Target brightness determination method, light source control method and system, device and medium

Abstract

The present application relates to a target brightness determination method, a light source control method and system, a device and a medium. The target brightness determination method includes: obtaining an image to be processed for a target area; identifying a target object in the image to be processed; obtaining a reference brightness corresponding to the target object; and calculating the target brightness based on the reference brightness. The light source control method includes: determining the target brightness of the image to be processed, identifying the current brightness of the image to be processed; determining the brightness adjustment information of the light source based on the current brightness and the target brightness, and the brightness adjustment information is used to adjust the brightness of the light source. The target brightness can be calculated by using this method, thereby avoiding the user from adjusting the brightness multiple times by themselves, improving the level of intelligence, and automatically adjusting the brightness according to the current brightness and the target brightness, reducing and avoiding manual brightness adjustment by medical staff, and reducing surgical time.

Description

Technical Field

[0001] The present application relates to the field of medical device control technology, and in particular to a target brightness determination method, a light source control method and system, a device, and a medium. Background Art

[0002] During endoscopic surgery, the doctor controls the scope to image the cavity. The imaging environment changes in real time, which will affect the stability of the image brightness.

[0003] Traditionally, the brightness of the image display can be adjusted through digital image processing or by adjusting the display brightness. However, such image processing methods can produce unrealistic images, preventing doctors from obtaining effective information about the pathological changes in the operating area, resulting in poor results. Therefore, doctors manually adjust the brightness of the endoscope to reduce the impact of brightness on imaging.

[0004] However, the current method of reducing the impact of brightness on imaging is for doctors to manually adjust the brightness of the endoscope. Doctors only adjust the brightness based on their feelings, making it difficult to adjust to the optimal brightness. Summary of the Invention

[0005] Based on this, it is necessary to provide a target brightness determination method, light source control method and system, device and medium that can accurately calculate the optimal brightness to address the above technical problems.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A method for determining target brightness, comprising:

[0008] Obtaining an image to be processed for a target area;

[0009] Identifying a target object in the image to be processed;

[0010] Acquire a reference brightness corresponding to the target object;

[0011] The target brightness is calculated according to the reference brightness.

[0012] In one embodiment, identifying the target object in the image to be processed includes:

[0013] Segmenting the image to be processed to obtain at least one sub-image;

[0014] Each of the sub-images is identified to obtain the target object.

[0015] In one embodiment, identifying each of the sub-images to obtain the target object includes performing the following steps for each of the sub-images:

[0016] Acquire a plurality of target object templates containing different objects, and respectively match the sub-image with the plurality of target object templates to obtain a plurality of initial matching degrees;

[0017] An object contained in a target object template corresponding to the maximum initial matching degree is obtained as the target object corresponding to the sub-image; and the maximum initial matching degree is used as the target matching degree corresponding to the sub-image.

[0018] In one embodiment, calculating the target brightness according to the reference brightness includes:

[0019] The target brightness is obtained by weighting according to the target matching degree corresponding to each sub-image and the reference brightness corresponding to each target object.

[0020] In one embodiment, obtaining an image to be processed for a target area includes:

[0021] Acquire an initial image of the target area by at least two image acquisition devices;

[0022] The initial images acquired by the at least two image acquisition devices are fused to obtain the image to be processed.

[0023] A light source control method, comprising:

[0024] Obtaining an image to be processed for a target area;

[0025] Processing the image to be processed by the above-mentioned target brightness determination method to obtain the target brightness;

[0026] Identifying the current brightness of the image to be processed;

[0027] Brightness adjustment information of the light source is determined according to the current brightness and the target brightness, where the brightness adjustment information is used to adjust the brightness of the light source.

[0028] In one embodiment, the image to be processed is divided into at least one sub-image; and identifying the current brightness of the image to be processed includes:

[0029] Obtaining optical constant coefficients corresponding to the target objects in each of the sub-images;

[0030] Calculating the initial brightness of each sub-image;

[0031] The current brightness is obtained by weighting according to the initial brightness of each sub-image and the optical constant coefficient.

[0032] In one embodiment, calculating the initial brightness of each sub-image includes:

[0033] Obtaining the maximum brightness and minimum brightness of pixels in each of the sub-images;

[0034] Normalizing the brightness of pixels in the corresponding sub-image according to the maximum brightness and the minimum brightness;

[0035] According to the brightness normalization result of the pixels in each sub-image, the initial brightness of the corresponding sub-image is determined.

[0036] In one embodiment, before acquiring the image to be processed for the target area, the method further includes:

[0037] Acquire a control mode of the light source;

[0038] When the control mode is the adaptive mode, continuing to acquire the image to be processed for the target area;

[0039] When the control mode is a memory mode, adjusting the brightness of the light source according to the brightness adjustment rule of the memory mode;

[0040] When the control mode is the custom mode, a brightness setting instruction is received, and the brightness of the light source is adjusted according to the brightness setting instruction.

[0041] In one embodiment, determining the brightness adjustment information of the light source according to the current brightness and the target brightness includes:

[0042] Calculating the difference between the target brightness and the current brightness;

[0043] When the difference is greater than a preset value and greater than a brightness difference threshold, generating brightness adjustment information for increasing the brightness of the light source according to the difference;

[0044] When the difference is smaller than a preset value and the absolute value of the difference is larger than a brightness difference threshold, brightness adjustment information for reducing the brightness of the light source is generated according to the difference;

[0045] When the absolute value of the difference is smaller than the brightness difference threshold, brightness adjustment information is generated for not adjusting the brightness of the light source.

[0046] In one embodiment, the light source control method further includes:

[0047] Output brightness information of the image to be processed and / or the light source, where the brightness information includes current brightness, brightness adjustment state, and suitability of current brightness, where the suitability of current brightness is calculated based on the target brightness and the current brightness.

[0048] In one embodiment, the light source control method further includes:

[0049] Output control information of a buzzer and / or a status indicator light according to the brightness adjustment state.

