Binocular endoscope and binocular endoscope imaging system thereof

Abstract

The application relates to a binocular endoscope and a binocular endoscope imaging system thereof. The binocular endoscope imaging system comprises a light source module, two imaging modules and two camera modules. The light source module is used for illuminating a measured object, and the light source module comprises a first light source with an outgoing light wavelength of 400-700 nm. The imaging module is used for guiding light reflected by the measured object to the camera module, and the imaging module and the camera module form binocular imaging in a one-to-one correspondence. The camera module comprises a light splitting element, a first photosensitive element and a second photosensitive element. The light splitting element is arranged on the light entering side of the first photosensitive element and the second photosensitive element, and is used for reflecting part of light with a wavelength of 400-700 nm to the first photosensitive element and transmitting the remaining part of light with a wavelength of 400-700 nm to the second photosensitive element. The binocular endoscope imaging system described above is not limited to a single photosensitive element for obtaining a measured object image, and the image quality is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a binocular endoscope and its binocular endoscope imaging system. Background Technology

[0002] Traditional endoscopes typically include white light imaging and special light imaging modes. White light imaging creates a color image of the object being examined, revealing its true color. Special light imaging illuminates the object using light of a specific spectral band, creating a grayscale image that reveals lesions. The combination of white light and special light imaging modes can be used for the diagnosis and treatment of diseases in human tissues. However, in practical applications, the low image quality of white light imaging in traditional endoscopes affects diagnostic accuracy. Summary of the Invention

[0003] Therefore, it is necessary to provide a binocular endoscope and its binocular endoscope imaging system to address the problem of low image quality in white light imaging mode.

[0004] A binocular endoscope imaging system includes a light source module, two imaging modules, and two camera modules. The light source module is used to illuminate the object under test, and the light source module includes a first light source with an emission wavelength between 400nm and 700nm. The imaging modules are used to guide the light reflected from the object under test to the camera modules. The imaging modules and the camera modules correspond one-to-one to form a binocular imaging system.

[0005] The camera module includes a beam splitter, a first photosensitive element, and a second photosensitive element. The beam splitter is disposed on the light-incident side of the first photosensitive element and the second photosensitive element, and is used to reflect a portion of the light with wavelengths in the range of 400nm-700nm to the first photosensitive element, and transmit the remaining portion of the light with wavelengths in the range of 400nm-700nm to the second photosensitive element.

[0006] In one embodiment, the beam splitter has a transmittance of 20%-50% and a reflectance of 50%-80% for light with wavelengths in the range of 400nm-700nm.

[0007] In one embodiment, the light source module further includes a second light source and a dichroic mirror. The first light source and the second light source have different emission wavelengths. The dichroic mirror is disposed on the emission side of the first light source and the second light source. The dichroic mirror can reflect the light emitted by the first light source and transmit the light emitted by the second light source.

[0008] In one embodiment, the light emission directions of the first light source and the second light source form a first angle, and the light emission direction of the first light source forms a second angle with the dichroic mirror; the first angle is twice the second angle.

[0009] In one embodiment, the binocular endoscope imaging system further includes a filter module disposed on the light-emitting side of the light source module. The filter module includes at least two filter channels, each filter channel corresponding to a different light wavelength emitted by the light source module. Each filter channel can transmit a corresponding type of light while blocking the other light.

[0010] In one embodiment, the filter module includes a switching component, on which a first filter channel corresponding to the first light source and a second filter channel corresponding to the second light source are provided; when different light sources emit light, the first filter channel and the second filter channel are switched to the light emission path of the light source module according to the different movement positions of the switching component.

[0011] In one embodiment, the conversion element is a rotating wheel structure capable of rotating along an axis, and the first filter channel and the second filter channel are arranged circumferentially on the conversion element.

[0012] In one embodiment, the filter module includes at least one first filter and at least one second filter, the first filter and the second filter being circumferentially spaced along the conversion member, the first filter forming the first filter channel and the second filter forming the second filter channel.

[0013] In one embodiment, the second photosensitive element also corresponds to receiving the light emitted from the second light source transmitted by the beam splitter.

[0014] In one embodiment,

[0015] The emission wavelength of the second light source is between 750nm and 810nm;

[0016] The beam splitter can transmit light with wavelengths between 810nm and 910nm.

[0017] In one embodiment, the imaging module includes an objective lens assembly, an image transmitting element, an eyepiece assembly, and an adapter assembly. The light reflected by the object under test passes sequentially through the objective lens assembly, the image transmitting element, the eyepiece assembly, and the adapter assembly before entering the camera module.

[0018] And / or, the imaging module includes two reflective elements for deflecting the optical path so that the optical paths of the two imaging modules are far apart from each other.

