A method, apparatus, and medium for adaptive scattering deep penetration microscopic endoscopy imaging

Abstract

The application relates to a kind of self-adapting scattering deep penetration microscopic endoscopic imaging method, device and medium, method comprises the following steps: S1, the input-output mapping relationship of optical fiber under specified penetration depth is measured;S2, when the same specified penetration depth is set with biological sample, effective pixel is traversed;S3, when traversing each effective pixel, the traversal range of the phase constant of each pixel is adjusted, and the phase constant corresponding to each pixel is obtained, so that the light intensity is maximum;S4, data integration is carried out, and a group of self-adapting scattering matrix corresponding to each pixel is obtained;S5, calling self-adapting scattering matrix as phase parameter, scanning is carried out pixel by pixel, and the light intensity corresponding to pixel is obtained, and the light intensity is combined into a frame gray scale image.Compared with prior art, the application has the advantages of clearly imaging deep tissue, effectively improving imaging quality and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of microscopic endoscopy, in particular to a deep penetration microscopic endoscopy imaging method with self-adaptive scattering. BACKGROUND

[0002] Microscopic imaging technology is an important supporting technology for biomedical research. Fluorescence microscopic imaging technology has become an indispensable research tool in the field of biomedical research because it can label the internal substances and structures of the sample with fluorescence. Compared with traditional microscopic imaging systems, fluorescence microscopic imaging can capture more detailed specific tissue structures of the sample because it can use the fluorescence emitted by the sample itself to perform imaging. Moreover, fluorescence markers can selectively display the characteristics of part of the structure because they only emit fluorescence on specific tissue structures, which reduces the background interference of the image and helps to improve the contrast of the microscopic image.

[0003] The unique advantages of fluorescence microscopic technology over traditional microscopic imaging technology have enabled it to be rapidly applied to in vivo biological tissue imaging. A variety of new fluorescent dyes developed through modern organic chemistry technology have enabled fluorescence microscopic technology to be widely used in early detection of cancer cells, cell dynamics, multi-layer neuron calcium ion imaging, gene editing and many other emerging biomedical fields, bringing new breakthroughs to the study of various pathologies.

[0004] On the other hand, endoscopy technology has developed from the earliest rigid tube endoscope to the current electronic endoscope over the past two hundred years, with a huge improvement in imaging quality. Electronic endoscopes generally use an external cold light source to project illumination light into the body cavity through a light guide fiber, and then collect the image inside the body cavity by an image sensor at the front end of the endoscope. Since modern electronic endoscopes generally use CCD for imaging, the image has very high resolution and can observe the fine pathological morphology of the surface of the body cavity. However, since the electronic endoscope can only collect the image of the surface of the measured tissue, it is difficult to identify the image at a certain depth from the surface of the cavity. As the imaging depth gradually increases, the scattering effect of the measured sample on fluorescence microscopic imaging becomes more and more obvious. When the imaging depth reaches several hundred microns, the biological tissue will produce strong scattering to the penetrating illumination light, causing distortion of the originally flat phase front of the illumination light, resulting in a serious decline in image quality. For in vivo tissues, the biological environment inside the in vivo tissue also changes slowly, which will also cause a slow change in the scattering properties of the in vivo tissue, further increasing the image distortion when observing deep penetration samples.

[0005] In summary, the existing microscopic endoscopy imaging method has serious image distortion when observing deep penetration samples due to scattering, which affects the image quality. SUMMARY

[0006] The purpose of the present application is to provide an adaptive scattering deep penetration microscopic endoscopic imaging method, device and medium to reduce scattering and distortion and improve endoscopic imaging quality at a certain depth from the surface of the cavity.