[0050] A light source control system, comprising an image acquisition module and an image processing module, wherein the image acquisition module and the image processing module are communicatively connected;

[0051] The image acquisition module is used to acquire the image to be processed for the target area;

[0052] The image processing module is used to calculate and obtain brightness adjustment information according to the light source control method in any one of the above embodiments.

[0053] In one embodiment, the system further includes a light source control module, and the light source control module is connected to the image processing module;

[0054] The light source control module is used to adjust the brightness of the light source according to the brightness adjustment information calculated by the image processing module.

[0055] In one embodiment, the light source control module includes a brightness control unit and a power driving unit connected to the brightness control unit;

[0056] The brightness control unit is used to obtain the brightness adjustment information and adjust the output power of the power driving unit according to the brightness adjustment information. The power driving unit is used to output the output power to the light source.

[0057] In one embodiment, the system further includes an output module; the output module is connected to the image acquisition module and the image processing module; the output module is used to output the image to be processed and / or brightness information of the light source.

[0058] In one embodiment, the output module includes a display, a buzzer and / or a status indicator light;

[0059] The display is used to display the image to be processed and / or brightness information;

[0060] The buzzer and / or status indicator light are used to operate according to the control information calculated by the image processing module.

[0061] In one embodiment, the system further includes a mode control module, wherein the mode control module is connected to the image processing module;

[0062] The mode control module is used to control the control mode of the light source;

[0063] The image processing module is used for continuing to acquire the image to be processed for the target area when the control mode is the adaptive mode;

[0064] The light source control module is used to adjust the brightness of the light source according to the brightness adjustment rules of the memory mode when the control mode is the memory mode; when the control mode is the custom mode, it receives a brightness setting instruction and adjusts the brightness of the light source according to the brightness setting instruction.

[0065] A surgical robot system, comprising an operating trolley, a navigation trolley, and an operating table;

[0066] The navigation trolley is equipped with an image and cold light source processing platform; the operating trolley is equipped with an endoscope;

[0067] The image and cold light source processing platform is used to implement the light source control method described in any one of the above embodiments.

[0068] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of the above embodiments when executing the computer program.

[0069] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of the above embodiments.

[0070] The above-mentioned target brightness determination method, light source control method and system, device and medium, after acquiring the image to be processed, identify the target object in the image to be processed, so that the target brightness can be calculated according to the reference brightness required by the target object, thereby avoiding the user from manually adjusting the brightness multiple times, simplifying the acquisition of the optimal brightness, thereby facilitating brightness adjustment and improving the level of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 A diagram illustrating an application environment of a target brightness determination method and a light source control method according to an embodiment;

[0072] Figure 2 is a module schematic diagram of a light source control system in one embodiment;

[0073] Figure 3 1 is a flow chart of a method for determining target brightness according to an embodiment;

[0074] Figure 4 is a schematic diagram of a process of acquiring an image to be processed in one embodiment;

[0075] Figure 5 Schematic diagram of a module of a method for determining target brightness in one embodiment;

[0076] Figure 6 A flowchart of a process for capturing images by two capture devices in one embodiment;

[0077] Figure 7 1 is a flow chart of a light source control method according to an embodiment;

[0078] Figure 8 1 is a flow chart of a method for controlling a light source of an endoscope in one embodiment;

[0079] Figure 9 is a schematic flow chart of a current brightness calculation method in one embodiment;

[0080] Figure 10 is a module diagram of a current brightness calculation method in one embodiment;

[0081] Figure 11 A schematic diagram of a mode adjustment process in one embodiment;

[0082] Figure 12 A schematic diagram of a process for generating brightness adjustment information in one embodiment;

[0083] Figure 13 A schematic diagram of a process for adjusting the brightness of a light source in one embodiment;

[0084] Figure 14 A schematic diagram of adjusting a status display mode in one embodiment;

[0085] Figure 15 A schematic diagram of adjusting a status display mode in another embodiment;

[0086] Figure 16 A schematic diagram of adjusting the status display mode in yet another embodiment;

[0087] Figure 17 is a structural block diagram of a device for determining target brightness in one embodiment;

[0088] Figure 18 is a structural block diagram of a light source control device in one embodiment;

[0089] Figure 19 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0090] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0091] The target brightness determination method and light source control method provided in this application can be applied to Figure 1 The application environment shown in FIG. It should be noted that the application environment includes an operating module 101, a surgical trolley 102, and an image and cold light processing platform 104. The surgical trolley 102 is equipped with an endoscope 103, which is used to capture images of different surgical fields under different surgical procedures and at different lesion locations, i.e., images to be processed. A medical professional, or a surgical robot, moves the endoscope 103 within the patient's body to capture different images to be processed. These images can be displayed on the operating module's display or on the image and cold light processing platform 104's display. On the operating module 101's display, the medical professional can observe the images to be processed in real time, controlling the movement of the endoscope 103 based on the images to be processed. On the image and cold light processing platform 104's display, other medical personnel can observe the medical professional's or the surgical robot's operations. The image and cold light processing platform 104 is used to identify target objects in the images to be processed and obtain a baseline brightness corresponding to the target objects. The target brightness is then calculated based on the baseline brightness. The image and cold light source processing platform 104 can identify the current brightness of the image to be processed, and then generate brightness adjustment information based on the target brightness and the current brightness, so as to adjust the brightness of the cold light source according to the brightness adjustment information, thereby achieving the optimal brightness of different lesion tissue areas under different surgical procedures.

[0092] Specifically, combined Figure 2 , Figure 2 This is a module diagram of a light source control system in one embodiment, wherein the light source control system mainly includes an image acquisition module, an image processing module and a light source control module, and the image processing module and the light source control module are mainly used in the image and cold light source processing platform, and in other embodiments, a central processing platform may also be included. The image acquisition module is an endoscope, and the image acquisition module is communicatively connected with the image processing module, and the image acquisition module is used to acquire images to be processed under the control of the image processing module. The light source control module is a control module for the cold light source, and the light source control module, the endoscope drive module, and the endoscope control module are integrated in the image and cold light source processing platform. In a preferred embodiment, the endoscope and the cold light source are integrated together, including an endoscope lens and a cold light source light outlet. The central processing platform is used for user logic control, user interface, and video overlay, etc., which can be specifically combined with Figure 2 .

