Endoscopic imaging detection method and device with intelligent illumination adjustable and glare-free

Abstract

This application discloses an endoscope imaging detection method and device with intelligent illumination adjustable glare removal, which effectively eliminates the glare area in the detection image by intelligently adjusting the scanning parameters of the illumination light and using auxiliary acquisition optical fibers, and significantly improves the imaging quality of the endoscope. This not only helps doctors diagnose the disease more accurately, but also improves the safety and efficiency of the operation.

Description

Technical Field

[0001] The present application relates to the technical field of endoscopes, and in particular to an endoscope imaging detection method and device with intelligent illumination adjustable and glare-free. Background Art

[0002] As an important tool in modern medicine, endoscopes are widely used in various minimally invasive surgeries and examinations. Its working principle is mainly to use the illumination fiber to guide the light beam of the light source module to the target living tissue, and receive the reflected light beam through the collection fiber to form a detection picture for doctors to observe and diagnose. However, in actual applications, due to the angle problem between the illumination light and the detection receiver, glare areas often appear in the detection picture. This glare not only reduces the clarity of the picture, but also may cover the lesion, seriously affecting the doctor's operation judgment and diagnosis and treatment effect.

[0003] The glare problem is mainly caused by the reflection and scattering of light on the surface of the target living tissue, resulting in overexposure of some areas. This glare forms bright spots or halos on the detection screen, interfering with the doctor's observation of tissue details. Therefore, solving the glare problem in endoscope detection is crucial to improving the accuracy of medical diagnosis and the safety of surgery. Summary of the invention

[0004] The purpose of the present application is to provide an endoscope imaging detection method and device with intelligent illumination adjustable and glare-free, which can improve the above-mentioned problems.

[0005] The embodiment of the present application is implemented as follows:

[0006] In the first aspect, the present application provides an endoscopic imaging detection method with intelligent illumination and adjustable glare removal, which is used to control an endoscopic probe and process the detection image fed back by the endoscopic probe, wherein the endoscopic probe is arranged at the end of an endoscope handle, and the endoscopic probe includes a tubular shell, an illumination optical fiber and a scanning driver arranged in the tubular shell, and a main collection optical fiber fixed to the inner wall of the tubular shell; the illumination optical fiber is used to guide the light beam of the light source module to the target living tissue and emit the illumination light beam; the scanning driver is used to perform a scanning motion of a preset trajectory according to the driving parameters under the control of the driving signal to change the emission direction of the illumination light beam and realize the scanning of the illumination light beam on the target living tissue; the main collection optical fiber is used for the reflected light beam of the target living tissue.

[0007] The above-mentioned intelligent illumination adjustable de-glare endoscopic imaging detection method includes steps S1 to S3, wherein S1, S2, etc. are only step identifiers, and the execution order of the method is not necessarily in the order of numbers from small to large, for example, step S2 may be executed first and then step S1, and this application does not impose any restrictions.

[0008] The above-mentioned intelligent illumination adjustable glare removal endoscope imaging detection method comprises the following steps:

[0009] S1: receiving the reflected light beam fed back by the main acquisition optical fiber, and generating a main detection picture according to the optical signal of the reflected light beam;

[0010] S2: when a glare area is detected in the main detection image, adjusting the illumination light scanning parameters of the endoscopic probe so that the illumination light beam avoids the living body target area for scanning movement, and the living body target area is the tissue area corresponding to the glare area on the target living tissue;

[0011] S3: Displaying the main detection screen.

[0012] It can be understood that the method disclosed in steps S1 to S3 can actively avoid glare on the target living tissue by intelligently adjusting the scanning parameters of the illumination light. This dynamic adjustment not only reduces the formation of the glare area, but also ensures that the illumination light can be more evenly irradiated on the tissue to be inspected, thereby greatly improving the clarity and contrast of the detection image.

[0013] In an optional embodiment of the present application, the adjustment of the illumination light scanning parameters of the endoscope probe includes at least one of the following: adjusting the driving parameters of the scanning driver to change the preset trajectory; adjusting the optical parameters of the light source module. The optical parameters include at least one of the following: light brightness, light color, light cycle, and light duration within the light cycle.

[0014] It can be understood that the purpose of adjusting the illumination light scanning parameters of the endoscopic probe is to avoid the tissue area corresponding to the glare area on the target living tissue, which can be avoided in a variety of ways.

