A method for adjusting brightness of endoscope

Abstract

The embodiment of the present application provides an endoscope brightness adjustment method, including: counting the screen brightness and overexposure ratio of the endoscope image; if the screen brightness is greater than a first brightness threshold, adjusting the brightness according to the priority of reducing gain, reducing light source brightness, and reducing exposure time, until the screen brightness is less than the first brightness threshold; if the screen brightness is less than a second brightness threshold, adjusting the brightness according to the priority of increasing light source brightness, increasing exposure time, and increasing gain, until the screen brightness is greater than the second brightness threshold; if the screen brightness is between the second brightness threshold and the first brightness threshold, no brightness adjustment is performed. The embodiment of the present application improves the accuracy and stability of endoscopic image brightness adjustment.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a method for adjusting the brightness of an endoscope. Background Art

[0002] Currently, endoscopes have been widely used in laparoscopic surgery. During laparoscopic surgery, the endoscope transmits the captured images to the display system for display. The brightness and stability of the image will have an important impact on the surgery.

[0003] During endoscopic imaging, the mucosa on the surface of organs or instruments will produce high light reflections when illuminated by light sources, which usually appear as bright areas with saturated brightness on the image. These bright areas will reduce the image quality and have a significant impact on observation during surgery and lesion judgment.

[0004] In the related art, the brightness of the light source of the endoscope is usually adjusted or the brightness of the image is manually controlled by adjusting the brightness of the screen or the brightness of the light source separately. However, it is difficult to achieve fine adjustment of the brightness by separate control, and it is easy to make the stability of the image brightness deteriorate. Summary of the invention

[0005] In order to solve the problem of poor endoscope brightness adjustment effect, the present application provides an endoscope brightness adjustment method.

[0006] The present application provides a method for adjusting the brightness of an endoscope, the method comprising:

[0007] Count the brightness and overexposure ratio of the endoscope image;

[0008] If the image brightness is greater than a first brightness threshold, the brightness is adjusted according to the priority of reducing gain, reducing light source brightness, and reducing exposure time until the image brightness is less than the first brightness threshold;

[0009] If the image brightness is less than a second brightness threshold, the brightness is adjusted according to the priority of increasing the light source brightness, increasing the exposure time, and increasing the gain until the image brightness is greater than the second brightness threshold;

[0010] If the picture brightness is between the second brightness threshold and the first brightness threshold, no brightness adjustment is performed.

[0011] In some embodiments, adjusting the brightness according to the priority of reducing the gain, reducing the light source brightness, and reducing the exposure time until the picture brightness is less than the first brightness threshold includes:

[0012] reducing the gain of the endoscopic image until the image brightness is less than the first image brightness threshold or the gain is reduced to a second gain threshold;

[0013] If the gain is reduced to the second gain threshold and the picture brightness is greater than the first picture brightness threshold, reducing the light source brightness until the picture brightness is less than the first picture brightness threshold or the light source brightness is reduced to the second light source brightness threshold;

[0014] If the brightness of the light source decreases to the second light source brightness threshold and the picture brightness is greater than the first picture brightness threshold, the exposure time is reduced until the picture brightness is less than the first picture brightness threshold.

[0015] In some embodiments, the endoscope is provided with a first light source and a second light source, the field of view angle of the second light source is greater than the field of view angle of the first light source, and reducing the brightness of the light source includes increasing the brightness of the second light source and reducing the brightness of the first light source.

[0016] In some embodiments, reducing the brightness of the light source includes increasing the brightness duty cycle of the second light source and reducing the brightness duty cycle of the first light source.

[0017] In some embodiments, the brightness is adjusted according to the priority of increasing the brightness of the light source, increasing the exposure time, and increasing the gain until the picture brightness is greater than the second picture brightness threshold, including:

[0018] Increasing the brightness of the light source until the picture brightness is greater than the second picture brightness threshold or the light source brightness is increased to the first light source brightness threshold;

[0019] If the brightness of the light source increases to a first light source brightness threshold and the picture brightness is less than the second picture brightness threshold, increasing the exposure time until the picture brightness is greater than the second picture brightness threshold or the exposure time increases to an exposure time threshold;

[0020] If the exposure time increases to an exposure time threshold and the picture brightness is less than the second picture brightness threshold, the gain is increased until the picture brightness is greater than the second picture brightness threshold.

[0021] In some embodiments, the endoscope is provided with a first light source and a second light source, the field of view angle of the second light source is greater than the field of view angle of the first light source, and improving the brightness of the light source includes improving the brightness of the first light source and improving the brightness of the second light source.

