A fluorescence imaging device, an image processing method, and an electronic device

Abstract

The application discloses a kind of fluorescent imaging equipment, image processing method and electronic equipment, the fluorescent imaging equipment includes: host computer and operating handle, operating handle is connected with host computer by cable group, image sensor, optical fiber, optical fiber beam expander and adjustable focus lens are arranged in operating handle, laser and image processing module are arranged in host computer, laser signal is transmitted to operating handle by optical fiber in cable group, image signal is transmitted to image processing module by optical fiber in cable group, rotating code disc is arranged in laser, multiple round holes are evenly arranged on rotating code disc, the center of rotating code disc is fixed on servo motor, when rotating code disc is rotated by servo motor, the laser emitted by laser passes through round hole. Through the fluorescent imaging equipment, pulse laser can be realized directly by rotating code disc, and then the boundary of image is judged by the pulse laser.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image processing, in particular to a fluorescence imaging device, an image processing method and an electronic device. BACKGROUND

[0002] At present, in the field of medical instruments, the application of fluorescence imaging devices is becoming more and more widely used. The fluorescence imaging device is generally used in cooperation with a developing agent. The developing agent is injected subcutaneously or intravenously, and the surface of the operation area is irradiated with near-infrared light to excite the developing agent to produce near-infrared fluorescence of a specific wavelength. The system collects the light of the specific spectrum through a sensor, calculates the image segmentation based on the principle of fluorescence lifetime, obtains more accurate boundary information, and outputs to a display device to provide more accurate navigation and positioning of the target area boundary for the doctor during the operation.

[0003] The principle of exciting fluorescence imaging is that when external light irradiates biological tissue containing a fluorophore, the fluorophore absorbs light energy to make the electron jump to an excited state. The electron releases fluorescence during the process of returning to the ground state. The fluorescence moves to the red end compared with the absorbed light, that is, the energy of the emitted fluorescence is lower than that of the absorbed external light. The fluorescence propagates in the tissue and part of it reaches the body surface. The fluorescence emitted from the body surface is received by the detector, thereby forming a fluorescence image.

[0004] The existing device for detecting fluorescence lifetime mainly relies on a pulse laser and a stripe camera. On the one hand, such a device is expensive and large in size, which is difficult to apply to a device. On the other hand, the existing near-infrared fluorescence imaging technology is greatly affected by the environment, and the boundary judgment is not clear. SUMMARY

[0005] The present application provides a fluorescence imaging device, an image processing method and an electronic device, so that the pulse laser can be directly realized by rotating the code disc through the fluorescence imaging device. The specific technical scheme is as follows:

[0006] In a first aspect, the present application provides a fluorescence imaging device, comprising: a host and an operation handle, the operation handle is connected with the host through a cable group, an image sensor, an optical fiber, an optical fiber beam expander and an adjustable focus lens are arranged in the operation handle, a laser and an image processing module are arranged in the host, the laser transmits a laser signal to the operation handle through the optical fiber in the cable group, the operation handle transmits an image signal to the image processing module through the optical fiber in the cable group, and wherein,

[0007] A rotating code disc is arranged in the laser, a plurality of round holes are uniformly arranged on the rotating code disc, and the center of the rotating code disc is fixed on a servo motor. When the servo motor drives the rotating code disc to rotate, the laser emitted by the laser passes through the round holes.

[0008] The fluorescence imaging device can directly realize pulsed laser through rotating the code disc, and then realize boundary judgment of the image through the pulsed laser. This way not only reduces the cost of the device, but also avoids the influence of the external environment on the device.

[0009] In an optional embodiment, the distance between the center of the circular hole on the rotating code disc and the center of the rotating code disc is equal.

[0010] In an optional embodiment, the laser further comprises a continuous excitation light processing unit and a synchronous motor driving unit.