[0015] First, the drive parameters can be adjusted individually to reduce the scanning range of the scanning driver, thereby limiting the scanning range of the illumination light beam on the target living tissue and avoiding the tissue area corresponding to the glare area.

[0016] In addition, the optical parameters of the light source module can be adjusted individually. For example, when the illumination light beam scans the tissue area corresponding to the glare area, the light output brightness is reduced to avoid the tissue area corresponding to the glare area.

[0017] In addition, the driving parameters and the optical parameters may be adjusted simultaneously to avoid the tissue area corresponding to the glare area.

[0018] In an optional embodiment of the present application, at least one auxiliary collection optical fiber is fixed on the endoscope probe around the inner wall of the tubular housing; the endoscope imaging detection method with adjustable intelligent illumination and glare removal further includes the following steps between S2 and S3:

[0019] S21: When there is still a glare area in the main detection image, select a target collection optical fiber from the at least one auxiliary collection optical fiber according to a preset rule;

[0020] S22: Processing the glare area in the main detection picture according to the target auxiliary detection picture fed back by the target acquisition optical fiber.

[0021] It can be understood that the addition of step S21 and step S22 and the introduction of auxiliary collection optical fibers further enhance the diversity and accuracy of imaging. When glare still exists in the main detection image, the auxiliary collection optical fibers can be used to obtain detection images at different angles. These multi-angle data provide more information for subsequent image processing, which helps to more accurately identify and eliminate glare.

[0022] In an optional embodiment of the present application, the preset rule includes at least one of the following:

[0023] Acquire the auxiliary detection images fed back by the auxiliary collection optical fibers in order from far to near from the main collection optical fibers, and if there is no glare area in the auxiliary detection images, use the corresponding auxiliary collection optical fibers as target collection optical fibers;

[0024] The auxiliary detection images fed back by all the auxiliary collection optical fibers are obtained, and the auxiliary collection optical fiber corresponding to the auxiliary detection image with the best clarity is selected as the target collection optical fiber.

[0025] In an optional embodiment of the present application, the S22 includes the following steps:

[0026] S221: transforming the perspective of the auxiliary target detection picture so that the detection perspective of the auxiliary target detection picture is consistent with that of the main detection picture, thereby obtaining a perspective reconstruction picture;

[0027] S222: extracting an area consistent with the content of the glare area from the perspective reconstruction picture as a compensation area;

[0028] S223: Merge the compensation area with the non-glare area of ​​the main detection image, and re-update the main detection image.

[0029] It can be understood that the use of perspective transformation and regional fusion technology effectively integrates the data from different acquisition optical fibers and further improves the quality of the detection image.

[0030] In an optional embodiment of the present application, the S221 includes the following steps:

[0031] S2211: extracting features from the target auxiliary detection picture to obtain a first feature map;

[0032] S2212: using a perspective transformation generator to transform the perspective of the first feature map so that the perspective of the first feature map is consistent with the detection perspective of the main detection picture, thereby obtaining a second feature map;

[0033] S2213: Using a reconstruction generator to reconstruct a perspective reconstruction picture according to the generation result of the second feature map.

[0034] In an optional embodiment of the present application, the glare area includes an area in the main detection image where the degree of blurring exceeds a preset blurring threshold, and the degree of blurring is obtained by analyzing the main detection image based on dark channel prior theory.

[0035] In a second aspect, the present application discloses an endoscope imaging detection device with intelligent illumination adjustable and glare-free, comprising an endoscope handle, a mainboard processor, a scanning drive board, a display, and a light source module as described in any one of the first aspects;

[0036] The end of the endoscope handle is provided with the endoscope probe as described in any one of the first aspects;

[0037] The scan drive board is electrically connected to the scan driver and the mainboard processor, and is used to drive the scan driver to perform a scanning motion under the control of the mainboard processor;

[0038] The light source module is connected to the light source transmission optical fiber and is electrically connected to the mainboard processor, and is used to transmit an illumination beam to the endoscope handle through the light source transmission optical fiber under the control of the mainboard processor;

[0039] The mainboard processor is connected to the endoscope handle via a transmission optical fiber and is electrically connected to the display. The mainboard processor is used to execute the endoscopic imaging detection method with intelligent illumination and adjustable de-glare as described in any one of the first aspects.

