281] Embodiment 8 is a system according to any one of embodiments 1 to 7, wherein the hyperspectral beam for emitting electromagnetic radiation at the hyperspectral wavelength includes one or more of the following: a first hyperspectral beam for emitting the electromagnetic radiation having the wavelength of about 513 nm to about 545 nm; a second hyperspectral beam, the second hyperspectral beam for emitting the electromagnetic radiation having the wavelength of about 565 nm to about 585 nm; or a third hyperspectral beam, the third hyperspectral beam for emitting the electromagnetic radiation having the wavelength of about 900 nm to about 1000 nm.

[0282] Embodiment 9 is a system according to any one of embodiments 1 to 8, 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 out.

[0283] Embodiment 10 is a system according to any one of embodiments 1 to 9, wherein at least a portion of the electromagnetic radiation pulses emitted by the emitter are hyperspectral wavelengths for inducing a spectral response, wherein the hyperspectral wavelengths include one or more of: the electromagnetic radiation having the wavelength of about 513 nm to about 545 nm and the electromagnetic radiation having the wavelength of about 900 nm to about 1000 nm; or the electromagnetic radiation having the wavelength of about 565 nm to about 585 nm and the electromagnetic radiation having the wavelength of about 900 nm to about 1000 nm.

[0284] Embodiment 11 is the system of any one of embodiments 1 to 10, wherein the transmitter is configured to transmit, during a pulse duration, a plurality of sub-pulses of electromagnetic radiation having sub-durations shorter than the pulse duration.

[0285] Embodiment 12 is a system according to any one of embodiments 1 to 11, wherein one or more of the electromagnetic radiation pulses emitted by the emitter includes electromagnetic radiation emitted simultaneously at two or more wavelengths as a single pulse or a single sub-pulse.

[0286] Embodiment 13 is a system according to any one of embodiments 1 to 12, wherein at least a portion of the electromagnetic radiation pulses emitted by the emitter are hyperspectral emissions that produce hyperspectral exposure frames produced by the image sensor, and wherein the controller is configured to provide the hyperspectral exposure frames to a corresponding system that determines the location of key tissue structures within a scene based on the hyperspectral exposure frames.

[0287] Embodiment 14 is a system according to any one of embodiments 1 to 13, wherein the hyperspectral emission includes: the electromagnetic radiation having the wavelength of about 513 nm to about 545 nm and the electromagnetic radiation having the wavelength of about 900 nm to about 1000 nm; or the electromagnetic radiation having the wavelength of about 565 nm to about 585 nm and the electromagnetic radiation having the wavelength of about 900 nm to about 1000 nm.

[0288] Embodiment 15 is a system according to any one of embodiments 1 to 14, wherein the controller is further configured to: receive the position of the critical tissue structure from the corresponding system; generate an overlapping frame including the position of the critical tissue structure; and combine the overlapping frame with a color image frame depicting the scene to indicate the position of the critical tissue structure within the scene.

[0289] Embodiment 16 is a system according to any one of embodiments 1 to 15, wherein the critical tissue structure comprises one or more of a nerve, a ureter, a blood vessel, an artery, blood flow, or a tumor.

[0290] Embodiment 17 is a system according to any one of embodiments 1 to 16, wherein the controller is configured to synchronize the timing of the electromagnetic radiation pulses during a blanking period of the image sensor, wherein the blanking period corresponds to the time between the readout of the last row of active pixels in the pixel array and the start of the next subsequent readout of active pixels in the pixel array.

[0291] Embodiment 18 is a system according to any one of embodiments 1 to 17, wherein two or more electromagnetic radiation pulses emitted by the emitter result in two or more instances of reflected electromagnetic radiation, and the two or more instances of reflected electromagnetic radiation are sensed by the pixel array to generate two or more exposure frames, and the two or more exposure frames are combined to form an image frame.

[0292] Embodiment 19 is the system of any one of embodiments 1 to 18, wherein the image sensor comprises a first image sensor and a second image sensor, such that the image sensor is capable of generating a three-dimensional image.

[0293] Embodiment 20 is a system according to any one of embodiments 1 to 19, wherein the transmitter is configured to repeatedly transmit a sequence of pulses of electromagnetic radiation 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 electromagnetic radiation.