[0011] The continuous excitation light processing unit comprises a laser driving circuit, a first optical fiber joint, and a second optical fiber joint. The laser driving circuit is used to generate a laser signal. The first optical fiber joint is connected to the laser driving circuit. The second optical fiber joint is connected to the optical fibers in the cable group.

[0012] The synchronous motor driving unit comprises a synchronous motor driver, a servo motor, an encoder, and a zero position trigger sensor. The synchronous motor driver is used to drive the servo motor. The encoder and the zero position trigger sensor are used to control the synchronous motor driver.

[0013] In a second aspect, the present application provides an image processing method, characterized in that the method uses the fluorescence imaging device described above, and the method comprises:

[0014] Acquiring N pieces of image data in a current recognition window through an image sensor, wherein N is an integer greater than 2;

[0015] Determining an image gray scale change range value and an image gray scale histogram corresponding to each piece of image data in the N pieces of image data;

[0016] Determining whether each piece of image data is a feature region according to the image gray scale change range value and the image gray scale histogram of each piece of image data;

[0017] If it is a feature region, determining a developer region in the feature region;

[0018] If it is not a feature region, performing feature region recognition of a next recognition window.

[0019] In an optional embodiment, the determining of the developer region in the feature region comprises:

[0020] Rotating the servo motor at a constant speed, and continuously reading sample images of the current recognition window through the image sensor;

[0021] Determining residual light intensity and target position light intensity in the sample images;

[0022] determine the fluorescent intensity according to the residual light intensity and the target position light intensity;

[0023] determine the developer region according to the fluorescent intensity and the specified fluorescent intensity.

[0024] In an alternative embodiment, determining the developer region in the feature region comprises:

[0025] determining the pixel points satisfying the fluorescent intensity in each of the N pieces of image data;

[0026] fusing and superimposing all the pixel points satisfying the fluorescent intensity to determine the developer region.

[0027] In a third aspect, the present application provides an image processing device, which applies the fluorescent imaging equipment described above, and the device comprises:

[0028] an acquisition module, configured to acquire N pieces of image data in a current recognition window through an image sensor;

[0029] a processing module, configured to determine an image gray scale variation range value and an image gray scale histogram corresponding to each piece of image data in the N pieces of image data;

[0030] determine whether the image data is a feature region according to the image gray scale variation range value and the image gray scale histogram of each piece of image data;

[0031] if the image data is the feature region, determine a developer region in the feature region;

[0032] if the image data is not the feature region, perform feature region recognition of a next recognition window.

[0033] In an alternative embodiment, the processing module is specifically configured to rotate a private server motor at a constant speed and continuously read sample images of the current recognition window through the image sensor;

[0034] determine a residual light intensity and a target position light intensity in the sample images;

[0035] determine a fluorescent intensity according to the residual light intensity and the target position light intensity;

[0036] determine the developer region according to the fluorescent intensity and the specified fluorescent intensity.

[0037] In a fourth aspect, the present application provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and is characterized in that the processor implements the image processing method described above when executing the computer program.

[0038] In a fifth aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the image processing method described above. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 A structure schematic diagram of a fluorescence imaging device provided by the present application is shown in the figure;

[0040] Figure 2 A structure schematic diagram of a laser of a fluorescence imaging device provided by the present application is shown in the figure;

[0041] Figure 3 A flow chart of an image processing method provided by the present application is shown in the figure;

[0042] Figure 4 A flow chart of an image processing device provided by the present application is shown in the figure;

[0043] Figure 5 A structure schematic diagram of an electronic device provided by the present application is shown in the figure. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be described in further detail below with reference to the drawings. The specific operation method in the method embodiment can also be applied to the device embodiment or the system embodiment. It should be noted that in the description of the present application, “multiple” is understood as “at least two”. “And / or” describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. A and B are connected, which means that A and B are directly connected and A and B are connected through C. In addition, in the description of the present application, “first”, “second”, etc. are used only for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can it be understood as indicating or implying order.