[0040] In an optional embodiment of the present application, the scan driver includes at least one of the following:

[0041] A piezoelectric actuator, wherein the fixed end of the piezoelectric actuator is fixed in the tubular housing through a fixing member, the light-emitting end of the illumination optical fiber extends out of the free end of the piezoelectric actuator, and the piezoelectric actuator performs a two-dimensional scanning motion under the control of a driving signal, thereby driving the light-emitting end of the illumination optical fiber to perform a scanning motion along a preset trajectory;

[0042] The MEMS scanning galvanometer is used to perform deflection motion in two-dimensional directions under the control of a driving signal, thereby reflecting the illumination light beam so that the illumination light beam scans on the target living tissue.

[0043] In an optional embodiment of the present application, the endoscope handle also includes a handle photoelectric conversion module and a sensor adapter board; the handle photoelectric conversion module is used to receive the reflected light beam output by the collection optical fiber in the endoscope probe, and convert the optical signal of the reflected light beam into an electrical signal; the sensor adapter board is electrically connected to the handle photoelectric conversion module through a cable, and the sensor adapter board is used to sample and process the electrical signal transmitted by the handle photoelectric conversion module and convert the parallel-to-serial signal format, and convert the serialized electrical signal into an optical signal again; the sensor adapter board is connected to the mainboard processor through the transmission optical fiber, and the mainboard processor is provided with a mainboard photoelectric conversion module, which is used to convert the optical signal received from the transmission optical fiber into an electrical signal, and then the mainboard processor generates a corresponding detection screen according to the electrical signal. Beneficial Effects

[0044] The present application provides an endoscope imaging detection method and device with intelligent illumination adjustable glare removal. First, by intelligently adjusting the scanning parameters of the illumination light, the present invention can actively avoid glare on the target living tissue. This dynamic adjustment not only reduces the formation of the glare area, but also ensures that the illumination light can be more evenly irradiated on the tissue to be inspected, thereby greatly improving the clarity and contrast of the detection image.

[0045] Secondly, the auxiliary collection fiber introduced in the solution further enhances the diversity and accuracy of imaging. When there is still glare in the main detection image, the auxiliary collection fiber can be used to obtain detection images at different angles. These multi-angle data provide more information for subsequent image processing, which helps to more accurately identify and eliminate glare.

[0046] Finally, the design of the entire solution takes into account the various complex situations in actual medical operations. Through flexible parameter adjustment and multi-fiber data acquisition, it not only improves the resolution and detail expression of endoscopic imaging, but also provides doctors with more comprehensive and realistic tissue images, which will undoubtedly greatly assist doctors in accurate diagnosis and fine surgery, thereby improving medical quality and patient safety. In summary, the overall solution of the present invention significantly improves the quality of endoscopic imaging and the accuracy of medical operations through intelligent adjustment and multi-angle data acquisition.

[0047] In order to make the above-mentioned objects, features and advantages of the present application more obvious and understandable, optional embodiments are specifically listed below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 It is a structural schematic diagram of an endoscope handle 100 and an endoscope probe provided by the present application;

[0050] Figure 2 is a schematic diagram of the scanning range on the target living tissue after adjusting the driving parameters alone;

[0051] Figure 3 is a schematic diagram of the scanning range on the target living tissue after adjusting the optical parameters of the light source module 500 alone;

[0052] Figure 4 is a schematic structural diagram of another endoscope probe provided by the present application;

[0053] Figure 5 yes Figure 4 A side view of the endoscopic probe is shown;

[0054] Figure 6 It is a schematic diagram of an endoscope imaging detection device with intelligent illumination adjustable and glare-free provided in the present application. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0056] In a first aspect, the present application provides an endoscope imaging detection method with intelligent adjustable illumination and glare removal, which is used to control an endoscope probe and process the detection image fed back by the endoscope probe. Figure 1As shown, the endoscopic probe is arranged at the end of the endoscope handle 100, and the endoscopic probe includes a tubular shell 11, an illumination optical fiber 12 and a scanning driver arranged in the tubular shell 11, and a main collection optical fiber 14 fixed to the inner wall of the tubular shell 11; the illumination optical fiber 12 is used to guide the light beam of the light source module 500 to the target living tissue to emit an illumination beam; the scanning driver is used to perform a scanning movement of a preset trajectory according to the driving parameters under the control of the driving signal to change the emission direction of the illumination beam and realize the scanning of the illumination beam on the target living tissue; the main collection optical fiber 14 is used for the reflected light beam of the target living tissue.