[0093] The image processing module has multiple functions, including at least one of an endoscope driving function, an endoscope control function, a video synthesis function, a target brightness determination device, and a light source control device ( Figure 2 (shown as all included in the figure). These functions can be implemented by different units and are not specifically limited here. The endoscope driving function is mainly to drive the endoscope lens to work, so as to collect the field of view image and obtain the image to be processed. The endoscope control function is to set the internal and external parameters of the endoscope lens and the single lens control part. The video synthesis function is to synthesize the images to be processed collected by at least two lenses to achieve a three-dimensional effect when there are at least two image acquisition devices, that is, when there are at least two lenses. The target brightness determination device may include a target object recognition function, a brightness recognition function, etc., and its specific module composition can be found in Figure 17 As shown, the light source control device is used to control the light source. The light source control device may receive the brightness adjustment information output by the image processing module, adjust the output power of the cold light source according to the brightness adjustment information, and finally drive the cold light source lamp according to the output power to achieve optimal brightness.

[0094] Among them combined Figure 2 In practical applications, a cold light source endoscope captures an image to be processed using two lenses. In other embodiments, other numbers of lenses may be captured, and this is not specifically limited here. Each lens may have a separate driver module and control module, with the driver module implementing the endoscope's driving function and the control module implementing the endoscope's control function. In practical applications, the two lenses capture an image to be processed, and then an image processing module performs video synthesis to generate a synthesized image to be processed. This image to be processed is then sent to a central processing platform for processing and display on a display, such as a user interface, based on user control logic. Furthermore, the image processing module performs target object and brightness identification on the image to be processed, and queries a storage module for information such as a corresponding baseline brightness based on the identified target object. This allows a calculation unit to calculate the current brightness and target brightness, and then determines brightness adjustment information based on the current and target brightness. This brightness adjustment information is then sent to the cold light source control module, which then adjusts the output power of the cold light source based on the brightness adjustment information. Finally, the cold light source lamp (LED module) is driven based on the output power to achieve optimal brightness.

[0095] In one embodiment, Figure 3 As shown, a method for determining target brightness is provided, which is applied to Figure 1 The image and cold light source processing platform in the example is used to illustrate, including the following steps:

[0096] S302: Acquire an image to be processed for the target area.

[0097] Specifically, the target area refers to the area of ​​the patient's target tissue or organ, such as the area within the surgical field of view. The image to be processed is an image captured by an image acquisition device, such as an image captured by an endoscope. Preferably, the image and cold light source processing platform acquires images via at least two endoscopic channels and fuses the images captured by each channel to generate the image to be processed, such as a three-dimensional image to be processed.

[0098] Among them combined Figure 4 As shown, the organ or tissue 402 is located in the image acquisition area 401. The number of camera lenses at the front end of the endoscope body can be at least one. In this embodiment, two camera lenses are used as an example for explanation. In other embodiments, the number of camera lenses is not limited. A cold light source outlet is synchronously configured at the front end of the endoscope body, wherein the shape, size, number and layout of the outlet are not limited here. Here, one cold light source outlet is used as an example for introduction. In other embodiments, the setting of the outlet can be carried out as needed. The field of view of the camera lens changes with the orientation of the scope. In the image acquisition area, images of the patient's organs or human tissues, i.e., images to be processed, can be obtained. The increase and decrease of the light flux at the outlet will cause the brightness of the target area to increase and decrease accordingly; thereby, images to be processed with different brightness are obtained.

[0099] S304: Identify the target object in the image to be processed.

[0100] Specifically, the target object refers to an object present in the image to be processed, such as tissues and organs, etc., wherein the identification of the target object can be an existing target recognition method, such as a feature matching-based method, wherein the matching features include but are not limited to color, current state, and texture features, so that the features identified from the image to be processed are matched with the template to determine the target object in the image to be processed.

[0101] It should be noted that the target object in the image to be processed includes at least one or more.

[0102] S306: Acquire a reference brightness corresponding to the target object.

[0103] Specifically, the reference brightness is pre-stored and corresponds to each target object. Specifically, the image and cold light source processing platform may store a tissue brightness table, wherein the tissue brightness table provides tissue types and physical characteristic values ​​established according to medical imaging characteristics, i.e., reference brightness. Specifically, the tissue brightness table may be:

[0104] Organization Baseline brightness Organization 1 a1 Organization 2 a2 …… …… Organization an

[0105] In this way, the image and cold light source processing platform can map tissue types and brightness reference values ​​based on the tissue brightness table to obtain the reference brightness of the target object in each area of ​​the image to be processed.

[0106] S308: Calculate the target brightness according to the reference brightness.

[0107] Specifically, the image and cold light source processing platform calculates the target brightness based on the baseline brightness required by each target object and the target objects included in the image to be processed. For example, the image and cold light source processing platform performs a weighted sum operation on the baseline brightness corresponding to the target objects in each area to obtain the target brightness. In other embodiments, the image and cold light source processing platform can also perform other transformations based on the baseline brightness corresponding to the target objects in each area to obtain the target brightness.

[0108] After the image and cold light source processing platform calculates the target brightness, it can output the target brightness, so that the user can adjust the brightness according to the target brightness, thereby avoiding multiple adjustments by the user and improving the intelligence level.

[0109] The above-mentioned target brightness determination method, after acquiring the image to be processed, identifies the target object in the image to be processed, so that the target brightness can be calculated based on the reference brightness required by the target object, thereby avoiding the user to adjust the brightness multiple times by themselves, simplifying the acquisition of the optimal brightness, thereby facilitating brightness adjustment and improving the level of intelligence.