[0022] In some embodiments, increasing the brightness of the light source includes increasing the brightness duty cycle of the second light source and increasing the brightness duty cycle of the first light source.

[0023] In some embodiments, counting the brightness and overexposure ratio of the endoscopic image includes:

[0024] Acquire the brightness of the region of interest and the brightness of the background region of the endoscopic image, wherein the background region is a region outside the region of interest in the endoscopic image;

[0025] Obtaining the screen brightness of the endoscopic image according to a weighted sum of the brightness of the region of interest and the brightness of the background region;

[0026] The overexposure ratio in the region of interest is acquired to obtain the overexposure ratio.

[0027] In some embodiments, obtaining the brightness of the region of interest and the brightness of the background region of the endoscopic image includes:

[0028] Dividing the endoscopic image into m*n sub-regions;

[0029] A circular area with the center of m*n as the center and n / 2 as the radius is set as the region of interest, and the area outside the region of interest is set as the background area, where m>n;

[0030] The brightness in the region of interest and the brightness in the background region are counted.

[0031] In some embodiments, obtaining the overexposure ratio in the region of interest to obtain the overexposure ratio includes:

[0032] The ratio of pixels whose grayscale values ​​in the region of interest are between the second overexposure pixel threshold and the first overexposure pixel threshold is obtained to obtain the overexposure ratio.

[0033] The beneficial effects of the endoscope brightness adjustment method provided in this application include:

[0034] When the screen brightness of the endoscopic image is greater than the first brightness threshold, the present application automatically implements brightness adjustment through multiple adjustment methods according to the priority of reducing gain, reducing light source brightness, and reducing exposure time. There is no need to manually adjust the screen brightness or manually adjust the light source brightness, thereby avoiding the problems of poor fineness and stability of manual adjustment. Moreover, compared with directly reducing the light source brightness, reducing the screen brightness according to the above-mentioned priority can ensure the stability of the light source, avoid brightness oscillation, and improve the smoothness of screen brightness adjustment. Compared with directly reducing the exposure time, it can ensure the smoothness of endoscopic image shooting and improve surgical safety. When the screen brightness of the endoscopic image is lower than the second brightness threshold, the brightness is adjusted according to the priority of increasing light source brightness, increasing exposure time, and increasing gain. There is no need to manually adjust the screen brightness, thereby avoiding the problems of poor fineness and stability of manual adjustment. Moreover, increasing the screen brightness according to the above-mentioned priority can quickly increase the screen brightness, thereby avoiding the endoscopic image brightness being too low to affect the surgical operation and improving the surgical safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 A schematic structural diagram of an endoscope is shown in FIG.

[0037] Figure 2 A schematic diagram of a partial structure of an endoscope is shown as an example;

[0038] Figure 3 A schematic diagram of a process of adjusting the brightness of an endoscope is shown in FIG.

[0039] Figure 4 A schematic diagram of a region of interest of an endoscopic image is exemplarily shown in FIG.

[0040] Figure 5 Schematic diagram of an exposure area within a region of interest is shown as an example;

[0041] Figure 6 A schematic diagram of a process for reducing the brightness of an endoscope image is shown in FIG.

[0042] Figure 7 A schematic flow chart of a method for improving the brightness of an endoscopic image is shown in FIG. DETAILED DESCRIPTION

[0043] In order to make the purpose and implementation method of the present application clearer, the exemplary implementation method of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0044] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0045] The terms "first", "second", "third", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances.

[0046] The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to all the components expressly listed but may include other components not expressly listed or inherent to such product or device.

[0047] The terms "proximal" and "distal" are defined herein relative to an operating user of the robotic arm. The terms "proximal", "proximal end" refer to a position of an element that is closer to the operating user, and the terms "distal", "distal end" refer to a position of an element that is closer to the lens and therefore farther from the operating user. In addition, directional terms such as above, below, up, down, upward, downward, left, right, etc. are used relative to the exemplary embodiments as they are shown in the figures, with an upward or upper direction toward the top of the corresponding figure and a downward or lower direction toward the bottom of the corresponding figure.

[0048] The presently disclosed embodiments will now be described in detail with reference to the accompanying drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views.

[0049] See also Figure 1 , is a schematic diagram of the structure of an endoscope provided in an embodiment of the present application. Figure 1 As shown, the 3D endoscope includes a scope body 100 , a handle 200 , a drive seat 300 and a cable 400 .

