Fluorescence image processing method and fluorescence endoscope system

Abstract

The present application relates to a fluorescence image processing method and a fluorescence endoscope system, the method comprising: in a fluorescence mode, illuminating a detected object marked with a fluorescent agent on the basis of detection light, the detection light comprising white light and excitation light emitted in a set light emission manner; based on an acquisition mode corresponding to the light emitting mode, acquiring an optical signal from the detected object, obtaining a first image based on the optical signal of the first wave band, and obtaining a second image based on the optical signal of the second wave band; the first wave band is set based on the spectral range of fluorescence excited by the excitation light, and the second wave band is set based on the spectral range of white light; and the first image and the second image are fused to obtain a fluorescence detection image of the detected object, so that the problem of unclear imaging of the peripheral area of the fluorescence mark is solved, and the overall imaging effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of fluorescence image processing, and in particular to a fluorescence image processing method and a fluorescence endoscope system. Background Art

[0002] 5-ALA is a fluorescent contrast agent used in clinical surgery and examinations. Its main mechanism is to metabolize in the human body to produce PpIX, which has a fluorescent effect. The excitation light is around 405nm and the fluorescence is around 600nm-720nm. The different metabolic rates of PpIX in different parts of the body are used to locate the surgical area by observing the fluorescence.

[0003] Since the fluorescence band emitted by PpIX overlaps with the visible light band, in existing 5-ALA fluorescence labeling scenarios, most of the native fluorescence images are directly used as the final display image. The specific implementation method is to use excitation light for illumination, and set a filter to cut off most of the excitation light, and illuminate the object to be detected with the weak excitation light that passes through the filter. The weak excitation light can excite fluorescence and can also be used to illuminate the surrounding tissues, and the native fluorescence image collected at this time is used as the final display image.

[0004] However, the native fluorescence scheme has poor imaging effect in the periphery of the fluorescent area, which makes it impossible to observe the tissues around the fluorescent area in detail. Summary of the invention

[0005] In this embodiment, a fluorescence image processing method and a fluorescence endoscope system are provided to solve the problem of poor imaging effect around the fluorescence area in the related art.

[0006] In a first aspect, a fluorescence image processing method is provided in this embodiment, the method comprising:

[0007] In the fluorescence mode, the object to be inspected, which has been marked with a fluorescent agent, is illuminated based on the detection light, wherein the detection light includes white light and excitation light emitted in a set light emission mode;

[0008] Based on a collection method corresponding to the light emission method, light signals from the object under inspection are collected, a first image is obtained based on light signals of a first band, and a second image is obtained based on light signals of a second band; the first band is set based on a spectral range of fluorescence excited by the excitation light, and the second band is set based on a spectral range of white light;

[0009] The first image and the second image are fused to obtain a fluorescence detection image of the object under inspection.

[0010] In some of the embodiments, the light emission mode is set according to the intensity of the fluorescence excited by the excitation light;

[0011] Wherein, setting the light emission mode according to the intensity of the fluorescence excited by the excitation light includes:

[0012] When the intensity of the fluorescence excited by the excitation light meets the preset condition, the light emission mode adopts the mode of emitting the white light and the excitation light simultaneously;

[0013] When the fluorescence intensity does not meet the preset condition, the light emitting mode adopts a mode in which the white light and the excitation light are emitted alternately according to the video frame rate.

[0014] In some of the embodiments, based on the collection method corresponding to the light emitting method, the method includes:

[0015] When the light emitting mode is that the white light and the excitation light are emitted simultaneously, the collecting mode is that the light signal of the first waveband and the light signal of the second waveband are collected at the same time.

[0016] In some embodiments, the first image and the second image are fused to obtain a fluorescence detection image of the object under inspection, including:

[0017] The first image comprises a fluorescent image, and the second image comprises a white light image;

[0018] registering the fluorescence image and the white light image;

[0019] After the registration, the fluorescent area in the fluorescent image is superimposed and displayed on the corresponding position of the white light image with a preset color to obtain a fluorescent detection image of the object to be inspected.

[0020] In some of the embodiments, based on the collection method corresponding to the light emitting method, the method includes:

[0021] When the light-emitting mode is that the white light and the excitation light are emitted alternately according to the video frame rate, the collection mode is that when the excitation light is irradiated alone, the light signal of the first band and the light signal of the second band are collected at the same time; when the white light is irradiated alone, only the light signal of the first band is collected.

[0022] In some embodiments, the first image and the second image are fused to obtain a fluorescence detection image of the object under inspection, including:

[0023] When the spectrum range of the fluorescence partially overlaps with the spectrum range of the white light, at the moment when the object to be inspected is irradiated with the excitation light alone, the first image and the second image are simultaneously collected, the first image including a first frame of fluorescence path image, and the second image including a first frame of white light path image;

[0024] When the object to be inspected is illuminated by the white light alone, the second image is acquired, wherein the second image includes a second frame of white light path image;

[0025] synthesizing the first frame of the fluorescent path image and the first frame of the white light path image to obtain an enhanced fluorescent image;

[0026] The enhanced fluorescence image and the second frame of white light path image are superimposed to obtain a fluorescence detection image of the object under inspection.

[0027] In some embodiments, the enhanced fluorescence image and the second frame of white light path image are superimposed to obtain a fluorescence detection image of the object under inspection, including:

[0028] Registering the enhanced fluorescence image with the second frame of white light path image;

[0029] After registration, the fluorescent area of ​​the enhanced fluorescent image is superimposed and displayed on the corresponding position of the second frame of white light path image in a preset color to obtain a fluorescent detection image of the object under inspection.