[0019] A binocular endoscope, comprising a binocular endoscope imaging system as described in any of the above embodiments.

[0020] The aforementioned binocular endoscopic imaging system, when illuminating the object under test with white light, uses a beam splitter to divide the reflected white light into two parts, which are then directed to a first photosensitive element and a second photosensitive element, respectively. This results in the acquisition of a color image and a grayscale image of the object. The color image retains the color information of the object, while the grayscale image retains its brightness information. Furthermore, by superimposing the color and grayscale images using an image processing element, a high-quality image of the object can be obtained. Compared to acquiring a color image of the object using a single photosensitive element, the resulting image has higher resolution, lower noise, and greater tolerance to low light, resulting in a significant improvement in image quality. It is not limited by the performance of a single photosensitive element, thus contributing to improved accuracy in binocular endoscopic diagnosis. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a binocular endoscopic imaging system in some embodiments;

[0022] Figure 2 These are schematic diagrams of the camera module in some embodiments;

[0023] Figure 3 These are schematic diagrams of the light source module and the filter module in some embodiments;

[0024] Figure 4 This is a schematic diagram of the filter module in some embodiments;

[0025] Figure 5 This is a schematic diagram of some steps in the imaging method in some embodiments;

[0026] Figure 6 This is a schematic diagram of another part of the imaging method in some embodiments.

[0027] Among them, 10 is a binocular endoscope imaging system; 110 is a light source module; 1110 is a first light source; 1120 is a second light source; 1130 is a control element; 1140 is a dichroic mirror; 120 is a filter module; 1210 is a conversion element; 1220 is a first filter; 1230 is a second filter; 1240 is a stepper motor; 130 is a condenser lens; 140 is a beam guide; 150 is an imaging module; 1510 is an objective lens assembly; 1520 is an image transmission element; 1530 is an eyepiece assembly; 1540 is an adapter assembly; 1550 is a reflective element; 160 is a camera module; 1610 is a beam splitter; 1620 is a first photosensitive element; 1630 is a second photosensitive element; and 1640 is a third filter. Detailed Implementation

[0028] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0031] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0033] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0034] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the binocular endoscopic imaging system 10 in some embodiments. Figure 2 This is a schematic diagram of the camera module 160 of a binocular endoscopic imaging system 10 in some embodiments. In some embodiments, the binocular endoscopic imaging system 10 includes a light source module 110, an imaging module 150, and a camera module 160. The light source module 110 emits light to illuminate the object under test (not shown), such as human tissue, to facilitate the acquisition of images of the human tissue. The imaging module 150 transmits the light reflected from the object under test to the camera module 160, which receives the light transmitted by the imaging module 150 and acquires images of the object under test for diagnosis and treatment.

[0035] Specifically, in some embodiments, the light source module 110 emits white light to illuminate the object under test, and the camera module 160 includes a beam splitter 1610, a first photosensitive element 1620, and a second photosensitive element 1630. The beam splitter 1610 is used to split the light reflected from the object under test into two parts, which are respectively guided to the first photosensitive element 1620 and the second photosensitive element 1630. The first photosensitive element 1620 can receive the light reflected from the object under test and acquire a color image of the object, while the second photosensitive element 1630 can receive the light reflected from the object under test and acquire a grayscale image of the object. The color image acquired by the first photosensitive element 1620 and the grayscale image acquired by the second photosensitive element 1630 are superimposed to obtain a high-quality image of the object under test.

[0036] The aforementioned binocular endoscopic imaging system 10, when illuminating the object under test with white light, directs the white light reflected from the object to the first photosensitive element 1620 and the second photosensitive element 1630 respectively via a beam splitter 1610, thereby obtaining a color image and a grayscale image of the object under test. The color image retains the color information of the object under test, while the grayscale image retains the brightness information. By superimposing the color and grayscale images, a high-quality image of the object under test can be obtained. Compared to acquiring a color image of the object under test using a single photosensitive element, the resulting grayscale image, which retains the brightness information and has a wider dynamic range, exhibits higher resolution, lower noise, and greater tolerance to low light, resulting in a significant improvement in image quality. Therefore, the aforementioned binocular endoscopic imaging system 10, by using two photosensitive elements in conjunction to obtain a high-quality image, does not limit the performance of a single photosensitive element in the white light image, thus improving the accuracy of binocular endoscopic diagnosis.

[0037] It should be noted that, in this application, white light can be understood as mixed light in the visible light band, such as mixed light with wavelengths between 400nm and 700nm. The first light source 1110 can be a combination of one or more light sources such as a laser, a light-emitting diode (LED), or a xenon lamp. The choice of photosensitive element is not limited, as long as the first photosensitive element 1620 and the second photosensitive element 1630 can receive the white light reflected by the object under test and form a color image and a grayscale image respectively. In some embodiments, both the first photosensitive element 1620 and the second photosensitive element 1630 can be complementary metal-oxide-semiconductor (CMOS). For example, the first photosensitive element 1620 is a color CMOS, and the second photosensitive element 1630 is a monochrome CMOS.