[0110] In one embodiment, identifying a target object in an image to be processed includes: segmenting the image to be processed to obtain at least one sub-image; and identifying each sub-image to obtain the target object.

[0111] The image and cold light source processing platform segments the image to be processed into at least one sub-image. The segmentation method can be any existing method, including but not limited to threshold-based segmentation, region-based segmentation, edge-based segmentation, and segmentation methods based on specific theories, etc. This is not specifically limited here. This image segmentation method can place similar features in the same area, thereby simplifying the subsequent target object recognition process. Image segmentation in this context can also be considered a coarse segmentation of the target object.

[0112] The image and cold light source processing platform obtains several sub-images after segmenting the image to be processed, and identifies the sub-images to obtain the target object. Specifically, the image and cold light source processing platform can identify several sub-images in parallel to obtain the target object in the sub-image, thereby improving processing efficiency.

[0113] In the above embodiment, the image to be processed is first segmented to obtain a number of sub-images, that is, the image to be processed is first roughly segmented to extract and process the area where a target object is located, so that the target object in the sub-image is identified, laying the foundation for the subsequent calculation of the target brightness.

[0114] In one embodiment, each sub-image is identified separately to obtain a target object, including performing the following steps for each sub-image: obtaining several target object templates containing different objects, matching the sub-image with the several target object templates to obtain several initial matching degrees; obtaining the object contained in the target object template corresponding to the maximum initial matching degree as the target object corresponding to the sub-image; and using the maximum initial matching degree as the target matching degree corresponding to the sub-image.

[0115] Specifically, in this embodiment, target objects in each sub-image are identified using target object templates. Specifically, the target object templates are pre-generated templates of the respective target objects. In one embodiment, the target object templates can be generated based on pre-captured images of the target objects of the corresponding patient. The image and cold light source processing platform can obtain the corresponding target object templates based on the patient's identification query, and then match the sub-images with the target object templates, preferably using parallel threads to improve processing efficiency.

[0116] During matching, the image and cold light source processing platform obtains the target object corresponding to the target object template with the greatest matching degree for each sub-image as the target object in the sub-image. Furthermore, the image and cold light source processing platform can also record the greatest matching degree to facilitate subsequent calculation of the target brightness.

[0117] In the above embodiment, target object recognition is performed by template matching to simplify the operation. In other embodiments, recognition can also be performed by other methods, such as neural networks, etc., which are not specifically limited here.

[0118] In one embodiment, the target brightness is calculated according to the reference brightness, including: obtaining the target brightness by weighting according to the target matching degree corresponding to each sub-image and the reference brightness corresponding to each target object.

[0119] Specifically, combined Figure 5 , the image to be processed is divided into n sub-images, and the target object zn is identified in each sub-image. The reference brightness corresponding to the target object zn is jn.

[0120] In this way, the image and cold light source processing platform obtains the target brightness corresponding to each sub-image:

[0121] q(n)=a n *j n

[0122] j n is the target object z of the nth sub-image n The weighted brightness of n is the target object z of the nth sub-image n The target matching degree of a n If it is less than 1, then the target brightness of the image to be processed, the objective function is:

[0123]

[0124] Q B The target brightness after weighted summation of n sub-images.

[0125] In the above embodiment, a weighted average is performed according to the reference brightness of all target objects in the image to be processed to obtain the target brightness of the entire image to be processed.

[0126] In one embodiment, obtaining an image to be processed for a target area includes: acquiring an initial image of the target area by at least two image acquisition devices; and fusing the initial images acquired by the at least two image acquisition devices to obtain the image to be processed.

[0127] Among them, combined Figure 6 As shown, in one embodiment, the image to be processed is obtained by fusing initial images acquired by at least two image acquisition devices. Figure 6 In the embodiment, two image acquisition devices are used as an example. In other embodiments, other numbers of image acquisition devices may be used. Preferably, the two image acquisition devices are integrated into one endoscope. Figure 6 , wherein the left lens video stream 1 is obtained through the front image camera lens 1 of the scope; the right lens video stream 2 is obtained through the front image camera lens 2 of the scope, and then the video streams are synthesized, for example, by performing image registration to achieve three-dimensional video stream synthesis, etc., and finally the currently obtained picture is intercepted as the image to be processed, and the image to be processed is stored, and the synthesized video stream is displayed.

[0128] In one embodiment, Figure 7 As shown, a light source control method is provided, which is applied to Figure 1 The image and cold light source processing platform in the example is used to illustrate, including the following steps:

[0129] S702: Acquire an image to be processed for the target area.

[0130] S704: Process the image to be processed using a target brightness determination method to obtain a target brightness.

[0131] Specifically, the method for obtaining the target brightness can be found above and will not be described in detail here.

[0132] S706: Identify the current brightness of the image to be processed.

[0133] Specifically, the current brightness refers to the brightness of the image to be processed, where the current brightness is calculated based on the target object identified in the image to be processed, where the image and cold light source processing platform can obtain the optical constant coefficients corresponding to each target object, and then calculate the brightness of the image to be processed based on the optical constants of the target objects in each area and the brightness corresponding to the target objects.

[0134] Optionally, the image and cold light source processing platform can first divide the image into several sub-images, identify the target object in each sub-image, and then calculate the brightness corresponding to the sub-image based on the pixels in the sub-image. Finally, a weighted calculation is performed based on the brightness of each sub-image and the optical constant of the target object to obtain the current brightness.

[0135] S708: Determine brightness adjustment information of the light source according to the current brightness and the target brightness, where the brightness adjustment information is used to adjust the brightness of the light source.

[0136] Specifically, the brightness adjustment information is output to the cold light source for adjusting the brightness of the cold light source. The brightness adjustment information can be the difference between the current brightness and the target brightness. For example, when the absolute value of the difference between the two is less than or equal to a preset threshold, it indicates that the current brightness is consistent with the target brightness, and therefore no adjustment is required. When the absolute value of the difference between the two is greater than the preset threshold, the brightness adjustment output is required based on the difference between the two.