[0057] The light source transmission fiber 16 is used to transmit the laser beam to the surface of the dichroic mirror 20 for reflection; the head end of the illumination fiber 12 is arranged toward the dichroic mirror 20, and the reflected light beam reflected by the dichroic mirror 20 is coupled into the illumination fiber 12 for transmission, and the end of the illumination fiber 12 emits light toward the target living tissue. The dichroic mirror is a special optical element that selectively reflects or transmits light according to the wavelength (or frequency) of the light. Within a given angle and wavelength range, the dichroic mirror exhibits high reflection for light of a certain wavelength and high transmission for light of another wavelength.

[0058] The target living tissue generates fluorescence after being excited by the laser. The fluorescence is collected by the main collection optical fiber 14 and then transmitted. It is emitted toward the end of the dichroic mirror 20 through the collection optical fiber, and is received by the handle photoelectric conversion module 18 through the dichroic mirror 20. The handle photoelectric conversion module 18 is used to convert the received optical signal into an electrical signal. After being excited by the laser, the living tissue generates fluorescence. This fluorescence usually has a different wavelength from the excitation light, that is, a band excitation change occurs. It is this band change that allows the reflected light (fluorescence) to pass through the dichroic mirror that originally reflects the laser.

[0059] The above-mentioned intelligent illumination adjustable de-glare endoscopic imaging detection method includes steps S1 to S3, wherein S1, S2, etc. are only step identifiers, and the execution order of the method is not necessarily in the order of numbers from small to large, for example, step S2 may be executed first and then step S1, and this application does not impose any restrictions.

[0060] The above-mentioned intelligent illumination adjustable glare removal endoscope imaging detection method comprises the following steps:

[0061] S1: receiving the reflected light beam fed back by the main collection optical fiber 14, and generating a main detection image according to the optical signal of the reflected light beam.

[0062] S2: When a glare area is detected in the main detection image, the illumination light scanning parameters of the endoscope probe are adjusted so that the illumination light beam avoids the living target area for scanning movement. The living target area is the tissue area corresponding to the glare area on the target living tissue.

[0063] S3: Display the main detection screen.

[0064] It can be understood that the method disclosed in steps S1 to S3 can actively avoid glare on the target living tissue by intelligently adjusting the scanning parameters of the illumination light. This dynamic adjustment not only reduces the formation of the glare area, but also ensures that the illumination light can be more evenly irradiated on the tissue to be inspected, thereby greatly improving the clarity and contrast of the detection image.

[0065] In an optional embodiment of the present application, adjusting the illumination light scanning parameters of the endoscope probe includes at least one of the following: adjusting the driving parameters of the scanning driver to change the preset trajectory; adjusting the optical parameters of the light source module 500. The optical parameters include at least one of the following: light brightness, light color, light cycle, and light duration within the light cycle.

[0066] It can be understood that the purpose of adjusting the illumination light scanning parameters of the endoscope probe is to avoid the tissue area corresponding to the glare area on the target living tissue, which can be avoided in a variety of ways.

[0067] First, the drive parameters can be adjusted individually to reduce the scanning range of the scanning driver, thereby limiting the scanning range of the illumination beam on the target living tissue and avoiding the tissue area corresponding to the glare area, such as Figure 2 The four cases shown are schematic diagrams of the scanning range on the target living tissue after adjusting the driving parameters individually, wherein the scanning trajectory avoids the target area 22 corresponding to the glare area on the target living tissue 21 .

[0068] In addition, the optical parameters of the light source module 500 can be adjusted separately. For example, when the illumination beam scans the tissue area corresponding to the glare area, the light output brightness can be reduced to avoid the tissue area corresponding to the glare area. Figure 3 As shown, when the scanning movement enters the target area 22 corresponding to the glare area on the target living tissue 21, the light output brightness is reduced.

[0069] In addition, the driving parameters and the optical parameters may be adjusted simultaneously to avoid the tissue area corresponding to the glare area, which will not be elaborated here.

[0070] In an optional embodiment of the present application, if Figure 4 As shown, at least one auxiliary collection optical fiber 15 is fixed on the endoscope probe around the inner wall of the tubular housing 11. The endoscope imaging detection method with intelligent illumination adjustable and glare-free includes the following steps between S2 and S3:

[0071] S21: When there is still a glare area in the main detection image, a target collection optical fiber is selected from at least one auxiliary collection optical fiber according to a preset rule.