[0045] The embodiments of the present application will be described in detail below with reference to the drawings.

[0046] At present, in the fluorescence imaging device, when the exogenous light is irradiated onto the biological tissue with fluorophore, the fluorophore absorbs light energy to make the electron jump to the excited state. The electron releases fluorescence in the process of returning to the ground state from the excited state. The fluorescence moves to the red end compared with the absorbed light, that is, the energy of the emitted fluorescence is lower than that of the absorbed exogenous light. The fluorescence propagates in the tissue and part of it reaches the body surface. The fluorescence emitted from the body surface is received by the detector, thereby forming a fluorescence image.

[0047] The existing device for detecting fluorescence lifetime mainly relies on a pulsed laser and a stripe camera. On one hand, such a device is expensive and large in size, and is difficult to apply to a device. On the other hand, the existing near-infrared fluorescence imaging technology is greatly affected by the environment, and the boundary is not clear.

[0048] To solve the above problems, the present application provides a fluorescence imaging device, which comprises a host computer and an operating handle, the operating handle is connected with the host computer through a cable set, an image sensor, an optical fiber, an optical fiber beam expander and an adjustable focus lens are arranged in the operating handle, a laser and an image processing module are arranged in the host computer, the laser transmits a laser signal to the operating handle through the optical fiber in the cable set, the operating handle transmits an image signal to the image processing module through the optical fiber in the cable set, a rotating code disc is arranged in the laser, a plurality of round holes are uniformly arranged on the rotating code disc, and the center of the rotating code disc is fixed on a servo motor, when the rotating code disc is rotated by the servo motor, the laser emitted by the laser passes through the round holes. Through the fluorescence imaging device, pulsed laser can be realized directly through the rotating code disc, and then the boundary of the image can be judged through the pulsed laser. This method not only reduces the cost of the device, but also avoids the influence of the device by the external environment.

[0049] The technical scheme of the present application will be described in detail below through specific embodiments.

[0050] Referring to Figure 1 The structure of the fluorescence imaging device provided by the present application is shown in the figure, which comprises a host computer 10 and an operating handle 11.

[0051] A laser 10a and an image processing module 10b are arranged in the host computer 10.

[0052] An image sensor 11a, an optical fiber 11b, an optical fiber beam expander 11c and an adjustable focus lens 11d are arranged in the operating handle 11.

[0053] The laser 10a in the host computer 10 transmits a laser signal to the operating handle 11 through the optical fiber 11b in the cable set, and the operating handle 11 transmits an image signal to the image processing module 10b through the optical fiber 11b in the cable set.

[0054] Specifically, the fluorescence imaging device is composed of the operating handle 11, the host computer 10 and a display unit. When a developer is injected subcutaneously or intravenously, the excitation light generated by the laser in the host computer 10 is conducted by the optical fiber 11b, the excitation light is covered by the beam expander to cover the entire test field of view, and the excitation light passes through the adjustable focus lens to form an image on the image sensor. The image sensor converts the collected image signal into a digital signal and transmits it to the image processing unit, the image processing unit performs image processing and finally displays the output to the display unit.

[0055] Based on the structure described above, refer toFigure 2 As shown in the embodiment of the present application, the laser 10a is provided with a continuous excitation light processing unit 20 and a synchronous motor driving unit 21.

[0056] The continuous excitation light processing unit 20 includes a laser driving circuit 20a, a first optical fiber joint 20b and a second optical fiber joint 20c, the laser driving circuit 20a is used to generate a laser signal, the first optical fiber joint 20b is connected to the laser driving circuit 20a, and the second optical fiber joint 20c is connected to the optical fiber 11b in the cable group.

[0057] The synchronous motor driving unit 21 includes a synchronous motor driver 21a, a servo motor 21b, an encoder 21c and a zero position trigger sensor 21d, the synchronous motor driver 21a is used to drive the servo motor 21b, and the encoder 21c and the zero position trigger sensor 21d are used to control the synchronous motor driver 21a.