[0137] Among them combined Figure 8 As shown, Figure 8 Taking the endoscope scenario in [1] as an example, the image and cold light source processing platform first receives the surgical field image captured by the scope. It then identifies the tissue in the surgical field image, determines the brightness of the surgical field image based on the tissue, and calculates the target brightness based on the tissue. The calculation of the current brightness and the target brightness can be performed in parallel. Finally, it determines whether the current brightness and the target brightness are consistent. If they are not consistent, brightness adjustment information is generated for brightness adjustment. Otherwise, brightness adjustment is not performed.

[0138] In the above embodiment, by collecting the image to be processed, identifying the target object, and calculating the current brightness and target brightness based on the identified target object, and then adjusting the brightness according to the current brightness and target brightness, suitable brightness matching of different target objects can be achieved, thereby achieving the purpose of real-time dynamic adjustment of the brightness of the endoscope cold light source to adapt to changes in the field of view of the surgical scene, achieve stable and appropriate brightness, reduce and avoid manual brightness adjustment by medical staff before and during surgery, and reduce surgery time.

[0139] In one embodiment, the image to be processed is divided into at least one sub-image; identifying the current brightness of the image to be processed includes: obtaining the optical constant coefficient corresponding to the target object in each sub-image; calculating the initial brightness of each sub-image; and obtaining the current brightness by weighting according to the initial brightness and the optical constant coefficient of each sub-image.

[0140] Specifically, in this embodiment, the image to be processed is divided into at least one sub-image. The segmentation method can be found in the above description and will not be described here. Another point that needs to be explained is that in the entire process, the recognition of the target object, the calculation of the current brightness and the target brightness all require the segmentation of the image to be processed. Therefore, in order to improve the processing efficiency, the image to be processed is combined with the image segmentation. Figure 9 As shown, after receiving the image to be processed, the image and cold light source processing platform first segments the image to be processed, and then processes the segmented image in different threads. For example, one thread identifies the target object to obtain the target object, and another thread calculates the current brightness and the target brightness. Since the calculation of the current brightness and the target brightness needs to be after the target object is identified, they can be processed in the same thread. The calculation of the current brightness and the target brightness does not distinguish between before and after, so they can be calculated by different threads.

[0141] The optical constant coefficient is that of the target object, which is pre-queried and stored in the image and cold light source processing platform.

[0142] The initial brightness is calculated based on the brightness of the pixels of each sub-image, where the calculation method includes but is not limited to the brightness recognition method of feature points, the method based on weighted sum, and the brightness recognition method based on specific theories. The calculation of the brightness of the sub-image is not limited here.

[0143] Finally, the image and cold light source processing platform weights the initial brightness and optical constant coefficient of each sub-image to obtain the current brightness.

[0144] Optionally, calculating the initial brightness of each sub-image includes: obtaining the maximum brightness and minimum brightness of the pixels in each sub-image; normalizing the brightness of the pixels in the corresponding sub-image according to the maximum brightness and the minimum brightness; and determining the initial brightness of the corresponding sub-image based on the brightness normalization results of the pixels in each sub-image.

[0145] Specifically, the initial brightness of each sub-image can be calculated using the following formula:

[0146]

[0147] p_i is the brightness of the i-th pixel in the n-th sub-image, m is the number of pixels in the n-th sub-image, pmmax is the maximum brightness of the m pixels in the n-th sub-image, and pmmix is ​​the minimum brightness among the m pixels in the n-th sub-image.

[0148] The image and cold light source processing platform first normalizes the brightness of each pixel by the maximum and minimum brightness values ​​in the sub-image, and then calculates the initial brightness of the sub-image based on the statistics of the brightness of each pixel after normalization, such as the mean, maximum, minimum, etc. The above formula is explained using the mean as an example, and other statistics can be selected in other embodiments.

[0149] After calculating the initial brightness of each sub-image, the image and cold light source processing platform calculates the current brightness of the image to be processed according to the following formula:

[0150]

[0151] QA is the current brightness after the weighted sum of n sub-images, and kn is the optical constant coefficient corresponding to the target object zn.

[0152] Among them combined Figure 10 As shown, the image and cold light source processing platform first divides the image to be processed into n sub-images, then identifies the tissue zn in the n sub-images, and then obtains the corresponding optical constant coefficient kn based on the query of the tissue zn. In this way, the initial brightness corresponding to the sub-image can be calculated according to the brightness of each pixel point in each sub-image, and finally the current brightness is obtained by weighting the initial brightness and the corresponding optical constant coefficient.

[0153] In the above embodiment, the current brightness is calculated based on the optical constant coefficient corresponding to the target object and the initial brightness of each sub-image.

[0154] In one embodiment, see Figure 11 As shown, Figure 11This is a schematic diagram of the mode adjustment process in one embodiment, that is, before obtaining the image to be processed for the target area, it includes: obtaining the control mode of the light source; when the control mode is the adaptive mode, continuing to obtain the image to be processed for the target area; when the control mode is the memory mode, adjusting the brightness of the light source according to the brightness adjustment rules of the memory mode; when the control mode is the custom mode, receiving the brightness setting instruction, and adjusting the brightness of the light source according to the brightness setting instruction.

[0155] The control mode can be selected according to the doctor's choice, for example, by a selection button set on the handle of the scope. It should be noted that the selection button is not limited to a specific physical button position. In other embodiments, the control mode can also be selected through a virtual button displayed on the display.

[0156] In this embodiment, the control modes mainly include adaptive mode, custom mode and memory mode. The adaptive mode is the mode implemented by the light source control method mentioned above, which can adaptively adjust the brightness according to the current brightness and target brightness of the image to be processed.