[0072] In an optional embodiment of the present application, the preset rules include at least one of the following: 1. Obtain the auxiliary detection images fed back by the auxiliary collection optical fibers in order from far to near from the main collection optical fiber 14. If there is no glare area in the auxiliary detection image, the corresponding auxiliary collection optical fiber is used as the target collection optical fiber. 2. Obtain the auxiliary detection images fed back by all auxiliary collection optical fibers 15, and select the auxiliary collection optical fiber 15 corresponding to the auxiliary detection image with the best clarity as the target collection optical fiber.

[0073] like Figure 5 The endoscope probe shown is provided with three auxiliary collection optical fibers, wherein the first auxiliary collection optical fiber 151, the second auxiliary collection optical fiber 152, and the third auxiliary collection optical fiber 153 are located from far to near the main collection optical fiber 14, so the target collection optical fiber can be selected for subsequent processing in the order of the first auxiliary collection optical fiber 151, the second auxiliary collection optical fiber 152, and the third auxiliary collection optical fiber 153. It can be understood that the image information collected by the auxiliary collection optical fiber farthest from the main collection optical fiber 14 has the largest difference from the main detection image, and is therefore least affected by glare. Starting from the auxiliary collection optical fiber farthest from the main collection optical fiber 14 to select the target collection optical fiber is conducive to improving the processing efficiency of the glare area.

[0074] S22: Processing the glare area in the main detection picture according to the target auxiliary detection picture fed back by the target acquisition optical fiber.

[0075] It can be understood that the addition of step S21 and step S22 and the introduction of the auxiliary collection optical fiber 15 further enhance the diversity and accuracy of imaging. When glare still exists in the main detection image, the auxiliary collection optical fiber 15 can be used to obtain detection images at different angles. These multi-angle data provide more information for subsequent image processing, which helps to more accurately identify and eliminate glare.

[0076] In an optional embodiment of the present application, S22 includes the following steps:

[0077] S221: transforming the perspective of the auxiliary target detection picture so that the detection perspective of the auxiliary target detection picture is consistent with that of the main detection picture, thereby obtaining a perspective reconstruction picture.

[0078] In an optional embodiment of the present application, S221 includes the following steps:

[0079] S2211: Extract features from the target auxiliary detection image to obtain a first feature map.

[0080] S2212: Use a perspective transformation generator to transform the perspective of the first feature map so that the perspective of the first feature map is consistent with the detection perspective of the main detection picture, thereby obtaining a second feature map.

[0081] S2213: Reconstruct a perspective reconstruction picture according to the generation result of the second feature map using a reconstruction generator.

[0082] S222: extracting an area consistent with the glare area in the perspective reconstruction image as a compensation area.

[0083] S223: Merge the compensation area with the non-glare area of ​​the main detection image, and re-update the main detection image.

[0084] It can be understood that the use of perspective transformation and regional fusion technology effectively integrates the data from different acquisition optical fibers and further improves the quality of the detection image.

[0085] In an optional embodiment of the present application, the glare area includes an area in the main detection image where the degree of blurring exceeds a preset blurring threshold, and the degree of blurring is obtained by analyzing the main detection image based on dark channel prior theory.

[0086] Second, as Figure 6 As shown, the present application discloses an endoscopic imaging detection device with intelligent illumination adjustable glare removal, including an endoscope handle 100, a mainboard processor 200, a scanning drive board 300, a display 400 and a light source module 500 as in any one of the first aspects.

[0087] An end portion of the endoscope handle 100 is provided with an endoscope probe as in any one of the first aspects.

[0088] The scan driving board 300 is electrically connected to the scan driver and the mainboard processor 200 , and is used to drive the scan driver to perform a scanning motion under the control of the mainboard processor 200 .

[0089] The light source module 500 is connected to the light source transmission optical fiber 16 and is electrically connected to the mainboard processor 200 , and is used to transmit an illumination light beam to the endoscope handle 100 through the light source transmission optical fiber 16 under the control of the mainboard processor 200 .

[0090] The mainboard processor 200 is connected to the endoscope handle 100 through a transmission optical fiber and is electrically connected to the display 400. The mainboard processor 200 is used to execute the intelligent illumination adjustable de-glare endoscopic imaging detection method as described in any one of the first aspects.