[0058] In the above-mentioned fluorescence imaging device, the synchronous motor driver is used to control the servo motor to drive the rotating code disc, so as to cut the excitation light generated by the continuous laser, thereby generating the periodic fixed pulse excitation light, which can avoid using the expensive femtosecond laser, and reduce the equipment cost of the fluorescence imaging device.

[0059] Based on the above-mentioned fluorescence imaging device, the present application further provides an image processing method, referring to Figure 3 As shown in the flow chart of the image processing method provided by the embodiment of the present application, the method includes:

[0060] S1, acquiring N pieces of image data in a current recognition window through an image sensor;

[0061] Specifically, in the embodiment of the present application, first, the focus is adjusted through the operation handle on the fluorescence imaging device, so that the image processing unit ISP excites the continuous laser, and controls the image sensor to perform overall imaging on the target region.

[0062] Then the image processing unit ISP equally divides the whole picture into N parts, and the image processing unit ISP controls the image sensor to perform window sampling, which can greatly improve the sampling frequency of the image sensor.

[0063] S2, determining the image gray scale change range value and the image gray scale histogram corresponding to each piece of image data in the N pieces of image data;

[0064] The image processing unit ISP synchronously controls the servo motor to make the laser generate on-off state, the image processing unit ISP controls the image sensor to perform multiple window sampling on each sample, the image processing unit ISP identifies the average gray scale change in the window and the gray scale histogram, and distinguishes whether the window is a feature area by comparing the average gray scale change range in the window and the gray scale histogram, if it is not a feature area, the next window feature area extraction is performed.

[0065] S3, determining whether the image data is a feature area according to the image gray scale change range value and the image gray scale histogram of each image data;

[0066] If it is determined to be a feature area, step S4 is performed, and if it is determined not to be a feature area, step S5 is performed.

[0067] S4, determining the developer area in the feature area;

[0068] S5, performing feature area recognition of the next recognition window.

[0069] Specifically, if it is detected that the area corresponding to the current recognition window is a feature area, the image processing unit synchronously controls the servo motor to rotate at a constant speed, then continuously generates a continuous periodic pulsed light wave by the pulsed laser, and continuously reads the sample image of the current recognition window by the image sensor. The residual light intensity and the target position intensity in the sample image are determined. According to the residual light intensity and the target position light intensity, the fluorescence intensity is determined, and the specific calculation formula is as follows:

[0070] I(t)=I0·exp(-t / τ)

[0071] Where I(t) is the residual light intensity at the position to be concerned (the residual light intensity changes with time), I0 is the intensity at the irradiation position, t is the experienced time at the position to be concerned, and τ is the fluorescence lifetime. In addition, -t / τ refers to the gradient of the residual light change table.

[0072] The fluorescence intensity can be determined by the above formula, which is the fluorescence lifetime, and then the obtained fluorescence lifetime is compared with the specified fluorescence lifetime, so that the developer area can be determined.

[0073] In the embodiment of the present application, in order to accurately determine the developer area, each pixel point in N image data that satisfies the fluorescence intensity is determined, and then the pixel points in the entire recognition window area that meet the fluorescence lifetime time are dyed. The pixel points are fused and superimposed, and finally the superimposed result is determined as the developer area.

[0074] Through the above method, periodic adjustable pulse light can be directly generated by the servo motor, so that the developer area is accurately determined by the pulse light, thereby reducing the cost of the fluorescence imaging device and improving the real-time and accuracy of detection.