[0050] The driving seat 300 and the handle 200 are installed at the proximal end of the mirror body 100. After the driving module is installed on the driving seat 300, the mirror body 100 can be driven to bend in four directions: up, down, left, and right, and the mirror body 100 can be driven to rotate around the axis of the mirror body 100.

[0051] The distal end of the mirror body 100 can take real-time photos inside the patient's cavity, and the captured images are transmitted to the display system for display, which can provide important reference for surgery. Figure 2 , is a schematic diagram of a partial structure of an endoscope provided in an embodiment of the present application, such as Figure 2 As shown, a first light source 101 , a second light source 102 , and a lens 103 located between the first light source 101 and the second light source 102 are disposed at the distal end of the mirror body 100 .

[0052] In some embodiments, the field of view of the second light source 102 is greater than that of the first light source 101, and the difference between the field of view of the first light source 101 and the field of view of the second light source 102 is greater than 50°. Exemplarily, the field of view of the first light source 101 is 60°, and the field of view of the second light source 102 is 120°.

[0053] In some embodiments, the image captured by the lens 103 may have a brightness that is too high or too low, which may interfere with the analysis of the image on the display system and affect the surgical effect.

[0054] In order to solve the problem of poor endoscopic image brightness, the present application embodiment provides an endoscope brightness adjustment method, see Figure 3 , the method may include the following steps:

[0055] Step S101: Counting the brightness and overexposure ratio of the endoscope image.

[0056] In some embodiments, the image captured by the endoscope may be referred to as an endoscopic image. During surgery, it is usually necessary to adjust the endoscope lens so that the object being photographed is located in the center area of ​​the endoscopic image. Therefore, the center area may be determined as the region of interest. The goal of adjusting the brightness of the endoscopic image is to make the image brightness of the region of interest meet the requirements. In actual implementation, a schematic diagram of a region of interest can be seen in FIG. Figure 4 ,like Figure 4 As shown in the figure, the entire display area of ​​the endoscope image is area Z1, and area Z1 can be divided into m*n sub-areas Z0, where the values ​​of m and n can be determined according to actual conditions, and m is greater than n. A circular area with the center of area Z1 as the center and n / 2 as the radius is set as the area of ​​interest Z2, and the area in area Z1 except the area of ​​interest Z2 is set as the background area.

[0057] In some embodiments, when counting the brightness of the endoscopic image, the brightness of the image of the region of interest Z2 and the brightness of the background region may be counted respectively, and the brightness of the image of the endoscopic image may be obtained according to the weighted sum of the brightness of the region of interest Z2 and the brightness of the background region. Exemplarily, the calculation formula for the brightness of the endoscopic image may be:

[0058] BV=a*(BV 1 )+b*(BV 2 )

[0059] Among them, the brightness of the area of ​​interest Z2 is BV 1 , the weight is a, and the brightness of the background area is BV 2 , the weight can be b, 0 <b<a<1,a-b> 0.3.

[0060] In some embodiments, see Figure 5, the overexposed area in the endoscopic image may generally include the first overexposed area Z21 caused by the reflection of the mucous membrane and other structures in the cavity, and the second overexposed area Z22 caused by the mirror reflection of the metal part of the surgical instrument, such as the instrument head, wherein the first overexposed area Z21 and the second overexposed area Z22 are generally located in the region of interest Z2. Therefore, when counting the overexposure ratio of the endoscopic image, the overexposure ratio in the region of interest Z2 may be used as the overexposure ratio of the endoscopic image. Since the second overexposed area Z22 has little effect on the analysis of the endoscopic image, only the proportion of the first overexposed area Z21 in the region of interest Z2 may be used as the overexposure ratio of the endoscopic image. The area in the region of interest Z2 other than the first overexposed area Z21 and the second overexposed area Z22 may be referred to as the non-overexposed area.

[0061] For the region of interest Z2, the first overexposed region Z21, the second overexposed region Z22 and the non-overexposed region can be distinguished according to the grayscale value of the pixel. If the grayscale value of a pixel is less than c, the pixel belongs to the non-overexposed region. If the grayscale value of a pixel is between c and d, the pixel belongs to the first overexposed region. If the grayscale value of a pixel is greater than d, the pixel belongs to the second overexposed region. The size of c and d can be determined according to the actual situation. After counting the grayscale values ​​of all pixels in the region of interest Z2, the following can be obtained: Figure 5 The first overexposed area Z21 and the second overexposed area Z22 are shown.