[0038] The configuration of the beam splitter 1610 is not limited, as long as it can guide the light reflected from the object under test and incident on the imaging module 150 into the camera module 160 to the first photosensitive element 1620 and the second photosensitive element 1630 respectively. In some embodiments, the beam splitting surface of the beam splitter 1610 is tilted towards the incident light direction of the camera module 160. Of the light transmitted from the imaging module 150 to the camera module 160, 20%-50% passes through the beam splitter 1610 to reach the second photosensitive element 1630, and the remaining light is reflected by the beam splitter 1610 to reach the first photosensitive element 1620. This configuration allows for the formation of a grayscale image on the second photosensitive element 1630, while ensuring that the color image formed on the first photosensitive element 1620 has sufficient brightness, thereby further improving image quality. Specifically, the transmission-to-emission ratio of white light by the beam splitter 1610 can be 70:30, 60:40, or 50:50, etc.

[0039] It is understood that in some embodiments, the second photosensitive element 1630 is opposite to the light entrance of the camera module 160, and the photosensitive surface of the first photosensitive element 1620 is perpendicular to the photosensitive surface of the second photosensitive element 1630. Specifically, the beam-splitting element 1610 can be a semi-transparent mirror, in which case the surface of the beam-splitting element 1610 forms a beam-splitting surface. The beam-splitting element 1610 can also be a beam-splitting prism composed of two prisms, with the interface between the two prisms forming the beam-splitting surface.

[0040] Furthermore, in some embodiments, the binocular endoscope imaging system 10 employs binocular vision imaging. The binocular endoscope imaging system 10 includes two imaging modules 150 and two camera modules 160, with each imaging module 150 corresponding to one camera module 160 to form two optical paths. By achieving binocular vision imaging through two optical paths, the image of the object under test can be formed by superimposing the images obtained from the two camera modules 160, resulting in a wider field of view and higher image quality. This also better aligns with the human eye's image acquisition habits, creating a naked-eye 3D visual effect, which is beneficial for improving the diagnostic efficiency and accuracy of the binocular endoscope imaging system 10.

[0041] Specifically, in some embodiments, the imaging module 150 includes an objective lens assembly 1510, an image transmitting element 1520, an eyepiece assembly 1530, and an adapter assembly 1540. Light reflected from the object under test passes sequentially through the objective lens assembly 1510, the image transmitting element 1520, the eyepiece assembly 1530, and the adapter assembly 1540 before entering the camera module 160. The objective lens assembly 1510, the eyepiece assembly 1530, and the adapter assembly 1540 can all include an optical system composed of multiple lenses with optical power. The objective lens assembly 1510 is located near the object under test in the optical path and is used to collect the light reflected from the object. The eyepiece assembly 1530 is located near the camera module 160 in the optical path and is used to converge the light into the camera module 160. The adapter assembly 1540 enables the light emitted from the imaging module 150 to be adapted to the camera module 160, thereby allowing the light to reach the camera module 160 for better imaging. It also allows for a detachable connection between the imaging module 150 and the camera module 160. The image transmission element 1520 can be a light guide element such as an optical fiber, and it is used to guide the light received by the objective lens assembly 1510 to the eyepiece assembly 1530.

[0042] In some embodiments, each imaging module 150 further includes two reflective elements 1550 located between the image transmitting element 1520 and the eyepiece assembly 1530. The reflective elements 1550 can be mirrors, used to deflect the optical path so that the optical paths of the two imaging modules 150 are moved away from each other. For example, in one imaging module 150, the two reflective elements 1550 are parallel to each other, and the reflective element 1550 closer to the image transmitting element 1520 in the optical path forms a 45° angle with the direction of the light emitted from the image transmitting element 1520. The two reflective elements 1550, working together, can deflect the optical path twice, each time by 90°, thereby making the optical paths of the two imaging modules 150 move away from each other at the reflective elements 1550. This increases the installation space for the image-side optical path elements of the reflective elements 1550, avoiding the problem of insufficient installation space due to the influence of two optical paths on the installation of the image-side elements.