[0157] The memory mode adjusts the brightness of the light source according to the brightness adjustment rules of the memory mode, where the brightness adjustment rules include but are not limited to brightness memory modes based on the type of surgery, but are not limited to brightness based on the doctor's habitual brightness, brightness settings based on the last surgery, etc.

[0158] The custom mode allows doctors to set the brightness themselves, for example, by adjusting the brightness through the brightness adjustment button on the cold light source or the virtual button on the display, etc., and no specific restrictions are made here.

[0159] In the above embodiments, different types of control are performed on the brightness of the light source according to different control modes to meet diverse needs.

[0160] In one embodiment, brightness adjustment information of a light source is determined based on current brightness and target brightness, including: calculating a difference between target brightness and current brightness; when the difference is greater than a preset value and greater than a brightness difference threshold, generating brightness adjustment information for increasing the brightness of the light source based on the difference; when the difference is less than a preset value and the absolute value of the difference is greater than the brightness difference threshold, generating brightness adjustment information for reducing the brightness of the light source based on the difference; when the absolute value of the difference is less than the brightness difference threshold, generating brightness adjustment information for not adjusting the brightness of the light source.

[0161] Specifically, combined Figure 12 As shown, Figure 12Schematic diagram of a process for generating brightness adjustment information in one embodiment, in which the current brightness is Qa and the target brightness is Qb; the image and cold light source processing platform calculates the brightness difference Qe = Qb - Qa; when Qe is greater than 0 and Qe is greater than the brightness difference threshold E value, it indicates that the current brightness is dark and needs to be increased; when Qe is less than 0 and the absolute value of Qe is greater than the brightness difference threshold E value, it indicates that the current brightness is bright and needs to be reduced; when the absolute value of Qe is less than or equal to the brightness difference threshold E value, it indicates that the current brightness is moderate and does not need to be adjusted.

[0162] See Figure 13 As shown, the image and cold light source processing platform outputs brightness adjustment information to the cold light source control module. Specifically, the cold light source brightness control module obtains the brightness difference input; the power driving unit adjusts the power based on the brightness difference, so that the cold light source bulb module is brightened or weakened until the brightness of the surgical field is appropriate.

[0163] In one embodiment, the light source control method further includes: outputting brightness information of the image to be processed and / or the light source, the brightness information including the current brightness, the brightness adjustment state and the suitability of the current brightness, and the suitability of the current brightness is calculated based on the target brightness and the current brightness.

[0164] Specifically, combined Figure 14 As shown, during the operation, each display can display the endoscopic image field of view, and at the same time display the current characteristics of the cold light source system brightness, including but not limited to the current brightness, brightness adjustment status and the suitability of the current brightness, so that the user can more intuitively obtain the brightness changes of the endoscopic field of view during the operation adjustment process in real time.

[0165] Optionally, the light source control method further includes: outputting control information of a buzzer and / or a status indicator light according to the brightness adjustment state.

[0166] Combine Figure 15 and Figure 16 As shown, the front of the endoscope includes a cold light source entrance 1501 and an image lens 1502. Specifically, during the operation, the numerical display of the current brightness suitability rate can allow the user to more intuitively obtain the brightness changes of the endoscope field of view during the operation adjustment process in real time. The status light 1503 and the buzzer 1504 can be arranged on the endoscope, including but not limited to the mirror rod and the handle position of the mirror body.

[0167] The brightness adjustment status display can be represented by changes in the status light 1503, including but not limited to color changes, changes in flashing frequency, and is not limited to multiple status light combinations, changes in the order of light positions, changes in color combinations, to characterize and distinguish status changes, such as being in a brightness adjustment state or a non-brightness adjustment state, in a brightness increase state or a brightness decrease state, etc.

[0168] The brightness adjustment status display can also be represented by changes in the buzzer 1504, including but not limited to changes in sound intensity, changes in tone, and changes in sound flashing frequency, to characterize and distinguish changes in the brightness adjustment status.

[0169] During the operation, the feedback information of the current status light 1503 and the buzzer 1504 can enable the user to more intuitively obtain the brightness changes of the endoscope field of view during the operation adjustment process in real time. The status light and buzzer 1504 can be arranged on the image platform, including but not limited to the image host, image vehicle and display, including but not limited to wired and wireless connection methods, external status light 1503 and buzzer 1504.

[0170] To enable those skilled in the art to fully understand this solution, the hardware and software in this solution are described below:

[0171] First of all, the hardware part can be combined Figure 1 and Figure 2 As shown, the system includes an operating module 101, an operating trolley 102, and an image and cold light source processing platform 104. The operating trolley 102 is provided with an endoscope 103, wherein the handle of the endoscope 103 may also be provided with a mode adjustment button. The endoscope 103 is used to acquire images to be processed, for example, by acquiring initial images through a multi-channel image acquisition device, synthesizing the images to be processed, and displaying the processed images as video streams on the displays of various components. The image and cold light source processing platform 104 is used to implement the specific functions of the software component and output control instructions to the endoscope 103 based on the control of the software component to adjust the brightness of the cold light source of the endoscope 103. The specific structure can be found above and will not be repeated here. The image and cold light source processing platform 104 can also be installed with a status light and a buzzer to indicate the status of the brightness adjustment, etc., and the details can be found above.

[0172] As for the software part, the image and cold light source processing platform 104 obtains the image to be processed collected by the endoscope, and divides the image to be processed into multiple sub-images, and then identifies the tissue type in the sub-image, and then calculates the current brightness and target brightness according to the identified tissue type. The specific calculation method can be found above, and then generates brightness adjustment information according to the current brightness and target brightness, and sends the brightness adjustment information to the endoscope 103, so that the cold light source control module of the endoscope 103 can adjust the brightness.