[0062] It should be noted that at different times, due to the different brightness of different endoscopic images, there may be no overexposed area in the endoscopic image, or there may be only the first overexposed area without the second overexposed area.

[0063] After counting the grayscale values ​​of all pixels in the region of interest Z2, the overexposure ratio P of the endoscopic image can be calculated:

[0064] P=X2 / (X1+X2+X3)

[0065] Among them, X1 is the number of pixels in the first overexposed area Z21, that is, the number of pixels in the area of ​​interest Z2 with a grayscale value less than c, X2 is the number of pixels in the second overexposed area Z22, that is, the number of pixels in the area of ​​interest Z2 with a grayscale value between c and d, and X3 is the number of pixels in the non-overexposed area, that is, the number of pixels in the area of ​​interest Z2 with a grayscale value greater than d.

[0066] In some embodiments, the target brightness of the endoscope image can be preset as BV target , the brightness deviation threshold is p1, then the first brightness threshold of the endoscopic image is BV max , BVmax=BV target +p1, the second brightness threshold is BVmin , B.V. min =BV target -p1, if the screen brightness BV of the endoscope image is not between BVmax and BVmin, brightness adjustment is required, where BV target The size can be determined according to actual conditions.

[0067] In some embodiments, the target overexposure ratio of the endoscopic image may be preset as P target , the overexposure ratio deviation threshold is p2, then the first overexposure ratio threshold of the overexposure ratio of the endoscopic image is Pmax, Pmax = P target +p2, the second overexposure ratio threshold is Pmin, Pmin=P target -p2, if the overexposure ratio P of the endoscope image is not between Pmax and Pmin, brightness adjustment is required, where P target The size can be determined according to actual conditions.

[0068] In some embodiments, after the overexposure ratio is obtained, the light source brightness L of the endoscope can be calculated according to the overexposure ratio:

[0069] L=(1-P)*L1+P*L2

[0070] Wherein, L1 is the brightness of the first light source 101 , and L2 is the brightness of the second light source 102 .

[0071] Step S102: If the picture brightness is greater than a first brightness threshold, brightness adjustment is performed according to the priority of reducing gain, reducing light source brightness, and reducing exposure time until the picture brightness is less than the first brightness threshold.

[0072] In some embodiments, if the screen brightness BV of the endoscopic image is greater than BVmax, the brightness of the endoscopic image may be adjusted to reduce the screen brightness BV.

[0073] In some embodiments, see Figure 6 , the method for reducing the brightness of the picture may include the following steps:

[0074] Step S201: reducing the gain of the endoscopic image until the image brightness is less than the first image brightness threshold or the gain is reduced to a second gain threshold.

[0075] In some embodiments, the gain of the endoscopic image refers to the brightness gain of the image captured by the lens 103. The method for reducing the gain of the endoscopic image may be to gradually reduce the gain of the endoscopic image in steps of 1 until the image brightness BV is lower than BVmax, and if the gain reaches a second gain threshold, the image brightness BV is still greater than BVmax, and the gain is no longer reduced, wherein the second gain threshold is 1.

[0076] Step S202: If the gain is reduced to the second gain threshold and the picture brightness is greater than the first picture brightness threshold, reduce the light source brightness until the picture brightness is less than the first picture brightness threshold or the light source brightness is reduced to the second light source brightness threshold.

[0077] In some embodiments, if the gain is 1 and the picture brightness BV is still greater than BVmax, the light source brightness may be reduced until the picture brightness is less than the first picture brightness threshold or the light source brightness is reduced to the second light source brightness threshold.

[0078] In some embodiments, when reducing the brightness of the light source, the brightness of the second light source 102 can be increased and the brightness of the first light source 101 can be reduced, thereby ensuring that the light source brightness L can be reduced, and avoiding reducing the brightness of the first light source 101 and the second light source 102 at the same time, resulting in a rapid change in the light source brightness L and causing the brightness of the endoscopic image to fluctuate.

[0079] In some embodiments, the first light source 101 and the second light source 102 are provided with a plurality of gears, and the brightness of the first light source 101 and the second light source 102 can be adjusted by adjusting the gears. Exemplarily, the first light source 101 and the second light source 102 are both provided with 5 gears, and the duty ratios of the light source brightness corresponding to gears 1 to 5 are 5%, 10%, 15%, 20%, and 25%, respectively. From gear 1 to gear 5, the brightness of the light source gradually increases. To reduce the brightness L of the endoscope screen, the gear of L2 can be increased and the gear of L1 can be reduced.