[0007] The purpose of the present application can be achieved by the following technical solutions:

[0008] An adaptive scattering deep penetration microscopic endoscopic imaging method, the method comprising the following steps:

[0009] S1, measuring the optical fiber input-output mapping relationship at a specified penetration depth, the specified penetration depth being the same as the focal length of the light output by the optical fiber;

[0010] S2, traversing the effective pixels when there is a biological sample at the same specified penetration depth;

[0011] S3, when traversing each effective pixel, adjusting the traversal range of the phase constant of each pixel, and after traversal, obtaining the phase constant corresponding to each pixel that makes the light intensity maximum;

[0012] S4, data integration of the optical fiber input-output mapping relationship and the phase constant corresponding to each pixel that makes the light intensity maximum, to obtain a set of adaptive scattering matrices corresponding to each pixel;

[0013] S5, scanning each pixel, calling the data of the adaptive scattering matrix corresponding to the pixel as the phase parameter, obtaining the light intensity corresponding to the pixel, combining the light intensity into a gray scale image, and the gray scale image is a microscopic endoscopic image.

[0014] Further, the specific steps of data integration are:

[0015] Convert the image corresponding to each pixel in the mapping relationship into a matrix with gray scale values as elements, and rearrange the matrix into a one-dimensional column vector in column-first manner, combine all the column vectors corresponding to the pixels into a matrix according to the order, and each column data of the matrix is the column vector corresponding to the pixel, then traverse the phase constant corresponding to each pixel that makes the light intensity maximum in S3, multiply the i-th phase constant with the i-th row of the matrix to obtain a matrix with the product of the length and width of the image as the length and width, and the matrix is the adaptive scattering matrix.

[0016] Further, the adaptive scattering matrix is:

[0017] TM scan =TM*Pupil

[0018] Wherein, TM is the matrix combined by all the column vectors corresponding to the pixels in order, Pupil is the phase constant of the pixel corresponding to the maximum light intensity, and TM scanAdaptive scattering matrix.

[0019] Further, in S5, when scanning the i-th pixel, the i-th column data of the adaptive scattering matrix is used as the phase parameter.

[0020] Further, the fiber input-output mapping relationship in S1 is determined by traversing the image set taken after each valid pixel.

[0021] Further, the fiber input-output mapping relationship at the specified penetration depth is:

[0022]

[0023] wherein, represents the light field corresponding to the taken image, the vector length is M, represents the input light field of the modulated Fourier basis vector, the vector length is N, T M×N represents the measured mapping relationship, the matrix size is, the input light field of the modulated Fourier basis vector is:

[0024] E in (x,y)=e πjΦ(x,y)

[0025] wherein, Φ(x,y) represents the Fourier transform of different point positions hn,m) in space.

[0026] Further, the traversal range of the phase constant is 0-2π.

[0027] Further, the phase constant of the pixel corresponding to the maximum light intensity value is:

[0028] Pupil=P ij

[0029] wherein, P ij represents the phase constant when the light intensity value of the i-th row and j-th pixel is maximum, i,j=1,2,…,K.K represents the number of apertures.

[0030] Another aspect of the present application provides a deep penetration microscopic endoscopic imaging device with adaptive scattering, which is divided into a fiber calibration state and a real-time imaging state, and comprises a laser, a spatial light modulator, a dichroic mirror, a fiber objective, a camera objective, a fiber, a photodetector, a camera, a biological sample and a controller.

[0031] In the fiber calibration state, the light emitted by the laser passes through the spatial light modulator, the spatial light modulator reflects the light to the dichroic mirror, then the light reflected by the dichroic mirror passes through the fiber objective and is incident into the fiber, is emitted by the camera objective and is incident into the camera, and the host computer is connected with the spatial light modulator, the photodetector and the camera.