[0043] In some embodiments, the light source module 110 can not only emit white light to illuminate the object under test, but also emit light of a special wavelength, such as infrared light, to illuminate the object under test, and the light source module 110 can achieve separate emission of white light or infrared light. Specifically, refer to Figure 1 and Figure 3 As shown, Figure 3 This is a schematic diagram of the light source module 110 and the filter module 120 in some embodiments. In some embodiments, the light source module 110 includes a first light source 1110, a second light source 1120, and a control element 1130. The first light source 1110 emits white light, and the second light source 1120 emits infrared light. The control element 1130 can be a switching element, electrically connected to the first light source 1110 and the second light source 1120. The control element 1130 can control the light emission of either the first light source 1110 or the second light source 1120, enabling the light source module 110 to achieve different lighting modes, such as a white light lighting mode or an infrared light lighting mode. It is understood that in this embodiment, the first light source 1110 emits light alone to form a first light emission mode of the light source module 110, and the second light source 1120 emits light alone to form a second light emission mode of the light source module 110. The light source module 110 has different emission wavelengths in the first light emission mode and the second light emission mode.

[0044] In some embodiments, the light emission directions of the first light source 1110 and the second light source 1120 are perpendicular to each other. To ensure that the light emitted by the first light source 1110 and the second light source 1120 exits the light source module 110 in the same direction for illuminating the object under test, the light source module 110 further includes a dichroic mirror 1140. The dichroic mirror 1140 is disposed on the light emission path of the first light source 1110 and the second light source 1120 and is inclined to the light emission directions of the first light source 1110 and the second light source 1120. Specifically, in some embodiments, a first angle is formed between the light emission directions of the first light source 1110 and the second light source 1120, and a second angle is formed between the light emission direction of the first light source 1110 and the dichroic mirror 1140, wherein the first angle is twice the second angle. For example, the dichroic mirror 1140 forms a 45° angle with both the light emission directions of the first light source 1110 and the second light source 1120. The dichroic mirror 1140 reflects the light emitted by the first light source 1110 and transmits the light emitted by the second light source 1120. It can be understood that at this time, the light-emitting surface of the second light source 1120 is opposite to the light-emitting port of the light source module 110. The light emitted by the second light source 1120 passes through the dichroic mirror 1140 and exits the light source module 110, while the light emitted by the first light source 1110 is reflected by the dichroic mirror 1140 and deflected by 90° before exiting the light source module 110.

[0045] Understandable, Figure 3 The dashed lines with arrows shown are schematic diagrams of some light rays. It should be noted that if the light emitted by the second light source 1120 is a laser with good directionality, then the propagation direction of the laser can be regarded as the output direction of the second light source 1120. If the light emitted by the first light source 1110 has a certain diffusion angle and is not a linear beam, then the propagation direction of the central light emitted by the first light source 1110, or the direction in which the light-emitting surface of the first light source 1110 points directly in front of the first light source 1110, can be regarded as the output direction of the first light source 1110.

[0046] It is worth mentioning that, under the high-frequency modulation of the control element 1130, the first light source 1110 and the second light source 1120 may not be able to be turned off, resulting in both light sources emitting light simultaneously. For example, when the control element 1130 controls the first light source 1110 to emit light at a high frequency, the time interval between adjacent light pulses is extremely short. Correspondingly, when the control element 1130 controls the second light source 1120 to emit light at a high frequency, the time interval between adjacent light pulses is also extremely short. This can easily lead to the simultaneous presence of light pulses emitted by both light sources, affecting the purity of the light corresponding to the lighting mode. Taking the white light lighting mode as an example, if the light pulses emitted by both light sources exist simultaneously, infrared light will be mixed into the white light lighting mode, causing the image received by the second photosensitive element 1630 to also contain fluorescent components, affecting the lighting effect of the white light lighting mode.

[0047] refer to Figure 1 and Figure 4 As shown, Figure 4 This is a schematic diagram of the filter module 120 in some embodiments. To prevent light emitted from two light sources from simultaneously exiting the light source module 110, in some embodiments, the binocular endoscope imaging system 10 further includes a filter module 120. The filter module 120 includes a converter 1210, at least one first filter 1220, and at least one second filter 1230. The first filter 1220 allows light emitted from the first light source 1110 to pass through while blocking light emitted from the second light source 1120. The second filter 1230 allows light emitted from the second light source 1120 to pass through while blocking light emitted from the first light source 1110. The converter 1210 is used to place either the first filter 1220 or the second filter 1230 in the light exit path of the light source module 110. Understandably, when the converter 1210 places the first filter 1220 in the light-emitting path of the light source module 110, if the light emitted by the second light source 1120 cannot be turned off due to high-frequency modulation, the light emitted by the second light source 1120 will be blocked by the first filter 1220 and cannot exit the light source module 110. Only the light emitted by the first light source 1110 can exit the light source module 110, achieving the white light illumination mode. Similarly, when the converter 1210 places the second filter 1230 in the light-emitting path of the light source module 110, only the light emitted by the second light source 1120 can exit the light source module 110, achieving the infrared light illumination mode.