[0173] In the above embodiment, brightness is acquired by processing images collected by the endoscope; tissue type data identified by the endoscopic image is collected and classified, the weighted sum of factors affecting the endoscope brightness is calculated, and the target brightness is screened according to the tissue; the output luminous flux of the cold light source control module is increased and decreased until the target brightness is reached, so as to achieve different target tissues with suitable brightness matching, thereby achieving the purpose of real-time dynamic adjustment of the brightness of the endoscope cold light source to adapt to changes in the field of view of the surgical scene, achieve stable and appropriate brightness, reduce and avoid manual brightness adjustment by medical staff before and during surgery, and reduce surgery time.

[0174] It should be understood that although Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 11 、 Figure 12 、 Figure 13 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 11 、 Figure 12 、 Figure 13 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0175] In one embodiment, Figure 17 As shown, a target brightness determination device is provided, comprising: a first image acquisition module 1701, a target object recognition module 1702, a reference brightness acquisition module 1703 and a target brightness determination module 1704, wherein:

[0176] The first image acquisition module 1701 is used to acquire an image to be processed for a target area;

[0177] A target object recognition module 1702 is used to recognize a target object in an image to be processed;

[0178] A reference brightness acquisition module 1703 is used to acquire a reference brightness corresponding to a target object;

[0179] The target brightness determination module 1704 is configured to calculate the target brightness according to the reference brightness.

[0180] In one embodiment, the target object identification module 1702 includes:

[0181] a segmentation unit, configured to segment the image to be processed to obtain at least one sub-image;

[0182] The recognition unit is used to recognize each sub-image separately to obtain the target object.

[0183] In one embodiment, the identification unit includes:

[0184] A matching subunit is used to obtain a plurality of target object templates containing different objects, and respectively match the sub-image with the plurality of target object templates to obtain a plurality of initial matching degrees;

[0185] The output subunit is used to obtain the object contained in the target object template corresponding to the maximum initial matching degree as the target object corresponding to the sub-image; and use the maximum initial matching degree as the target matching degree corresponding to the sub-image.

[0186] In one embodiment, the target brightness determination module 1704 is configured to perform weighted addition based on the target matching degree corresponding to each sub-image and the reference brightness corresponding to each target object to obtain the target brightness.

[0187] In one embodiment, the first image acquisition module 1701 includes:

[0188] an acquisition unit, configured to acquire an initial image of a target area using at least two image acquisition devices;

[0189] The fusion unit is used to fuse the initial images acquired by at least two image acquisition devices to obtain an image to be processed.

[0190] In one embodiment, Figure 18 As shown, a light source control device is provided, including: a second image acquisition module 1801, a target brightness acquisition module 1802, a current brightness calculation module 1803 and an adjustment information calculation module 1804, wherein:

[0191] The second image acquisition module 1801 is used to acquire an image to be processed for the target area;

[0192] A target brightness acquisition module 1802 is configured to process the image to be processed using a target brightness determination method to obtain target brightness;

[0193] The current brightness calculation module 1803 is used to identify the current brightness of the image to be processed;

[0194] The adjustment information calculation module 1804 is used to determine brightness adjustment information of the light source according to the current brightness and the target brightness. The brightness adjustment information is used to adjust the brightness of the light source.

[0195] In one embodiment, the image to be processed is divided into at least one sub-image; the current brightness calculation module 1803 includes:

[0196] A coefficient acquisition unit, used to acquire the optical constant coefficients corresponding to the target object in each sub-image;

[0197] An initial brightness calculation unit, used to calculate the initial brightness of each sub-image;

[0198] The current brightness calculation unit is used to obtain the current brightness by weighting according to the initial brightness and optical constant coefficient of each sub-image.

[0199] In one embodiment, the initial brightness calculation unit includes:

[0200] A brightness acquisition subunit is used to obtain the maximum brightness and minimum brightness of pixels in each sub-image;

[0201] a normalization subunit, configured to normalize the brightness of pixels in the corresponding sub-image according to the maximum brightness and the minimum brightness;

[0202] The calculation subunit is used to determine the initial brightness of the corresponding sub-image according to the brightness normalization result of the pixels in each sub-image.

[0203] In one embodiment, the light source control device further includes:

[0204] A control mode acquisition module, used to obtain the control mode of the light source;

[0205] The control module is used to continue to acquire the image to be processed for the target area when the control mode is the adaptive mode; when the control mode is the memory mode, adjust the brightness of the light source according to the brightness adjustment rules of the memory mode; when the control mode is the custom mode, receive the brightness setting instruction and adjust the brightness of the light source according to the brightness setting instruction.

[0206] In one embodiment, the adjustment information calculation module 1804 includes:

[0207] A difference calculation unit, used to calculate the difference between the target brightness and the current brightness;

[0208] An adjustment information generating unit is configured to generate brightness adjustment information for increasing the brightness of the light source based on the difference when the difference is greater than a preset value and greater than a brightness difference threshold; generate brightness adjustment information for reducing the brightness of the light source based on the difference when the difference is less than the preset value and the absolute value of the difference is greater than the brightness difference threshold; and generate brightness adjustment information without adjusting the brightness of the light source when the absolute value of the difference is less than the brightness difference threshold.

[0209] In one embodiment, the light source control device further includes:

[0210] The output module is used to output the brightness information of the image to be processed and / or the light source. The brightness information includes the current brightness, the brightness adjustment state, and the suitability of the current brightness. The suitability of the current brightness is calculated based on the target brightness and the current brightness.

[0211] In one embodiment, the output module is further configured to output control information of a buzzer and / or a status indicator light according to the brightness adjustment state.