[0032] In the real-time imaging state, the camera objective and the camera in the fiber calibration state are replaced by a biological sample arranged at the end face of the optical fiber, the control host is connected with the spatial light modulator and the photoelectric detector, and other elements and relationships are the same as those in the fiber calibration state;

[0033] The control host is configured to perform the following steps:

[0034] S1, measuring the fiber input-output mapping relationship at a specified penetration depth, the specified penetration depth being the same as the focal length of the light output by the optical fiber;

[0035] S2, traversing the effective pixels when the same specified penetration depth is arranged with a biological sample;

[0036] S3, when traversing each effective pixel, adjusting the traversal range of the phase constant of each pixel, and after the traversal is completed, obtaining the phase constant corresponding to each pixel which makes the light intensity maximum;

[0037] S4, data integration of the fiber input-output mapping relationship and the phase constant corresponding to each pixel which makes the light intensity maximum, to obtain a set of adaptive scattering matrices corresponding to each pixel;

[0038] S5, performing pixel-by-pixel scanning, calling the data of the adaptive scattering matrix corresponding to the pixel as the phase parameter, obtaining the light intensity corresponding to the pixel, and combining the light intensity into a frame of gray-scale image, the gray-scale image being a microscopic endoscopic image;

[0039] Wherein, S1 is executed in the fiber calibration state, S2-S5 are executed in the real-time imaging state, and the optical path of the adjusting device is adjusted to the real-time imaging state before S2 is executed after S1 is executed.

[0040] Further, the focal length of the light output by the optical fiber is the focal length between the optical fiber and the camera objective.

[0041] Further, the specific steps of data integration are:

[0042] The image corresponding to each pixel in the mapping relationship is converted into a matrix with gray value as an element, and the matrix is rearranged into a one-dimensional column vector in a column-first manner, and all pixel corresponding column vectors are combined into a matrix in order, each column data of the matrix being a corresponding pixel column vector, and then the phase constant corresponding to each pixel of S3 which makes the light intensity maximum is traversed, the ith phase constant is multiplied by the ith row of the matrix to obtain a matrix with the product of the length and width of the image as the length and width, and the matrix is the adaptive scattering matrix.

[0043] Further, the adaptive scattering matrix is:

[0044] TM scan =TM*Pupil

[0045] TM is a matrix of all pixel corresponding column vectors combined in order, Pupil is the phase constant of the pixel corresponding to the maximum light intensity value, TM scan is an adaptive scattering matrix.

[0046] Further, in S5, when scanning the i-th pixel, the i-th column data of the adaptive scattering matrix is used as the phase parameter.

[0047] Further, the fiber input-output mapping relationship of S1 is determined by traversing the image set taken after each valid pixel.

[0048] Further, the fiber input-output mapping relationship at a specified penetration depth is:

[0049]

[0050] wherein, represents the light field corresponding to the taken image, the vector length is M, represents the input light field of the modulated Fourier basis vector, the vector length is N, T M×N represents the measured mapping relationship, the matrix size is, the input light field of the modulated Fourier basis vector is:

[0051] E in (x,y)=e πjΦ(x,y)

[0052] wherein, Φ(x,y) represents the Fourier transform of different point positions hn,m) in space.

[0053] Further, the traversal range of the phase constant is 0-2π.

[0054] Further, the phase constant of the pixel corresponding to the maximum light intensity value is:

[0055] Pupil=P ij

[0056] wherein, P ij represents the phase constant when the light intensity value of the i-th row and j-th pixel is maximum, i,j=1,2,…,K.K represents the number of apertures.

[0057] Further, the light intensity value is detected based on a photodetector.

[0058] Another aspect of the present application provides a storage medium having a program stored thereon, wherein the program is executed to implement the above method.

[0059] Compared with the prior art, the present application has the following beneficial effects:

[0060] The present application is when real-time imaging, light through the digital micro-mirror device using adaptive scattering matrix modulation makes the light from the optical fiber after the scattering of deep tissue into a point, for the specified depth can output each pixel light intensity maximum image. Adaptive scattering matrix is obtained by traversing each pixel phase constant, by using adaptive matrix modulation, output light intensity maximum image, eliminating the influence of scattering, and then clearly deep tissue imaging, effectively improve the imaging quality. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 is a flow chart of the present application;

[0062] Figure 2 is a Fourier base vector diagram;

[0063] Figure 3 is a schematic diagram of the optical path of the present application in the optical fiber calibration state;