[0048] It should be noted that, in this application, the type of filter is not limited to an absorptive filter or a reflective filter. In other words, describing a filter as being able to block light of a certain wavelength can be understood as the filter absorbing or reflecting light of that wavelength. Furthermore, in this application, the first filter 1220 is adjacent to the second filter 1230 on both sides of the circumferential direction of the conversion member 1210, or the first filter 1220 is adjacent to the second filter 1230 on both sides of the circumferential direction of the conversion member 1210, or multiple first filters 1220 are arranged adjacent to each other on the circumferential direction of the conversion member 1210, with the last first filter 1220 adjacent to the second filter 1230. All of these can be understood as the first filter 1220 and the second filter 1230 being alternately arranged on the circumferential direction of the conversion member 1210, as long as the conversion member 1210 can place the first filter 1220 or the second filter 1230 on the light output path of the light source module 110 when it rotates. It is understood that... Figure 4 The two lines on the first filter 1220 shown are virtual lines introduced to facilitate the distinction between the first filter 1220 and the second filter 1230, and do not actually exist.

[0049] In some embodiments, the conversion member 1210 is a rotating wheel structure capable of rotating along an axis. The axis of the conversion member 1210 is parallel to the light emission direction of the light source module 110. The filter module 120 includes a plurality of first filters 1220 and a plurality of second filters 1230. The first filters 1220 and second filters 1230 are alternately arranged circumferentially along the conversion member 1210, and the radial positions of the first filters 1220 and second filters 1230 in the conversion member 1210 correspond to the light emission path positions of the light source module 110. Thus, by rotating the conversion member 1210, the first filter 1220 or the second filter 1230 can be placed on the light emission path of the light source module 110. Of course, in other embodiments, the conversion member 1210 can also be a pendulum structure, which uses pendulum motion to place the first filter 1220 or the second filter 1230 on the light emission path of the light source module 110. The specific configuration of the converter 1210 is not limited to the two methods mentioned above. The converter 1210 can also perform other motion methods such as linear reciprocating motion, as long as the first filter 1220 or the second filter 1230 can be placed on the light output path of the light source module 110.

[0050] It is understood that in this embodiment, the first filter 1220 and the second filter 1230 respectively form two filter channels of the filter module 120. Each filter channel corresponds to each emission mode of the light source module 110, and each filter channel can allow light of the corresponding emission mode to pass through while blocking other light. For example, the first filter 1220 forms the first filter channel, and the second filter 1230 forms the second filter channel. By rotating the conversion member 1210, the first filter 1220 or the second filter 1230 is placed on the light emission path of the light source module 110, thereby converting the filter channel of the filter module 120. In other words, the first filter channel and the second filter channel correspond to different circumferential movement positions of the conversion member 1210, and the circumferential movement of the conversion member 1210 can convert the filter channel of the filter module 120.

[0051] The mounting method of the first filter 1220 and the second filter 1230 on the converter 1210 is not limited, as long as the first filter 1220 or the second filter 1230 can filter the light emitted from the light source module 110. In some embodiments, the converter 1210 has multiple mounting slots (not shown) spaced apart circumferentially, and each first filter 1220 or second filter 1230 is embedded in a corresponding mounting slot. In this way, the filters are securely mounted on the converter 1210 and are not prone to deviation, which can improve the filtering effect of the filter module 120 on the light source module 110.

[0052] In some embodiments, the dimensions of both the first filter 1220 and the second filter 1230 gradually increase in the direction from the center to the edge of the switching member 1210. For example, in Figure 4 In the illustrated embodiment, both the first filter 1220 and the second filter 1230 are approximately trapezoidal, with their upper base near the center of the converter 1210 and their lower base near the edge of the converter 1210. This arrangement fully utilizes the space of the converter 1210, increasing the area of ​​each individual first filter 1220 and second filter 1230. This allows the light emitted from the light source module 110 to be adequately filtered by either the first filter 1220 or the second filter 1230, thereby improving light utilization.

[0053] In some embodiments, the filter module 120 may further include a stepper motor 1240, the output shaft of which is connected to the center position of the conversion component 1210. The stepper motor 1240 can drive the conversion component 1210 to rotate around the output shaft, thereby causing the first filter 1220 and the second filter 1230 to take turns being located on the light output path of the light source module 110.