[0294] Embodiment 21 is a system according to any one of embodiments 1 to 20, wherein the pulses of electromagnetic radiation are emitted in a pattern of electromagnetic radiation of different wavelengths, and wherein the emitter repeats the pattern of electromagnetic radiation of different wavelengths.

[0295] Embodiment 22 is a system according to any one of embodiments 1 to 21, wherein at least a portion of the electromagnetic radiation pulses includes a red wavelength, a green wavelength, a blue wavelength, and a hyperspectral wavelength, so that the reflected electromagnetic radiation corresponding to each of the red wavelength, the green wavelength, the blue wavelength, and the hyperspectral wavelength sensed by the pixel array can be processed to generate a superimposed red-green-blue (RGB) image frame including hyperspectral imaging data, wherein the electromagnetic radiation of the hyperspectral wavelength includes: the electromagnetic radiation having the wavelength of about 513 nm to about 545 nm and the electromagnetic radiation having the wavelength of about 900 nm to about 1000 nm; or the electromagnetic radiation having the wavelength of about 565 nm to about 585 nm and the electromagnetic radiation having the wavelength of about 900 nm to about 1000 nm.

[0296] Embodiment 23 is a system according to any one of embodiments 1 to 22, wherein at least a portion of the electromagnetic radiation pulse includes luminance emission, red chrominance emission, blue chrominance emission and hyperspectral emission, so that the reflected electromagnetic radiation corresponding to each of the luminance emission, the red chrominance emission, the blue chrominance emission and the hyperspectral emission sensed by the pixel array can be processed to generate a superimposed YCbCr image frame including hyperspectral imaging data, wherein the hyperspectral emission of the electromagnetic radiation includes: the electromagnetic radiation having the wavelength of about 513nm to about 545nm and the electromagnetic radiation having the wavelength of about 900nm to about 1000nm; or the electromagnetic radiation having the wavelength of about 565nm to about 585nm and the electromagnetic radiation having the wavelength of about 900nm to about 1000nm.

[0297] Embodiment 24 is the system of any one of embodiments 1 to 23, further comprising an operational amplifier circuit in electronic communication with the electromagnetic sensor.

[0298] Embodiment 25 is a system according to any one of embodiments 1 to 24, 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 electromagnetic radiation emitted by the emitter.

[0299] Embodiment 26 is the system of any one of embodiments 1 to 25, wherein the transmitter comprises a laser beam, and the system further comprises an optical fiber connected to the laser beam, wherein the electromagnetic sensor is connected to the optical fiber.

[0300] Embodiment 27 is the system of any one of embodiments 1 to 25, wherein the electromagnetic sensor is a photodiode.

[0301] Embodiment 28 is a system according to any one of embodiments 1 to 27, wherein the transmitter includes a plurality of laser beams for emitting electromagnetic radiation of a plurality of different wavelengths, and the system includes a plurality of electromagnetic sensors for independently sensing each of the plurality of laser beams.

[0302] Embodiment 29 is the system of any one of embodiments 1 to 28, wherein the transmitter comprises a laser beam, and the electromagnetic sensor is disposed in an optical fiber connected to the laser beam.

[0303] Embodiment 30 is the system of any one of embodiments 1 to 29, further comprising an operational amplifier circuit, wherein the electromagnetic sensor is in electronic communication with the operational amplifier circuit.

[0304] Embodiment 31 is a system according to any one of embodiments 1 to 30, wherein the controller includes one or more processors configurable to execute instructions stored in a non-transitory computer-readable storage medium, the instructions including: determining an average pixel value of pixels in the pixel array based on an exposure level of the image sensor; calculating a measured exposure level of the image sensor based on the average pixel value; calculating an error measurement based on the measured exposure level and a desired exposure level; determining whether the error measurement is within a tolerance threshold; and in response to the error measurement not being within the tolerance threshold, adjusting the wavelength and / or duration of at least one of the electromagnetic radiation pulses so that the error measurement is within the tolerance threshold.

[0305] 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.

[0306] 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.

[0307] It will be appreciated 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.

[0308] 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.

[0309] 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.

[0310] 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.