[0064] Figure 4 is a schematic diagram of the optical path of the present application in the real-time imaging state;

[0065] Figure 5 is a schematic diagram of the endoscopic imaging obtained by the present application, wherein, Figure 5 (a) is the imaging result of 5um fluorescent ball, Figure 5 (b) is the imaging result of the section of female ascarid egg, Figure 5 (c) is the imaging result of the section of atheromatous arteriosclerosis. DETAILED DESCRIPTION

[0066] The present application will be described in detail below in conjunction with the drawings and specific examples. The present embodiment is implemented on the premise of the technical solution of the present application, and gives a detailed implementation manner and specific operation process, but the protection scope of the present application is not limited to the following examples.

[0067] Example 1

[0068] The present application proposes a deep penetration microscopic endoscopic imaging method with adaptive scattering, and the flow chart of the method is as shown in Figure 1 When the present application is real-time imaging, the light emitted by the light source is modulated by the digital micro-mirror device, so that the light emitted from the optical fiber converges into a point after scattering through the deep tissue, so that the deep tissue imaging can be clearly performed. The light reflected from the surface of the sample to be measured is reflected into the photodetector after being reflected by the dichroic mirror, and the single-pixel light intensity value without image scattering is obtained, and the complete image is obtained by two-dimensional scanning. The method provided by the present application can realize microscopic imaging of the deep tissue of the sample to be measured on the premise of removing image dispersion.

[0069] The method of the present application comprises the following steps:

[0070] S1, measure the optical fiber input-output mapping relationship at a specified penetration depth, the specified penetration depth is the same as the focal length of the light output by the optical fiber;

[0071] S2, traverse the effective pixels when the biological sample is set at the same specified penetration depth;

[0072] S3, traverse each effective pixel and adjust the traversal range of the phase constant of each pixel, and after the traversal is completed, the phase constant corresponding to the maximum light intensity of each pixel is obtained;

[0073] S4, data integration of the optical fiber input-output mapping relationship and the phase constant corresponding to the maximum light intensity of each pixel is performed to obtain a set of adaptive scattering matrices corresponding to each pixel;

[0074] S5, perform pixel-by-pixel scanning, call the data of the adaptive scattering matrix corresponding to the pixel as the phase parameter to obtain the light intensity corresponding to the pixel, and combine the light intensity into a gray-scale image, which is a microscopic endoscopic image.

[0075] In S1, the optical fiber input-output mapping relationship is determined by a set of images taken after traversing each effective pixel. The input light intensity is set artificially, then each effective pixel is traversed to obtain the input light intensity and the output light intensity corresponding to each effective pixel, and the optical fiber input-output mapping relationship is analyzed and obtained.

[0076] The optical fiber input-output mapping relationship at the specified penetration depth is measured based on a matrix with Fourier basis vectors, as shown in Figure 2 The optical fiber input-output mapping relationship is:

[0077]

[0078] wherein, represents the light field corresponding to the taken image, the vector length is M, represents the input light field modulating the Fourier basis vector, the vector length is N, T M×N represents the measured mapping relationship, the matrix size is (M, N), and the input light field modulating the Fourier basis vector is:

[0079] E in (x,y)=e πjΦ(x,y)

[0080] wherein, Φ(x,y) represents the Fourier transform of different point positions hn,m) in space.

[0081]

[0082] k x and k y are two bases in the frequency domain space.

[0083] In S3, the range of the phase constant is 0-2π. The phase constant of the pixel corresponding to the maximum light intensity value is:

[0084] Pupil = P ij

[0085] wherein P ij is the phase constant of the pixel corresponding to the maximum light intensity value in the i-th row and j-th column, i, j = 1, 2, …, K. K represents the number of apertures.