[0091] In an optional embodiment of the present application, the scan driver includes at least one of the following:

[0092] Piezoelectric actuators, such as Figure 1 and Figure 4As shown, the fixed end of the piezoelectric actuator 17 is fixed in the tubular housing 11 through a fixing member, and the light-emitting end of the illumination optical fiber 12 extends out of the free end of the piezoelectric actuator 17. The piezoelectric actuator 17 performs a two-dimensional scanning motion under the control of a driving signal, thereby driving the light-emitting end of the illumination optical fiber 12 to scan along a preset trajectory;

[0093] The MEMS scanning galvanometer (not shown in the figure) is used to perform deflection movement in two dimensions under the control of a driving signal, thereby reflecting the illumination light beam so that the illumination light beam scans the target living tissue.

[0094] In the optional embodiment of the present application, continue to refer to Figure 1 As shown, the endoscope handle 100 also includes a handle photoelectric conversion module 18 and a sensor adapter board 19; the handle photoelectric conversion module 18 is used to receive the reflected light beam output by the collection optical fiber in the endoscope probe, and convert the optical signal of the reflected light beam into an electrical signal; the sensor adapter board 19 is electrically connected to the handle photoelectric conversion module 18 through a cable, and the sensor adapter board 19 is used to sample and process the electrical signal transmitted by the handle photoelectric conversion module 18 and convert the parallel-to-serial signal format, and convert the serialized electrical signal into an optical signal again; the sensor adapter board 19 is connected to the mainboard processor 200 through the transmission optical fiber 23, and the mainboard processor 200 is provided with a mainboard photoelectric conversion module 201, which is used to convert the optical signal received from the transmission optical fiber into an electrical signal, and then the mainboard processor 200 generates a corresponding detection screen according to the electrical signal.

[0095] It should be understood that in the embodiments of the present invention, the processor referred to may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0096] In a third aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the steps of any method of the first aspect are implemented.

[0097] The computer-readable storage medium may be an internal storage unit of the terminal device of any of the aforementioned embodiments, such as a hard disk or memory of the terminal device. The computer-readable storage medium may also be an external storage device of the terminal device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the terminal device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of the terminal device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0098] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0099] In the several embodiments provided in the present application, it should be understood that the disclosed terminal device and method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or it can be an electrical, mechanical or other form of connection.

[0100] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0101] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0102] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0103] The expressions "first", "second", "the first" or "the second" used in various embodiments of the present disclosure may modify various components regardless of order and / or importance, but these expressions do not limit the corresponding components. The above expressions are only configured for the purpose of distinguishing an element from other elements. For example, a first user device and a second user device represent different user devices, although both are user devices. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element without departing from the scope of the present disclosure.

[0104] When one element (e.g., a first element) is referred to as being "(operably or communicatively) coupled" or "(operably or communicatively) coupled to" or "connected to" another element (e.g., a second element), it is understood that the one element is directly connected to the other element or the one element is indirectly connected to the other element via yet another element (e.g., a third element). Conversely, it is understood that when an element (e.g., a first element) is referred to as being "directly connected" or "directly coupled" to another element (the second element), no element (e.g., a third element) is interposed between the two.

[0105] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0106] The above description is only an optional embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other.

[0107] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0108] The above description is only an optional embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other.

[0109] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent illumination adjustable de-glare endoscopic imaging detection method for controlling an endoscopic probe and processing a detection image fed back by the endoscopic probe, characterized in that: The endoscope probe is arranged at the end of the endoscope handle, and the endoscope probe comprises a tubular housing, an illumination optical fiber and a scanning driver arranged in the tubular housing, and a main collection optical fiber fixed to the inner side wall of the tubular housing; the illumination optical fiber is used to guide the light beam of the light source module to the target living tissue and emit the illumination light beam; the scanning driver is used to perform a scanning motion of a preset trajectory according to the driving parameters under the control of the driving signal, so as to change the emission direction of the illumination light beam and realize the scanning of the illumination light beam on the target living tissue; The main collection optical fiber is used for the reflected light beam of the target living tissue; The intelligent illumination adjustable glare removal endoscopic imaging detection method comprises the following steps: S1: receiving the reflected light beam fed back by the main acquisition optical fiber, and generating a main detection picture according to the optical signal of the reflected light beam; S2: when a glare area is detected in the main detection image, adjusting the illumination light scanning parameters of the endoscopic probe so that the illumination light beam avoids the living body target area for scanning movement, and the living body target area is the tissue area corresponding to the glare area on the target living tissue; S3: Displaying the main detection screen; The adjusting of the illumination light scanning parameters of the endoscope probe includes adjusting the optical parameters of the light source module; the optical parameters include light output brightness; When the illumination light beam scans to the tissue area corresponding to the glare area, the light output brightness is reduced to avoid the tissue area corresponding to the glare area.