[0080] In some embodiments, the brightness of the first light source 101 and the brightness of the second light source 102 are infinitely adjustable, which can further avoid the fluctuation of the brightness of the endoscope image.

[0081] Step S203: if the light source brightness decreases to the second light source brightness threshold and the picture brightness is greater than the first picture brightness threshold, reduce the exposure time until the picture brightness is less than the first picture brightness threshold.

[0082] In some implementations, if the light source brightness is reduced to the second light source brightness threshold, the image brightness BV is still greater than BVmax, and the image brightness BV can be reduced by reducing the exposure time of the endoscope lens 103. The exposure time adjustment method is shown in the following formula:

[0083] BV new =(1-S)*BV pro

[0084] Among them, BV new is the adjusted exposure time, BV pro is the exposure time before adjustment, S is the exposure time adjustment speed, The exposure time of the endoscope lens 103 can be adjusted to a minimum of 1 ms. In other embodiments, the exposure time can be adjusted to less than 1 ms.

[0085] Step S103: If the picture brightness is less than the second brightness threshold, the brightness is adjusted according to the priority of increasing the light source brightness, increasing the exposure time, and increasing the gain until the picture brightness is greater than the second brightness threshold.

[0086] In some embodiments, if the screen brightness BV of the endoscopic image is less than BVmin, the brightness of the endoscopic image may be adjusted to increase the screen brightness BV.

[0087] In some embodiments, see Figure 7 , the method for improving the brightness of the picture may include the following steps:

[0088] Step S301: increasing the brightness of the light source until the picture brightness is greater than the second picture brightness threshold or the light source brightness is increased to the first light source brightness threshold.

[0089] In some embodiments, if the brightness of the endoscopic image is lower than BVmin, the endoscopic image will be difficult to see clearly. To ensure the safety of the operation, the image brightness BV needs to be quickly increased. The image brightness BV can be quickly increased by increasing the brightness of the light source.

[0090] In some embodiments, the light source of the endoscope includes a first light source 101 and a second light source 102 , and the image brightness BV can be increased by increasing the gear positions of the first light source 101 and the second light source 102 .

[0091] Step S302: If the light source brightness increases to a first light source brightness threshold and the picture brightness is less than the second picture brightness threshold, increase the exposure time until the picture brightness is greater than the second picture brightness threshold or the exposure time increases to an exposure time threshold.

[0092] In some embodiments, if the first light source 101 and the second light source 102 are both increased to the maximum gear, the light source brightness of the endoscope has been increased to the maximum, that is, the first light source brightness threshold is reached. At this time, if the screen brightness BV is still less than BVmin, the screen brightness BV can be increased by increasing the exposure time. The exposure time adjustment method is shown in step S203 and will not be repeated here.

[0093] The exposure time of the endoscope lens 103 can be adjusted to a maximum exposure time threshold. If the exposure time is too long, the endoscope image will produce motion smear when switching to the next frame image, affecting the clarity of the endoscope image. In some embodiments, the exposure time threshold can be 5ms.

[0094] Step S303: if the exposure time increases to the exposure time threshold and the picture brightness is less than the second picture brightness threshold, increase the gain until the picture brightness is greater than the second picture brightness threshold.

[0095] In some embodiments, if the exposure time has increased to the exposure time threshold, if the picture brightness BV is still less than BVmin, the picture brightness BV may be increased by increasing the gain until the picture brightness is greater than the second picture brightness threshold.

[0096] Step S104: if the picture brightness is between the second brightness threshold and the first brightness threshold, no brightness adjustment is performed.

[0097] In some embodiments, if the screen brightness BV of the endoscopic image is between BVmax and BVmin, no brightness adjustment may be performed.

[0098] It can be seen from the above embodiments that when the screen brightness of the endoscopic image is greater than the first brightness threshold, the present application automatically implements brightness adjustment through multiple adjustment methods according to the priority of reducing gain, reducing light source brightness, and reducing exposure time. There is no need to manually adjust the screen brightness or manually adjust the light source brightness, thereby avoiding the problems of poor fineness and stability of manual adjustment. Moreover, compared with directly reducing the light source brightness, reducing the screen brightness according to the above priorities can ensure the stability of the light source, avoid brightness oscillation, and improve the smoothness of screen brightness adjustment. Compared with directly reducing the exposure time, it can ensure the smoothness of endoscopic image shooting and improve surgical safety. When the screen brightness of the endoscopic image is lower than the second brightness threshold, the brightness is adjusted according to the priority of increasing the light source brightness, increasing the exposure time, and increasing the gain. There is no need to manually adjust the screen brightness, thereby avoiding the problems of poor fineness and stability of manual adjustment. Moreover, increasing the screen brightness according to the above priorities can quickly increase the screen brightness, thereby avoiding the endoscopic image brightness being too low to affect the surgical operation and improving the surgical safety.