[0075] In an alternative embodiment, the feature extraction of the image data in the embodiments of the application can be implemented by using the following method:

[0076] The SIFT algorithm has the characteristics of maintaining invariance to rotation, scale, and brightness change, and maintaining stability to a certain extent to view angle change, affine transformation, and noise. When finding DoG extreme points, each pixel point is compared with all its adjacent points, and when it is greater (or smaller) than all the adjacent points in the image domain and the scale domain, it is an extreme point. The amplitude and magnitude of the gradient of each point L(x, y) and the direction theta(x, y) can be obtained by the following formula:

[0077]

[0078]

[0079] After the gradient direction is calculated, the histogram of the gradient direction and the magnitude of the pixels in the neighborhood of the feature point are counted. The horizontal axis of the histogram of the gradient direction is the angle of the gradient direction, specifically, the range of the gradient direction is 0 to 360 degrees, and the histogram has 10 columns of 36 degrees each, or 8 columns of 45 degrees each. The vertical axis is the cumulative gradient magnitude corresponding to the gradient direction, and the peak value of the histogram is the main direction of the feature point. In the gradient histogram, when there is a column value corresponding to 80% of the main peak value, the direction can be considered as the auxiliary direction of the feature point. Therefore, a feature point can detect multiple directions. That is, a feature point can generate multiple coordinates, the same scale, but different directions.

[0080] Sobel operator: the algorithm used by the Sobel operator edge operator is to perform weighted averaging first and then differential operation, and the calculation method of the operator is as follows:

[0081] Gx = (-1) * f(x-1, y-1) + 0 * f(x, y-1) + 1 * f(x+1, y-1) + (-2) * f(x-1, y) + 0 * f(x, y) + 2 * f(x+1, y) + (-1) * f(x-1, y+1) + 0 * f(x, y+1) + 1 * f(x+1, y+1) = [f(x+1, y-1) + 2 * f(x+1, y) + f(x+1, y+1)] - [f(x-1, y-1) + 2 * f(x-1, y) + f(x-1, y+1)]

[0082] Gy = 1 * f(x-1, y-1) + 2 * f(x, y-1) + 1 * f(x+1, y-1) + 0 * f(x-1, y) 0 * f(x, y) + 0 * f(x+1, y) + (-1) * f(x-1, y+1) + (-2) * f(x, y+1) + (-1) * f(x+1, y+1) = [f(x-1, y-1) + 2f(x, y-1) + f(x+1, y-1)] - [f(x-1, y+1) + 2*f(x, y+1) + f(x+1, y+1)]

[0083] The operator contains two groups of 3x3 matrices, which are horizontal and vertical, and a plane convolution is performed with the image, so as to obtain the horizontal and vertical brightness difference approximation values. If A represents the original image, Gx and Gy represent the images subjected to horizontal and vertical edge detection, and the formula is as follows:

[0084]

[0085] The horizontal and vertical gradient approximation values of each pixel of the image can be combined to calculate the gradient size by using the following formula:

[0086]

[0087] The gradient direction can be calculated by using the following formula:

[0088]

[0089] In the above example, if the angle θ is equal to zero, it means that the image has a vertical edge, and the left side is darker than the right side. The feature points in the image data can be accurately identified and extracted by using the above method.

[0090] Based on the same technical concept, the embodiment of the present application also provides an image processing device, as shown in Figure 4 The structure of the image processing device provided by the embodiment of the present application is shown in the figure, and the device comprises:

[0091] The acquisition module 401 is configured to acquire N pieces of image data in a current identification window through an image sensor;

[0092] The processing module 402 is configured to determine an image gray scale change range value and an image gray scale histogram corresponding to each piece of image data in the N pieces of image data;

[0093] According to the image gray scale change range value and the image gray scale histogram of each piece of image data, it is determined whether the image data is a feature region;

[0094] If the image data is a feature region, a developer region is determined in the feature region.

[0095] If not the feature region, then feature region recognition of the next recognition window is performed.

[0096] In an optional embodiment, the processing module is specifically configured to control the private server motor to rotate at a constant speed, and continuously read sample images of the current recognition window through the image sensor.

[0097] Determine the residual light intensity and the target position light intensity in the sample image.