2. The endoscopic imaging detection method with intelligent adjustable illumination and glare removal according to claim 1 is characterized in that: At least one auxiliary collection optical fiber is also fixed on the endoscope probe around the inner side wall of the tubular housing; In the intelligent illumination adjustable glare removal endoscopic imaging detection method, the following steps are also included between S2 and S3: S21: When there is still a glare area in the main detection image, select a target collection optical fiber from the at least one auxiliary collection optical fiber according to a preset rule; S22: Processing the glare area in the main detection picture according to the target auxiliary detection picture fed back by the target acquisition optical fiber.

3. The endoscopic imaging detection method with intelligent adjustable illumination and glare removal according to claim 2, characterized in that: The preset rules include at least one of the following: Acquire the auxiliary detection images fed back by the auxiliary collection optical fibers in order from far to near from the main collection optical fibers, and if there is no glare area in the auxiliary detection images, use the corresponding auxiliary collection optical fibers as target collection optical fibers; The auxiliary detection images fed back by all the auxiliary collection optical fibers are obtained, and the auxiliary collection optical fiber corresponding to the auxiliary detection image with the best clarity is selected as the target collection optical fiber.

4. The endoscopic imaging detection method with intelligent adjustable illumination and glare removal according to claim 2, characterized in that: The S22 comprises the following steps: S221: transforming the perspective of the auxiliary target detection picture so that the detection perspective of the auxiliary target detection picture is consistent with that of the main detection picture, thereby obtaining a perspective reconstruction picture; S222: extracting an area consistent with the content of the glare area from the perspective reconstruction picture as a compensation area; S223: Merge the compensation area with the non-glare area of ​​the main detection image, and re-update the main detection image.

5. The endoscopic imaging detection method with intelligent adjustable illumination and glare removal according to claim 4 is characterized in that: The S221 includes the following steps: S2211: extracting features from the target auxiliary detection picture to obtain a first feature map; S2212: using a perspective transformation generator to transform the perspective of the first feature map so that the perspective of the first feature map is consistent with the detection perspective of the main detection picture, thereby obtaining a second feature map; S2213: Using a reconstruction generator to reconstruct a perspective reconstruction picture according to the generation result of the second feature map.

6. The endoscopic imaging detection method with intelligent illumination adjustable glare removal according to any one of claims 1 to 5, characterized in that: The glare area includes an area in the main detection image where the degree of blurring exceeds a preset blurring threshold, and the degree of blurring is obtained by analyzing the main detection image based on dark channel prior theory.

7. An endoscope imaging detection device with intelligent adjustable illumination and glare removal, characterized in that: It includes an endoscope handle, a mainboard processor, a scanning driver board, a display and a light source module; An endoscope probe is provided at the end of the endoscope handle; The scan drive board is electrically connected to the scan driver and the mainboard processor, and is used to drive the scan driver to perform a scanning motion under the control of the mainboard processor; The light source module is connected to the light source transmission optical fiber and is electrically connected to the mainboard processor, and is used to transmit an illumination beam to the endoscope handle through the light source transmission optical fiber under the control of the mainboard processor; The mainboard processor is connected to the endoscope handle via a transmission optical fiber and is electrically connected to the display. The mainboard processor is used to execute the intelligent illumination adjustable de-glare endoscopic imaging detection method as described in any one of claims 1 to 6.

8. The intelligent illumination adjustable glare-removing endoscopic imaging detection device according to claim 7, characterized in that: The scanning driver includes at least one of the following: A piezoelectric actuator, wherein the fixed end of the piezoelectric actuator is fixed in the tubular housing through a fixing member, the light-emitting end of the illumination optical fiber extends out of the free end of the piezoelectric actuator, and the piezoelectric actuator performs a two-dimensional scanning motion under the control of a driving signal, thereby driving the light-emitting end of the illumination optical fiber to perform a scanning motion along a preset trajectory; The MEMS scanning galvanometer is used to perform deflection motion in two-dimensional directions under the control of a driving signal, thereby reflecting the illumination light beam so that the illumination light beam scans on the target living tissue.

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