[0099] Since the above embodiments are all described by citing and combining with other embodiments, different embodiments have the same parts, and the same and similar parts between the embodiments in this specification can be referred to each other. No further detailed description is given here.

[0100] The above implementation modes of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A method for adjusting the brightness of an endoscope, It is characterized in that The endoscope is provided with a lens, a first light source and a second light source, the lens is located between the first light source and the second light source, the field of view angle of the second light source is greater than the field of view angle of the first light source, and the endoscope brightness adjustment method includes: Counting the screen brightness and overexposure ratio of the endoscopic image, and counting the grayscale value of each pixel of the endoscopic image, wherein a circular area with a center of the endoscopic image as the center and a radius of n / 2 is set as a region of interest, and an area other than the region of interest in the endoscopic image is set as a background area, and the screen brightness of the endoscopic image is a weighted sum of the brightness of the region of interest and the brightness of the background area; If the overexposure ratio is not between the first overexposure ratio threshold and the second overexposure ratio threshold, adjusting the picture brightness; If the picture brightness is greater than a first brightness threshold, the brightness is adjusted according to the priority of reducing gain, reducing light source brightness, and reducing exposure time until the picture brightness is less than the first brightness threshold, wherein, in the region of interest, an area where pixels with grayscale values ​​in a first grayscale range are located is defined as a first overexposed area, the overexposure ratio is a proportion of the first overexposed area in the region of interest, the light source brightness is a weighted sum of the brightness of the first light source and the brightness of the second light source, the weight of the brightness of the second light source in the light source brightness is the overexposure ratio, and reducing the light source brightness includes increasing the brightness of the second light source and reducing the brightness of the first light source, or includes increasing the brightness duty cycle of the second light source and reducing the brightness duty cycle of the first light source; If the image brightness is less than a second brightness threshold, the brightness is adjusted according to the priority of increasing the light source brightness, increasing the exposure time, and increasing the gain until the image brightness is greater than the second brightness threshold; If the picture brightness is between the second brightness threshold and the first brightness threshold, no brightness adjustment is performed.

2. The endoscope brightness adjustment method according to claim 1, It is characterized in that The step of adjusting the brightness according to the priority of reducing the gain, reducing the light source brightness, and reducing the exposure time until the picture brightness is less than the first brightness threshold comprises: reducing the gain of the endoscopic image until the image brightness is less than the first brightness threshold or the gain is reduced to a second gain threshold; If the gain is reduced to the second gain threshold and the picture brightness is greater than the first brightness threshold, then reducing the light source brightness until the picture brightness is less than the first brightness threshold or the light source brightness is reduced to the second light source brightness threshold; If the brightness of the light source decreases to the second light source brightness threshold and the picture brightness is greater than the first brightness threshold, the exposure time is reduced until the picture brightness is less than the first brightness threshold.

3. The endoscope brightness adjustment method according to claim 1, It is characterized in that The brightness is adjusted according to the priority of increasing the brightness of the light source, increasing the exposure time, and increasing the gain until the brightness of the picture is greater than the second brightness threshold, including: Increasing the brightness of the light source until the picture brightness is greater than the second brightness threshold or the light source brightness is increased to the first light source brightness threshold; If the brightness of the light source increases to a first light source brightness threshold and the picture brightness is less than the second brightness threshold, increase the exposure time until the picture brightness is greater than the second brightness threshold or the exposure time increases to an exposure time threshold; If the exposure time increases to the exposure time threshold and the picture brightness is less than the second brightness threshold, the gain is increased until the picture brightness is greater than the second brightness threshold.

4. The endoscope brightness adjustment method according to claim 1, It is characterized in that The endoscope is provided with a first light source and a second light source, the viewing angle of the second light source is greater than the viewing angle of the first light source, and improving the brightness of the light source includes improving the brightness of the first light source and improving the brightness of the second light source.

5. The endoscope brightness adjustment method according to claim 4, It is characterized in that Improving the brightness of the light source includes increasing the brightness duty cycle of the second light source and increasing the brightness duty cycle of the first light source.

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