[0311] For the purpose of illustration and description, the above specific embodiments have been provided. These specific embodiments are not intended to be exhaustive or to limit the disclosure to the specific forms disclosed. Many modifications and variations can be made to the disclosure in accordance with the above 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 additional mixed embodiments of the disclosure.

[0312] 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. A system comprising: a plurality of emitters for emitting a plurality of electromagnetic radiation pulses, wherein the plurality of emitters are configured to emit visible light and to emit hyperspectral electromagnetic radiation pulses for stimulating a spectral response; an electromagnetic sensor for sensing energy emitted by the emitter; an image sensor comprising an array of pixels for sensing reflected electromagnetic radiation; a controller in electronic communication with the emitter, the electromagnetic sensor, and the image sensor, wherein the controller is configured to synchronize timing of the emitter and the image sensor; wherein at least a portion of the hyperspectral electromagnetic radiation pulses emitted by the emitter comprises one or more of: Electromagnetic radiation having a wavelength of 513 nm to 545 nm; Electromagnetic radiation having a wavelength of 565 nm to 585 nm; or electromagnetic radiation having a wavelength of 900 nm to 1000 nm, Wherein, the controller is further configured to: receiving, from the electromagnetic sensor, a value of the energy transmitted by the transmitter; comparing the value of the energy emitted by the emitter to a desired light output of the emitter; determining whether the value of the energy emitted by the emitter is within a tolerance threshold relative to the desired light output of the emitter; and In response to the value of the energy emitted by the emitter not being within the tolerance threshold, adjusting the wavelength and / or duration of at least one of the electromagnetic radiation pulses so that the value of the energy emitted by the emitter is within the tolerance threshold, wherein the image sensor is configured to sense reflected electromagnetic radiation to produce a plurality of exposure frames, the reflected electromagnetic radiation corresponding to a plurality of electromagnetic radiation pulses emitted by the plurality of emitters, and wherein a portion of the plurality of exposure frames includes one or more hyperspectral exposure frames corresponding to hyperspectral electromagnetic radiation pulses emitted by the emitters, and The system is configured to generate a video stream, wherein the video stream includes at least one hyper-spectral exposure frame of the one or more hyper-spectral exposure frames and a portion of other exposure frames of the plurality of exposure frames except the hyper-spectral exposure frame.

2. The system according to claim 1, wherein: The emitter comprises a laser beam, and the laser beam comprises a plurality of discrete laser units, each discrete laser unit being capable of emitting electromagnetic radiation.

3. The system according to claim 2, wherein: The electromagnetic sensor is embedded within the emitter, and wherein the electromagnetic sensor senses the energy emitted by the emitter by sensing energy emitted by at least one, but less than all, of the plurality of discrete laser elements within the laser beam.

4. The system of claim 1 , wherein: The electromagnetic sensor provides the controller with a value of the energy emitted by the emitter; as well as The controller controls a duty cycle of the emitter based on a predetermined known output and the value of the energy emitted by the emitter such that the emitter illuminates a scene at a desired exposure for an image captured by the image sensor.

5. The system of claim 1 , wherein: The transmitter includes a plurality of laser beams, and each of the plurality of laser beams includes a plurality of laser units; The system includes a dedicated electromagnetic sensor for each of the plurality of laser beams, such that energy emitted by each of the plurality of laser beams is sensed by a different dedicated electromagnetic sensor; and The dedicated electromagnetic sensor is configured to sense energy emitted by at least one, but less than all, of the plurality of laser units of its assigned laser beam.

6. The system according to claim 1, wherein: The controller includes one or more processors configurable to execute instructions stored in a non-transitory computer-readable storage medium, the instructions including: determining an average pixel value of pixels in the pixel array based on an exposure level of the image sensor; calculating a measured exposure level of the image sensor based on the average pixel value; calculating an error measure based on the measured exposure level and the desired exposure level; determining whether the error measure is within a tolerance threshold; and In response to the error measure not being within the tolerance threshold, a wavelength and / or duration of at least one of the electromagnetic radiation pulses is adjusted to bring the error measure within the tolerance threshold.