[0054] It should be noted that when the filter module 120 is provided, even if the first light source 1110 and the second light source 1120 emit light simultaneously, a single light source illumination mode of white light or infrared light can still be achieved. Therefore, in some embodiments, the control element 1130 can also control the first light source 1110 and the second light source 1120 to emit light simultaneously. For example, the first light source 1110 adopts a constant-on mode, while the control element 1130 controls the switching of the second light source 1120. Then, when a white light illumination mode is required, the first light source 1110 is turned on, the control element 1130 controls the second light source 1120 to be turned off, and the switching element 1210 rotates so that one of the first filters 1220 is located on the light emission path of the light source module 110, so that the light emitted by the first light source 1110 can exit the light source module 110. When infrared illumination mode is required, the first light source 1110 remains on, the control element 1130 controls the second light source 1120 to turn on, and the conversion element 1210 places one of the second filters 1230 on the light output path of the light source module 110 so that the light emitted from the second light source 1120 can exit the light source module 110, while the light emitted from the first light source 1110 is blocked by the second filter 1230, thus realizing the infrared illumination mode.

[0055] It is worth mentioning that when the light source module 110 implements the infrared illumination mode, the light emitted by the second light source 1120 illuminates the object under test, which can excite the object to produce fluorescence. The fluorescence reaches the camera module 160 via the imaging module 150. In some embodiments, the beam splitter 1610 can transmit infrared light to excite the fluorescence produced by the object under test. The fluorescence then enters the camera module 160 and is received by the second photosensitive element 1630 through the beam splitter 1610, enabling the second photosensitive element 1630 to acquire a fluorescence image of the object under test. By superimposing the fluorescence image acquired by the second photosensitive element 1630 under the infrared illumination mode with the high-quality white light image formed under the white light illumination mode, it is beneficial to further improve the quality of the image of the object under test, making the image of the lesion area clear enough and the boundary with normal tissue sufficiently obvious, which is beneficial to further improve the diagnostic accuracy. It can be understood that by setting the filter module 120, the white light illumination mode and the infrared illumination mode can be completely separated, and the fluorescence image will not be interfered with by the white light component when acquiring the fluorescence image, thereby enabling separate optimization of the fluorescence image. Compared to traditional illumination modes that include white light components in fluorescence images, optimizing fluorescence images separately yields better results. This leads to higher quality images of the tested object formed by superimposing white light and fluorescence images, which is beneficial for improving diagnostic accuracy.

[0056] It is understood that in this embodiment, the first photosensitive element 1620 corresponds to the first light emission mode of the light source module 110, such as the white light illumination mode, and the second photosensitive element 1630 corresponds to the second light emission mode of the light source module 110, such as the infrared light illumination mode.

[0057] Please see again. Figure 1 In some embodiments, the binocular endoscopic imaging system 10 further includes a condenser lens 130 and a beam guide 140. The condenser lens 130 can be a convex lens with positive optical power, and the beam guide 140 can include light guiding elements such as optical fibers. The condenser lens 130 is disposed on the side of the filter module 120 opposite to the light source module 110. The condenser lens 130 can couple and converge the light emitted from the light source module 110 and passing through the filter module 120 into the beam guide 140, thereby improving the utilization rate of light. The beam guide 140 can conduct the light converged by the condenser lens 130 to the object under test to illuminate the object.

[0058] In some embodiments, the emitted light from the second light source 1120 can be light with a wavelength between 750nm and 810nm, for example, the second light source 1120 can be a 785nm laser light source. The first filter 1220 can transmit visible light with a wavelength between 400nm and 700nm and block infrared light with a wavelength between 785nm; for example, the first filter 1220 can be a short-pass filter. The second filter 1230 can transmit infrared light with a wavelength between 785nm and block visible light with a wavelength between 400nm and 700nm; for example, the second filter 1230 can be a long-pass filter. The light emitted by the second light source 1120 illuminates the object under test and can excite the object to produce fluorescence with a wavelength between 810nm and 900nm. The beam splitter 1610 can reflect a portion of light with wavelengths between 400nm and 700nm, and transmit the remaining portion of light with wavelengths between 400nm and 700nm. The beam splitter 1610 can also transmit light with wavelengths between 810nm and 910nm. It is understood that the emitted light wavelengths of the first light source 1110 and the second light source 1120 are not limited to the above ranges, and when the emitted light wavelengths of the first light source 1110 and the second light source 1120 change, the transmittance spectra of the first filter 1220 and the second filter 1230 should also be adjusted accordingly.

[0059] Please see again. Figure 1 and Figure 2 In some embodiments, the camera module 160 further includes a third filter 1640, which is disposed at the light inlet of the camera module 160, for example, on the side of the beam splitter 1610 facing the light inlet of the camera module 160, for filtering the light entering the camera module 160. Specifically, the third filter 1640 can transmit fluorescence and light emitted by the first light source 1110, while blocking light emitted by the second light source 1120. For example, the third filter 1640 can transmit fluorescence with wavelengths in the range of 810nm-900nm and visible light with wavelengths in the range of 400nm-650nm, while blocking light with wavelengths in the range of 700nm-800nm, thereby allowing white light and fluorescence to enter the camera module 160 for imaging, and blocking infrared light emitted by the second light source 1120 from entering the camera module 160, thus preventing infrared light from interfering with the normal imaging of white light and fluorescence.