[0098] Determine the fluorescence intensity according to the residual light intensity and the target position light intensity.

[0099] Determine the developer region according to the fluorescence intensity and the specified fluorescence intensity.

[0100] Based on the same technical concept, the embodiments of the present application also provide an electronic device which can implement the image processing method flow provided by the above-mentioned embodiments of the present application. In an embodiment, the electronic device can be a server, or a terminal device or other electronic device. As shown in Figure 5 The electronic device can include:

[0101] At least one processor 501 and a memory 502 connected with the at least one processor 501. In the embodiments of the present application, the specific connection medium between the processor 501 and the memory 502 is not limited, Figure 5 In the embodiments of the present application, the connection between the processor 501 and the memory 502 is taken as an example of connection through a bus 500. The bus 500 is represented by a thick line, Figure 5 In the embodiments of the present application, the connection between the processor 501 and the memory 502 is taken as an example of connection through a bus 500. The bus 500 is represented by a thick line, Figure 5 In the embodiments of the present application, the connection between the processor 501 and the memory 502 is taken as an example of connection through a bus 500. The bus 500 is represented by a thick line,

[0102] In the embodiments of the present application, the memory 502 stores instructions executable by the at least one processor 501. The at least one processor 501 can execute the image processing method discussed above by executing the instructions stored in the memory 502. The processor 501 can implement the functions of various modules in the device as shown in Figure 4

[0103] ​The processor 501 is the control center of the apparatus, and can connect all parts of the apparatus through various interfaces and lines. The apparatus can perform various functions and process data by running or executing instructions stored in the memory 502 and calling data stored in the memory 502, thereby monitoring the apparatus as a whole.

[0104] In a possible design, the processor 501 can include one or more processing units, and the processor 501 can integrate an application processor and a modem processor. The application processor can mainly process an operating system, a user interface, and an application program, and the modem processor can mainly process wireless communication. It can be understood that the modem processor can also not be integrated into the processor 501. In some embodiments, the processor 501 and the memory 502 can be implemented on the same chip, and in some embodiments, they can also be implemented on separate chips respectively.

[0105] The processor 501 can be a general-purpose processor, for example, a CPU, a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the image processing method disclosed in the embodiments of the present application can be directly embodied by a hardware processor for execution, or be executed by a combination of hardware and software modules in the processor.

[0106] The memory 502, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 502 can include at least one type of storage medium, for example, can include flash memory, hard disk, multimedia card, card type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. The memory 502 is any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but is not limited thereto. The memory 502 in the embodiments of the present application can also be a circuit or any other device capable of realizing a storage function, used to store program instructions and / or data.

[0107] By designing and programming the processor 501, the code corresponding to the image processing method introduced in the foregoing embodiments can be fixed in the chip, so that the chip can execute the steps of the image processing method of the embodiments shown in the running time. Figure 3 How to design and program the processor 501 is a technology known to those skilled in the art, which will not be described here.

[0108] Based on the same inventive concept, the embodiments of the present application also provide a storage medium storing computer instructions, when the computer instructions run on a computer, the computer instructions make the computer execute the image processing method discussed above.

[0109] In some possible implementations, the various aspects of the image processing method provided by the present application can also be implemented in the form of a program product, which includes program codes, when the program product runs on the device, the program codes are used to make the control device execute the steps in the image processing method according to various exemplary embodiments of the present application described above in the specification.

[0110] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0111] The present application is described in reference to the flow diagrams and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing element or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks.