[0086] In S4, the specific steps of data integration are as follows:

[0087] The image corresponding to each pixel in the mapping relationship is converted into a matrix with gray value as the element, and the matrix is rearranged into a one-dimensional column vector in column priority. All the column vectors corresponding to the pixels are combined into a matrix in order. Each column data of the matrix is the column vector of the corresponding pixel. Then, the phase constant corresponding to each pixel in S3 is iterated to make the light intensity maximum. The i-th phase constant is multiplied by the i-th row of the matrix to obtain a matrix with the product of the length and width of the image. The matrix is the adaptive scattering matrix. The image corresponding to each pixel in the mapping relationship is the image taken when each pixel is iterated in S1, that is, the image corresponding to the output light intensity.

[0088] The adaptive scattering matrix is:

[0089] TM scan = TM*Pupil

[0090] wherein TM is the matrix combined by the column vectors of all the pixels in order, Pupil is the phase constant of the pixel corresponding to the maximum light intensity value, and TM scan is the adaptive scattering matrix.

[0091] In S5, when the i-th pixel is scanned, the i-th column data of the adaptive scattering matrix is used as the phase parameter. The gray scale image of S5 is shown in Figure 5 , wherein Figure 5 represents the gray scale image of different depths and examples, Figure 5 (a) is the imaging result of 5um fluorescent balls, Figure 5 (b) is the imaging result of a section of female roundworm eggs, Figure 5 (c) is the imaging result of a section of atheromatous arteriosclerosis.

[0092] The effective pixel mentioned above refers to the effective pixel of the light demodulator.

[0093] The adaptive scattering matrix of the application is obtained by traversing the phase constant of each pixel, and the image with the maximum light intensity is output by modulating by using the adaptive matrix, the influence of scattering is eliminated, and then the deep tissue imaging is clearly performed, and the imaging quality is effectively improved.

[0094] Embodiment 2:

[0095] Based on the method of embodiment 1, the application further provides an adaptive scattering deep penetration microscopic endoscopic imaging device, the device is divided into a fiber calibration state and a real-time imaging state, and the device comprises a laser 1, a spatial light modulator 2, a dichroic mirror 3, a fiber objective 4, a camera objective 8, a fiber 5, a photodetector 6, a camera 9, a biological sample 10 and a controller 7.

[0096] In the fiber calibration state, the light emitted by the laser 1 passes through the spatial light modulator 2, the spatial light modulator 2 reflects the light to the dichroic mirror 3, and then the light reflected by the dichroic mirror 3 passes through the fiber objective 4 and is emitted into the fiber 5, is emitted out through the camera objective 8 and is emitted into the camera 9, and the control host 7 is connected with the spatial light modulator 2, the photodetector 6 and the camera 9. Figure 3 As shown in the device in the fiber calibration state.

[0097] In the real-time imaging state, the camera objective 8 and the camera 9 in the fiber calibration state are replaced by the biological sample 10 arranged on the end surface of the fiber 5, the control host 7 is connected with the spatial light modulator 2 and the photodetector 6, and the other elements and relationships are the same as those in the fiber calibration state. Figure 4 As shown in the device in the real-time imaging state.

[0098] The control host 7 is configured to perform the following steps:

[0099] S1, measuring the fiber input-output mapping relationship at a specified penetration depth, the specified penetration depth being the same as the focal length of the light output by the fiber;

[0100] S2, traversing the effective pixels when the biological sample is arranged at the same specified penetration depth;

[0101] S3, traversing each effective pixel and adjusting the traversal range of the phase constant of each pixel, and obtaining the phase constant corresponding to each pixel which makes the light intensity maximum after the traversal is completed;

[0102] S4, data integration of the fiber input-output mapping relationship and the phase constant corresponding to each pixel which makes the light intensity maximum, to obtain a group of adaptive scattering matrices corresponding to each pixel;

[0103] S5, performing pixel-by-pixel scanning, calling the data of the adaptive scattering matrix corresponding to the pixel as the phase parameter to obtain the light intensity corresponding to the pixel, and combining the light intensity into a gray-scale image, the gray-scale image being a microscopic endoscopic image.

[0104] S1 is performed in the optical fiber calibration state, S2-S5 are performed in the real-time imaging state, and the optical path of the adjusting device is adjusted to the real-time imaging state before S2 is performed after S1 is performed.