7. The system according to claim 1, wherein: The transmitter comprises a plurality of laser beams, and each of the plurality of laser beams comprises a plurality of laser units, wherein the plurality of laser beams comprises: a red laser beam configured to emit electromagnetic radiation having a red wavelength; a green laser beam configured to emit electromagnetic radiation having a green wavelength; a blue laser beam for emitting electromagnetic radiation of a blue wavelength; and A hyperspectral beam is configured to emit electromagnetic radiation of a hyperspectral wavelength for stimulating a spectral response.

8. The system according to claim 7, wherein: The hyperspectral beam for emitting electromagnetic radiation at the hyperspectral wavelength comprises one or more of: a first hyperspectral beam for emitting said electromagnetic radiation having said wavelength of 513 nm to 545 nm; a second hyperspectral beam for emitting said electromagnetic radiation having said wavelength of 565 nm to 585 nm; or A third hyperspectral beam is configured to emit the electromagnetic radiation having the wavelength of 900 nm to 1000 nm.

9. The system of claim 1, further comprising an operational amplifier circuit in electronic communication with the electromagnetic sensor.

10. The system according to claim 1, 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 electromagnetic radiation emitted by the emitter.

11. The system according to claim 10, 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.

12. The system according to claim 1, wherein: Hyperspectral wavelengths include one or more of the following: said electromagnetic radiation having said wavelength of 513 nm to 545 nm and said electromagnetic radiation having said wavelength of 900 nm to 1000 nm; or The electromagnetic radiation having the wavelength of 565 nm to 585 nm and the electromagnetic radiation having the wavelength of 900 nm to 1000 nm.

13. The system of claim 1, wherein: The transmitter is configured to transmit a plurality of sub-pulses of electromagnetic radiation during a pulse duration, the sub-pulses having sub-durations shorter than the pulse duration.

14. The system according to claim 1, wherein: One or more of the pulses of electromagnetic radiation emitted by the emitter include electromagnetic radiation emitted simultaneously at two or more wavelengths as a single pulse or a single sub-pulse.

15. The system of claim 1, wherein: The controller is further configured to: receiving the location of the key organizational structure from the corresponding system; generating overlapping frames including the location of the critical tissue structure; as well as The overlay frame is combined with a color image frame depicting a scene to indicate the location of the key tissue structure within the scene.

16. The system according to claim 15, wherein: The critical tissue structures include one or more of nerves, ureters, blood vessels, arteries, blood flow, or tumors.

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

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

19. 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.

20. The system of claim 1, wherein: The transmitter is configured to repeatedly transmit a sequence of pulses of electromagnetic radiation sufficient to generate the 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 electromagnetic radiation.

21. The system of claim 1, wherein: The pulses of electromagnetic radiation are emitted in a pattern of electromagnetic radiation of different wavelengths, and wherein the emitter repeats the pattern of electromagnetic radiation of different wavelengths.

22. The system of claim 1, wherein: At least a portion of the electromagnetic radiation pulses includes a red wavelength, a green wavelength, a blue wavelength, and a hyperspectral wavelength, such that reflected electromagnetic radiation corresponding to each of the red wavelength, the green wavelength, the blue wavelength, and the hyperspectral wavelength sensed by the pixel array can be processed to generate a superimposed red-green-blue (RGB) image frame including hyperspectral imaging data, wherein the hyperspectral wavelength of electromagnetic radiation includes: said electromagnetic radiation having said wavelength of 513 nm to 545 nm and said electromagnetic radiation having said wavelength of 900 nm to 1000 nm; or The electromagnetic radiation having the wavelength of 565 nm to 585 nm and the electromagnetic radiation having the wavelength of 900 nm to 1000 nm.

23. The system of claim 1, wherein: At least a portion of the electromagnetic radiation pulses includes luminance emission, red chrominance emission, blue chrominance emission, and hyperspectral emission, such that reflected electromagnetic radiation corresponding to each of the luminance emission, the red chrominance emission, the blue chrominance emission, and the hyperspectral emission sensed by the pixel array can be processed to generate a superimposed YCbCr image frame including hyperspectral imaging data, wherein the hyperspectral emissions of the electromagnetic radiation include: said electromagnetic radiation having said wavelength of 513 nm to 545 nm and said electromagnetic radiation having said wavelength of 900 nm to 1000 nm; or The electromagnetic radiation having the wavelength of 565 nm to 585 nm and the electromagnetic radiation having the wavelength of 900 nm to 1000 nm.

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