[0112] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Figure 1 one or more functions specified in the flow diagram and / or block diagram block or blocks. Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. An image processing method, characterized by, The method is applied to a fluorescence imaging device, the fluorescence imaging device comprising: a host computer and an operation handle connected with the host computer through a cable set, an image sensor, an optical fiber, an optical fiber beam expander and an adjustable focus lens being arranged in the operation handle, a laser and an image processing module being arranged in the host computer, the laser transmitting a laser signal to the operation handle through an optical fiber in the cable set, the operation handle transmitting an image signal to the image processing module through an optical fiber in the cable set, wherein a rotating code disc is arranged in the laser, a plurality of circular holes are uniformly arranged on the rotating code disc, and a center of the rotating code disc is fixed on a servo motor, when the servo motor drives the rotating code disc to rotate, laser emitted by the laser passes through the circular holes; The method comprises: acquiring N pieces of image data in a current recognition window through an image sensor; determining an image gray scale change range value and an image gray scale histogram corresponding to each piece of image data in the N pieces of image data; determining whether the image data is a feature region according to the image gray scale change range value and the image gray scale histogram of each piece of image data; if the feature region is determined, a developer region in the feature region is determined, comprising: rotating the servo motor at a constant speed and continuously reading sample images of the current recognition window through the image sensor; determining a residual light intensity and a target position light intensity in the sample images; determining a fluorescence intensity according to the residual light intensity and the target position light intensity; determining the developer region according to the fluorescence intensity and a specified fluorescence intensity; wherein each pixel point in the N pieces of image data satisfying the fluorescence intensity is determined; all pixel points satisfying the fluorescence intensity are fused and superimposed to determine the developer region; if the feature region is not determined, a feature region in a next recognition window is identified.

2. The method of claim 1, wherein, The distance between the center of the circular hole on the rotating code disc and the center of the rotating code disc is equal.

3. The method of claim 1, wherein, The laser further comprises: a continuous excitation light processing unit and a synchronous motor driving unit; The continuous excitation light processing unit comprises a laser driver circuit, a first optical fiber joint and a second optical fiber joint, the laser driver circuit is used for generating a laser signal, the first optical fiber joint is connected with the laser driver circuit, and the second optical fiber joint is connected with the optical fiber in the cable set; The synchronous motor driving unit comprises a synchronous motor driver, a servo motor, an encoder and a zero position trigger sensor, the synchronous motor driver is used for driving the servo motor, and the encoder and the zero position trigger sensor are used for controlling the synchronous motor driver.

4. An image processing apparatus characterized by comprising: The device is applied to a fluorescence imaging equipment, the fluorescence imaging equipment comprising: a host computer and an operating handle connected with the host computer through a cable group, an image sensor, an optical fiber, an optical fiber beam expander and an adjustable focus lens being arranged in the operating handle, a laser and an image processing module being arranged in the host computer, the laser transmitting a laser signal to the operating handle through the optical fiber in the cable group, the operating handle transmitting an image signal to the image processing module through the optical fiber in the cable group, wherein a rotating code disc is arranged in the laser, a plurality of circular holes are uniformly arranged on the rotating code disc, and the center of the rotating code disc is fixed on a servo motor, when the rotating code disc is rotated by the servo motor, the laser emitted by the laser passes through the circular holes. The device comprises: An acquisition module configured to acquire N pieces of image data in a current identification window through an image sensor; A processing module configured to determine an image gray scale change range value and an image gray scale histogram corresponding to each piece of image data in the N pieces of image data; Determine whether the image data is a feature region according to the image gray scale change range value and the image gray scale histogram of each piece of image data; If the feature region is determined, a developer region in the feature region is determined, comprising: rotating the servo motor at a constant speed and continuously reading sample images of the current identification window through the image sensor; determining a residual light intensity and a target position light intensity in the sample images; determining a fluorescence intensity according to the residual light intensity and the target position light intensity; determining the developer region according to the fluorescence intensity and a specified fluorescence intensity; wherein each pixel point in the N pieces of image data that meets the fluorescence intensity is determined; all pixel points meeting the fluorescence intensity are fused and superimposed to determine the developer region; If the feature region is not determined, the feature region identification of the next identification window is performed.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the method of any one of claims 1-3.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method of any one of claims 1-3.

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