[0060] In some embodiments, the third filter 1640, the first photosensitive element 1620, and the second photosensitive element 1630 can be bonded to the surface of the beam splitter 1610 with optical adhesive, thereby forming the beam splitter 1610, the first photosensitive element 1620, the second photosensitive element 1630, and the third filter 1640 into a whole. The bonding process is simple and can reduce the size of the camera module 160, which is beneficial for the assembly of the camera module 160 in the binocular endoscope imaging system 10.

[0061] This application also provides a binocular endoscope (not shown), including a housing and a binocular endoscope imaging system 10 as described in any of the above embodiments, wherein the binocular endoscope imaging system 10 is disposed within the housing. By employing the above-described binocular endoscope imaging system 10 in the binocular endoscope, high-quality images of the object under test can be obtained through the superposition of color and grayscale images, which is beneficial for improving diagnostic accuracy.

[0062] Please see Figure 1 and Figure 5 , Figure 5 The diagram illustrates some steps of the imaging method in some embodiments. The imaging method can acquire high-quality images of the object under test using the binocular endoscopic imaging system 10 described in any of the above embodiments. Specifically, the imaging method includes the following steps:

[0063] Step S110: Illuminate the test object with white light. For example, rotate the converter 1210 so that the first filter 1220 is located on the light output path of the light source module 110, and control the first light source 1110 to emit white light through the control element 1130.

[0064] Step S120: The first photosensitive element 1620 is provided to acquire a color image of the object under test.

[0065] Step S130: The second photosensitive element 1630 is provided to acquire a grayscale image of the object under test.

[0066] Step S140: Superimpose the color image and the grayscale image to form a first image, which is a high-quality image of the object under white light illumination mode.

[0067] Furthermore, in some embodiments, step S140 includes:

[0068] Extracting brightness information from grayscale images, for example, by performing contrast enhancement and sharpening on grayscale images, yields brightness information for high-resolution images.

[0069] Extract color difference information from a color image. For example, perform color difference channel extraction and color difference channel enhancement on a color image to obtain its color difference information.

[0070] The brightness information of a grayscale image is superimposed with the color difference information of a color image to form a first image. Compared with a standalone color image, the resulting first image has increased resolution and dynamic range, conveys richer information, and highlights more details, which helps to improve the image quality of the object under test and thus improve the accuracy of diagnosis.

[0071] Please refer to the above. Figure 1 , Figure 5 and Figure 6 , Figure 6This is a schematic diagram of another part of the imaging method in some embodiments. In some embodiments, the imaging method further includes the following steps:

[0072] Step S150: Provide infrared light to illuminate the object under test. For example, rotate the converter 1210 so that the second filter 1230 is located on the light output path of the light source module 110, and control the second light source 1120 to emit infrared light through the control element 1130.

[0073] Step S160: Acquire the fluorescence image of the test object through the second photosensitive element 1630.

[0074] In step S170, the image acquired by the second photosensitive element 1630 is optimized to form a second image. For example, a histogram equalization algorithm is used to improve the image contrast of the grayscale image to form the second image. Since the filter module 120 is provided, the fluorescence image acquired by the second photosensitive element 1630 in step S160 does not include white light components. Therefore, in step S170, the fluorescence image can be optimized separately, and the optimization effect will not be affected by the white light components, thereby improving the image quality of the second image.

[0075] Step S180: Superimpose the first image and the second image. For example, sum the G channels of the optimized second image and the synthesized first image to obtain a high-resolution image of the object under test.

[0076] In the aforementioned imaging method, the first light source 1110 and the second light source 1120 illuminate the object under test separately, thereby enabling individual optimization of the fluorescence and white light images of the object, which improves the image quality of both. Specifically, optimizing the grayscale image separately yields better results than optimizing the fluorescence image containing white light components, thus improving the image quality of the fluorescence image (the second image). Optimizing the white light image separately allows the first photosensitive element 1620 and the second photosensitive element 1630 to obtain grayscale and color images of white light, respectively. These grayscale and color images are then superimposed, so the synthesized first image is no longer limited to a single color photosensitive element, further improving the image quality of the white light image (the first image). Therefore, the superposition of the individually optimized first and second images forms a higher-quality image of the object under test. When applied to actual diagnostic testing and treatment, this results in sufficiently clear images of lesion areas, richer information display, and clearer demarcation from normal tissue, thereby improving diagnostic accuracy.