[0212] The specific definitions of the target brightness determination device and the light source control device can be found in the definitions of the target brightness determination method and the light source control method described above and will not be repeated here. Each module in the target brightness determination device and the light source control device described above may be implemented in whole or in part via software, hardware, or a combination thereof. Each of the modules described above may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0213] In one embodiment, a computer device is provided. The computer device may be an image and cold light source processing platform, and its internal structure diagram may be as follows: Figure 19As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external image and cold light source processing platform in a wired or wireless manner. The wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a target brightness determination method and a light source control method are implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0214] Those skilled in the art will understand that Figure 19 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0215] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0216] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0217] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0218] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0219] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for determining target brightness, characterized in that: The target brightness determination method includes: Obtaining an image to be processed for a target area; Identifying the target object in the image to be processed includes: segmenting the image to be processed to obtain at least one sub-image; identifying each of the sub-images to obtain the target object, including: performing the following steps for each sub-image: obtaining a plurality of target object templates containing different objects, matching the sub-image with the plurality of target object templates to obtain a plurality of initial matching degrees; obtaining the object contained in the target object template corresponding to the maximum initial matching degree as the target object corresponding to the sub-image; and using the maximum initial matching degree as the target matching degree corresponding to the sub-image; Acquire a reference brightness corresponding to the target object; The target brightness is calculated according to the reference brightness, including: obtaining the target brightness by weighting according to the target matching degree corresponding to each sub-image and the reference brightness corresponding to each target object.

2. The target brightness determination method according to claim 1, characterized in that: The step of obtaining an image to be processed for the target area includes: Acquire an initial image of the target area by at least two image acquisition devices; The initial images acquired by the at least two image acquisition devices are fused to obtain the image to be processed.

3. A light source control method, characterized in that: The light source control method comprises: Obtaining an image to be processed for a target area; Processing the image to be processed by the target brightness determination method according to claim 1 or 2 to obtain the target brightness; Identifying the current brightness of the image to be processed; Brightness adjustment information of the light source is determined according to the current brightness and the target brightness, where the brightness adjustment information is used to adjust the brightness of the light source.

4. The light source control method according to claim 3, wherein: The image to be processed is divided into at least one sub-image; The identifying the current brightness of the image to be processed includes: Obtaining optical constant coefficients corresponding to the target objects in each of the sub-images; Calculating the initial brightness of each sub-image; The current brightness is obtained by weighting according to the initial brightness of each sub-image and the optical constant coefficient.

5. The light source control method according to claim 4, characterized in that: The calculating the initial brightness of each sub-image includes: Obtaining the maximum brightness and minimum brightness of pixels in each of the sub-images; Normalizing the brightness of pixels in the corresponding sub-image according to the maximum brightness and the minimum brightness; According to the brightness normalization result of the pixels in each sub-image, the initial brightness of the corresponding sub-image is determined.

6. The light source control method according to claim 3, wherein: Before obtaining the image to be processed for the target area, the method further includes: Acquire a control mode of the light source; When the control mode is the adaptive mode, continuing to acquire the image to be processed for the target area; When the control mode is a memory mode, adjusting the brightness of the light source according to the brightness adjustment rule of the memory mode; When the control mode is the custom mode, a brightness setting instruction is received, and the brightness of the light source is adjusted according to the brightness setting instruction.

7. The light source control method according to claim 3, wherein: The determining the brightness adjustment information of the light source according to the current brightness and the target brightness includes: Calculating the difference between the target brightness and the current brightness; When the difference is greater than a preset value and greater than a brightness difference threshold, generating brightness adjustment information for increasing the brightness of the light source according to the difference; When the difference is smaller than a preset value and the absolute value of the difference is larger than a brightness difference threshold, brightness adjustment information for reducing the brightness of the light source is generated according to the difference; When the absolute value of the difference is smaller than the brightness difference threshold, brightness adjustment information is generated for not adjusting the brightness of the light source.

8. The light source control method according to claim 3, wherein: The light source control method further includes: Output brightness information of the image to be processed and / or the light source, where the brightness information includes current brightness, brightness adjustment state, and suitability of current brightness, where the suitability of current brightness is calculated based on the target brightness and the current brightness.

9. The light source control method according to claim 8, characterized in that: The light source control method further includes: Output control information of a buzzer and / or a status indicator light according to the brightness adjustment state.

10. A light source control system, characterized in that: The light source control system includes an image acquisition module and an image processing module, and the image acquisition module and the image processing module are communicatively connected; The image acquisition module is used to acquire the image to be processed for the target area; The image processing module is used to calculate brightness adjustment information according to any one of the light source control methods according to claims 3 to 9.

11. The system according to claim 10, wherein: The system further comprises a light source control module, wherein the light source control module is connected to the image processing module; The light source control module is used to adjust the brightness of the light source according to the brightness adjustment information calculated by the image processing module.

12. The system according to claim 11, wherein: The light source control module includes a brightness control unit and a power driving unit connected to the brightness control unit; The brightness control unit is used to obtain the brightness adjustment information and adjust the output power of the power driving unit according to the brightness adjustment information. The power driving unit is used to output the output power to the light source.

13. The system according to claim 10, wherein: The system further includes an output module; the output module is connected to the image acquisition module and the image processing module; the output module is used to output the image to be processed and / or the brightness information of the light source.

14. The system according to claim 13, wherein: The output module includes a display, a buzzer and / or a status indicator light; The display is used to display the image to be processed and / or brightness information; The buzzer and / or status indicator light are used to operate according to the control information calculated by the image processing module.

15. The system according to claim 11, wherein: The system further comprises a mode control module, wherein the mode control module is connected to the image processing module; The mode control module is used to control the control mode of the light source; The image processing module is used for continuing to acquire the image to be processed for the target area when the control mode is the adaptive mode; The light source control module is used to adjust the brightness of the light source according to the brightness adjustment rules of the memory mode when the control mode is the memory mode; when the control mode is the custom mode, it receives a brightness setting instruction and adjusts the brightness of the light source according to the brightness setting instruction.

16. A surgical robot system, characterized in that: The surgical robot system includes a surgical trolley, a navigation trolley and an operating table; The navigation trolley is equipped with an image and cold light source processing platform; the operating trolley is provided with an endoscope; the image and cold light source processing platform is used to implement the light source control method described in any one of claims 3 to 9.

17. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 2 or 3 to 9 are implemented.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 2 or 3 to 9 are implemented.

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