[0105] When S1 is performed, in the optical fiber calibration state, the focal length between the optical fiber 5 and the camera objective lens 8 needs to be adjusted so that the focal length of the optical fiber output light is consistent with the current specified penetration depth. The control host 7 controls the spatial light modulator 2 to traverse the effective pixels, saves the image captured by the camera 9 corresponding to each effective pixel, and packs and stores it in the control host 7. The image set is the optical fiber 5 input-output mapping relationship data of the system at the specified penetration depth, that is, the output light intensity corresponding to each pixel. According to the input light intensity and the output light intensity corresponding to each effective pixel, the same optical fiber input-output mapping relationship as in Embodiment 1 is analyzed and obtained.

[0106] Before S2 is performed after S1 is performed, the optical path of the adjusting device is adjusted to the real-time imaging state, at this time, the camera 9 and the camera objective lens 8 are removed, and the biological sample 10 to be observed that has been fluorescently dyed is placed on the end face of the optical fiber 5, at this time, the imaging depth of the optical fiber 5 to the biological sample 10 is the depth set in S1.

[0107] When S3 is performed, the control host 7 controls the spatial light modulator 2 to traverse the effective pixels, and adjusts the phase constant of each pixel to traverse in the range of 0-2π, so that the light intensity value collected by the photodetector 6 under the current pixel is the maximum value, and the phase constant corresponding to the maximum light intensity value is recorded and sent to the control host 7, and then the phase constant corresponding to the maximum light intensity value of each pixel is obtained.

[0108] When S4 is performed, the image corresponding to each pixel in the mapping relationship is converted into a matrix with gray value as an element, and the matrix is rearranged into a one-dimensional column vector in a column-first manner, and all pixel corresponding column vectors are combined in order into a matrix, each column data of the matrix being a corresponding pixel column vector, and then the phase constant corresponding to the maximum light intensity value of each pixel in S3 is traversed, the i-th phase constant is multiplied by the i-th row of the matrix to obtain a matrix with the product of the length and width of the image as the length and width, the matrix being an adaptive scattering matrix. Wherein, the image corresponding to each pixel in the mapping relationship is the image captured when each pixel is traversed in S1, that is, the image corresponding to the output light intensity.

[0109] When performing S5, the control host 7 controls the spatial light modulator 2 to perform a two-dimensional scanning on a pixel-by-pixel basis, when scanning to the i-th pixel, the control host 7 imports the i-th column data of the adaptive scattering matrix into the spatial light modulator 2, the spatial light modulator 2 performs wavefront shaping on the light beam, so that the modulated light beam is irradiated to the biological sample 10 through the dichroic mirror 3, the objective lens 4 and the optical fiber 5, and after reflection, is irradiated to the photodetector 6 through the optical fiber 5, the objective lens 4 and the dichroic mirror 3, and the photodetector 6 sends the measured light intensity to the control host 7. The control host 7 combines the light intensity into a frame of gray scale image, and the gray scale image is the microscopic endoscopic image.

[0110] The computer program instructions can also be loaded onto 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 flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0111] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device that implements the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 the functions specified in the flowchart block or blocks.

[0112] These computer program instructions can also be loaded onto 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 flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 the functions specified in the flowchart block or blocks.

[0113] Embodiment 3:

[0114] The application also provides a storage medium having a program stored thereon, the program being executed to implement the method of embodiment 1.

[0115] Computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information for access by a computing device.

[0116] The preferred embodiments of the present application have been described in detail heretofore. It will be understood by those skilled in the art that modifications and variations can be made without departing from the spirit of the present application. Accordingly, it is intended that the present application encompass all such modifications and variations as fall within the scope of the appended claims.