[0077] It is understandable that in the above imaging method, steps S110-S140 and S150-S180 can be performed alternately, thereby continuously synthesizing white light images and fluorescence images to obtain high-quality images of the object under test in real time for diagnosis and treatment. For example, in one frame, steps S110-S140 are performed to obtain a white light image of the object under test, i.e., the first image; in the next frame, steps S150-S180 are performed to obtain a fluorescence image of the object under test, i.e., the second image, and these images are superimposed to form the object image. Then, steps S110-S140 and S150-S180 are performed alternately again.

[0078] It should be noted that the order of the steps in the above imaging method is not limited, as long as the fluorescence image and the white light image can be optimized separately and finally superimposed to obtain a high-resolution image of the object under test. For example, in some embodiments, the fluorescence image can be acquired first, followed by the white light image. Alternatively, in some embodiments, under white light illumination mode, grayscale and color images can be acquired simultaneously, or the color image can be acquired first, followed by the grayscale image.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0080] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A binocular endoscopic imaging system, characterized in that, It includes a light source module, two imaging modules and two camera modules. The light source module is used to illuminate the object under test, and the light source module includes a first light source with an emission wavelength between 400nm and 700nm. The imaging module is used to guide the light reflected by the object under test to the camera module. The imaging module and the camera module correspond one-to-one to form a binocular imaging system. The camera module includes a beam splitter, a first photosensitive element, and a second photosensitive element. The beam splitter is disposed on the light-incident side of the first and second photosensitive elements and is used to reflect a portion of the light with wavelengths between 400nm and 700nm to the first photosensitive element and transmit the remaining portion of the light with wavelengths between 400nm and 700nm to the second photosensitive element. The first photosensitive element is used to receive white light and form a color image, and the second photosensitive element is used to receive white light and form a grayscale image. The binocular endoscope imaging system has a white light illumination mode. In the white light illumination mode, the color image and the grayscale image are superimposed to form a first image.

2. The binocular endoscopic imaging system according to claim 1, characterized in that, The beam splitter has a transmittance of 20%-50% and a reflectance of 50%-80% for light with wavelengths between 400nm and 700nm.

3. The binocular endoscopic imaging system according to claim 1, characterized in that, The light source module also includes a second light source and a dichroic mirror. The first light source and the second light source have different emission wavelengths. The dichroic mirror is disposed on the emission side of the first light source and the second light source. The dichroic mirror can reflect the light emitted by the first light source and transmit the light emitted by the second light source.

4. The binocular endoscopic imaging system according to claim 3, characterized in that, The light emission directions of the first light source and the second light source form a first angle, and the light emission direction of the first light source forms a second angle with the dichroic mirror; the first angle is twice the second angle.

5. The binocular endoscopic imaging system according to claim 3, characterized in that, The binocular endoscope imaging system also includes a filter module disposed on the light-emitting side of the light source module. The filter module includes at least two filter channels, and the filter channels correspond one-to-one with the light rays of different emission wavelengths emitted by the light source module. Each filter channel can transmit a corresponding type of light ray and block the other light rays.

6. The binocular endoscopic imaging system according to claim 5, characterized in that, The filter module includes a switching component, on which a first filter channel corresponding to the first light source and a second filter channel corresponding to the second light source are provided; when different light sources emit light, the first filter channel and the second filter channel are switched to the light emission path of the light source module according to the different movement positions of the switching component.

7. The binocular endoscopic imaging system according to claim 6, characterized in that, The conversion element is a rotary structure, and the first filter channel and the second filter channel are arranged circumferentially on the conversion element.

8. The binocular endoscopic imaging system according to claim 7, characterized in that, The filter module includes at least one first filter and at least one second filter, which are spaced apart circumferentially along the conversion element. The first filter forms the first filter channel, and the second filter forms the second filter channel.

9. The binocular endoscopic imaging system according to claim 3, characterized in that, The second photosensitive element also receives the light emitted from the second light source transmitted by the beam splitter.

10. The binocular endoscopic imaging system according to claim 9, characterized in that, The emission wavelength of the second light source is between 750nm and 810nm; The beam splitter can transmit light with wavelengths between 810nm and 910nm.

11. The binocular endoscopic imaging system according to any one of claims 1-10, characterized in that, The imaging module includes an objective lens assembly, an image transmission element, an eyepiece assembly, and an adapter assembly. The light reflected by the object under test passes sequentially through the objective lens assembly, the image transmission element, the eyepiece assembly, and the adapter assembly before entering the camera module. And / or, the imaging module includes two reflective elements for deflecting the optical path so that the optical paths of the two imaging modules are far apart from each other.

12. A binocular endoscope, characterized in that, Includes the binocular endoscopic imaging system as described in any one of claims 1-11.

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