Claims

1. A deep-penetration microscopic endoscopic imaging method based on adaptive scattering, characterized in that, The method includes the following steps: S1. Measure the optical fiber input-output mapping relationship at a specified penetration depth, wherein the specified penetration depth is the same as the focal length of the light output from the optical fiber; S2. When biological samples are set at the same specified penetration depth, traverse the effective pixels; S3. When traversing each effective pixel, adjust the traversal range of the phase constant of each pixel. After the traversal is completed, obtain the phase constant corresponding to each pixel that makes the light intensity the maximum value. S4. Integrate the fiber input-output mapping relationship and the phase constant corresponding to each pixel that maximizes the light intensity to obtain a set of adaptive scattering matrices corresponding to each pixel. S5. Perform a pixel-by-pixel scan, call the data of the adaptive scattering matrix corresponding to the pixel as the phase parameter, obtain the light intensity corresponding to the pixel, and combine the light intensities into a grayscale image, wherein the grayscale image is a microscopic endoscopic image. The specific steps for data integration are as follows: The image corresponding to each pixel in the mapping relationship is converted into a matrix with grayscale values ​​as elements. This matrix is ​​then rearranged into a one-dimensional column vector in column-major order. The column vectors corresponding to all pixels are combined sequentially into a matrix, where each column of the matrix is ​​the column vector of the corresponding pixel. Then, the phase constant corresponding to each pixel in S3 that maximizes the light intensity is determined. i The nth phase constant and the matrix of the nth phase constant i Perform scalar multiplication to obtain a matrix whose length and width are both the product of the image's length and width. This matrix is ​​the adaptive scattering matrix.

2. The adaptive scattering deep-penetration microendoscopic imaging method according to claim 1, characterized in that, The adaptive scattering matrix is: in, This is a matrix composed of the column vectors corresponding to all pixels in order. This is the phase constant of the pixel corresponding to the maximum light intensity value. This is the adaptive scattering matrix.

3. The adaptive scattering deep-penetration microendoscopic imaging method according to claim 2, characterized in that, In S5, when scanning the i-th pixel, the i-th column of the adaptive scattering matrix is ​​used as the phase parameter.

4. The adaptive scattering deep-penetration microendoscopic imaging method according to claim 1, characterized in that, The fiber optic input-output mapping relationship of S1 is determined by the set of images captured after traversing each valid pixel.

5. The adaptive scattering deep-penetration microendoscopic imaging method according to claim 4, characterized in that, The fiber input-output mapping relationship at a specified penetration depth is as follows: in, This represents the light field corresponding to the captured image, with a vector length of M. Let N represent the input optical field of the modulated Fourier basis vectors. The measured mapping relationship is represented by a matrix of size (M, N), and the input optical field of the modulated Fourier basis vectors is: in, Indicates the position of different points in space Fourier transform.

6. The adaptive scattering deep-penetration microendoscopic imaging method according to claim 1, characterized in that, The phase constant ergodic range is 0~2π.

7. The adaptive scattering deep-penetration microscopic endoscopic imaging method according to claim 1, characterized in that, The phase constant of the pixel corresponding to the maximum light intensity value is: in, Indicates the first i Line 1 j The phase constant when the light intensity value corresponding to each pixel is at its maximum. Indicates the number of apertures.

8. A deep-penetration microscopic endoscopic imaging device with adaptive scattering, characterized in that, The device is divided into fiber calibration state and real-time imaging state. The device includes a laser (1), a spatial light modulator (2), a dichroic mirror (3), a fiber objective (4), a camera objective (8), an optical fiber (5), a photodetector (6), a camera (9), a biological sample (10), and a controller (7). In the fiber optic calibration state, the light emitted by the laser (1) passes through the spatial light modulator (2), the spatial light modulator (2) reflects the light to the dichroic mirror (3), and then after being reflected by the dichroic mirror (3), it passes through the fiber objective (4) and enters the fiber (5), exits through the camera objective (8), and enters the camera (9). The controller (7) is connected to the spatial light modulator (2), the photodetector (6), and the camera (9). In real-time imaging mode, the camera objective (8) and camera (9) in fiber calibration mode are replaced with biological sample (10) set on the end face of fiber (5), the controller (7) is connected to the spatial light modulator (2) and photodetector (6), and other components and relationships are the same as in fiber calibration mode. The controller (7) is configured to perform the following steps: S1. Measure the optical fiber input-output mapping relationship at a specified penetration depth, wherein the specified penetration depth is the same as the focal length of the light output from the optical fiber; S2. When biological samples are set at the same specified penetration depth, traverse the effective pixels; S3. When traversing each effective pixel, adjust the traversal range of the phase constant of each pixel. After the traversal is completed, obtain the phase constant corresponding to each pixel that makes the light intensity the maximum value. S4. Integrate the fiber input-output mapping relationship and the phase constant corresponding to each pixel that maximizes the light intensity to obtain a set of adaptive scattering matrices corresponding to each pixel. S5. Perform a pixel-by-pixel scan, call the data of the adaptive scattering matrix corresponding to the pixel as the phase parameter, obtain the light intensity corresponding to the pixel, and combine the light intensities into a grayscale image, wherein the grayscale image is a microscopic endoscopic image. S1 is executed in the fiber calibration state, S2~S5 are executed in the real-time imaging state, and the optical path of the adjustment device is in the real-time imaging state after S1 is executed and before S2 is executed. The specific steps for data integration are as follows: The image corresponding to each pixel in the mapping relationship is converted into a matrix with grayscale values ​​as elements. This matrix is ​​then rearranged into a one-dimensional column vector in column-major order. The column vectors corresponding to all pixels are combined sequentially into a matrix, where each column of the matrix is ​​the column vector of the corresponding pixel. Then, the phase constant corresponding to each pixel in S3 that maximizes the light intensity is determined. i The nth phase constant and the matrix of the nth phase constant i Perform scalar multiplication to obtain a matrix whose length and width are both the product of the image's length and width. This matrix is ​​the adaptive scattering matrix.

9. The adaptive scattering deep-penetration microendoscopic imaging device according to claim 8, characterized in that, The focal length of the light output from the optical fiber is the focal length between the optical fiber (5) and the camera objective (8).

10. The adaptive scattering deep-penetration microendoscopic imaging device according to claim 9, characterized in that, The adaptive scattering matrix is: in, This is a matrix composed of the column vectors corresponding to all pixels in order. This is the phase constant of the pixel corresponding to the maximum light intensity value. This is the adaptive scattering matrix.

11. The adaptive scattering deep-penetration microendoscopic imaging device according to claim 10, characterized in that, In S5, when scanning the i-th pixel, the i-th column of the adaptive scattering matrix is ​​used as the phase parameter.

12. The adaptive scattering deep-penetration microendoscopic imaging device according to claim 8, characterized in that, The fiber optic input-output mapping relationship of S1 is determined by the set of images captured after traversing each valid pixel.

13. The adaptive scattering deep-penetration microendoscopic imaging device according to claim 12, characterized in that, The fiber input-output mapping relationship at a specified penetration depth is as follows: in, This represents the light field corresponding to the captured image, with a vector length of M. Let N represent the input optical field of the modulated Fourier basis vectors. The measured mapping relationship is represented by a matrix of size (M, N), and the input optical field of the modulated Fourier basis vectors is: in, Indicates the position of different points in space Fourier transform.

14. The adaptive scattering deep-penetration microendoscopic imaging device according to claim 8, characterized in that, The phase constant ergodic range is 0~2π.

15. The adaptive scattering deep-penetration microendoscopic imaging device according to claim 8, characterized in that, The phase constant of the pixel corresponding to the maximum light intensity value is: in, Indicates the first i Line 1 j The phase constant when the light intensity value corresponding to each pixel is at its maximum. Indicates the number of apertures.

16. The adaptive scattering deep-penetration microendoscopic imaging device according to claim 8, characterized in that, The light intensity value is detected based on the photodetector (6).

17. A storage medium having a program stored thereon, characterized in that, When the program is executed, it implements the method as described in any one of claims 1-7.

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