[0030] In a second aspect, a fluorescent endoscope system is provided in this embodiment, the system comprising: a light source module, a camera module, a memory and a processor;

[0031] The light source module is used to emit detection light;

[0032] The camera module is used to capture the first image and the second image;

[0033] The memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of the first aspects are implemented.

[0034] In some of the embodiments, the camera module further includes an optical unit, a light splitting unit, a first imaging unit and a second imaging unit;

[0035] The optical unit is used to collect light from the object to be inspected and transmit the light to the spectroscopic unit;

[0036] The light splitting unit is used to split the received light into a light signal of a first wavelength band and a light signal of a second wavelength band, transmit the light signal of the first wavelength band to the first imaging unit, and transmit the light signal of the second wavelength band to the second imaging unit;

[0037] The first imaging unit is configured to generate the first image based on the light signal of the first wavelength band;

[0038] The second imaging unit is used to generate the second image based on the light signal in the second wavelength band.

[0039] In a third aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored thereon, and when the computer program is executed by a processor, the fluorescent image processing method described in the first aspect is implemented.

[0040] Compared with the related art, the fluorescence image processing method and the fluorescence endoscope system provided in the present embodiment, in the fluorescence mode, illuminate the object to be inspected that has been marked with a fluorescent agent based on the detection light, the detection light including white light and excitation light emitted in a set light-emitting mode; based on the collection mode corresponding to the light-emitting mode, collect the light signal from the object to be inspected, obtain the first image based on the light signal of the first band, and obtain the second image based on the light signal of the second band; the first band is set based on the spectral range of the fluorescence excited by the excitation light, and the second band is set based on the spectral range of white light; the first image and the second image are fused to obtain the fluorescence detection image of the object to be inspected, which solves the problem of unclear imaging of the surrounding area of ​​the fluorescent mark, realizes the use of white light to illuminate the object to be inspected to obtain high-quality surrounding area information, and can further fuse the fluorescence area with the surrounding area, thereby improving the overall imaging effect, and is suitable for more fluorescence scenes.

[0041] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 is a schematic flow chart of a fluorescence image processing method in one embodiment;

[0044] Figure 2 is a structural block diagram of a fluorescence endoscope system in one embodiment;

[0045] Figure 3 A structural block diagram of a fluorescence endoscope system in a preferred embodiment;

[0046] Figure 4 A structural block diagram of a camera module in a preferred embodiment;

[0047] Figure 5-A Schematic diagram of the spectrum of fluorescence, white light and excitation light in one embodiment;

[0048] Figure 5-BSchematic diagram of transmittance curves of different filters in one embodiment;

[0049] Figure 6 is a schematic flow chart of a fluorescence image processing method in a preferred embodiment;

[0050] Figure 7 FIG. 4 is a flow chart of a fluorescence image processing method in another preferred embodiment.

[0051] Figure numerals: 310, light source module; 320, camera module; 330, memory; 340, processor; 410, endoscope host; 411, light source controller; 412, white light source; 413, excitation light source; 414, beam combining device; 415, main controller; 416, image processor; 420, endoscope operating lever; 510, optical unit; 520, spectroscopic unit; 530, first imaging unit; 531, fluorescence path filter; 532, fluorescence path image sensor; 540, second imaging unit; 541, white light path filter; 542, white light path image sensor. DETAILED DESCRIPTION

[0052] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0053] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0054] In this embodiment, a fluorescence image processing method is provided. Figure 1 is a flow chart of the fluorescence image processing method of this embodiment. Figure 1 As shown, the process includes the following steps:

[0055] Step S210 , in the fluorescence mode, the object to be inspected that has been marked with a fluorescent agent is illuminated based on the detection light, where the detection light includes white light and excitation light emitted in a set light emission mode.

[0056] Specifically, the set light emission mode includes emitting white light and excitation light simultaneously, or emitting white light and excitation light alternately.

[0057] Step S220, based on the collection method corresponding to the light emitting method, collect the light signal from the object to be inspected, obtain the first image based on the light signal of the first band, and obtain the second image based on the light signal of the second band; the first band is set based on the spectral range of the fluorescence excited by the excitation light, and the second band is set based on the spectral range of white light.

[0058] Specifically, when white light and excitation light are emitted at the same time, the first image and the second image can be collected at the same time. When white light and excitation light are emitted alternately, it is necessary to collect images when white light is illuminated alone and images when laser is illuminated alone. Among them, the first band and the second band light signals can be separated by a spectroscopic device such as a spectroscopic prism, and the separated light signals are collected using an image sensor. In the case where there is a partial overlap between the fluorescence spectrum and the white light spectrum, the first band includes: the remaining fluorescence spectrum after subtracting the white light spectrum that overlaps with the fluorescence spectrum from the fluorescence spectrum. In the case where the fluorescence spectrum does not overlap with the white light spectrum, the first band includes the complete fluorescence spectrum.

[0059] Step S230: fusing the first image and the second image to obtain a fluorescence detection image of the object under inspection.

[0060] Specifically, the first image contains fluorescence information, and the second image contains white light information, and the two are merged to clearly display the fluorescent marking area and the surrounding area in the same image.

[0061] In this embodiment, the method is used to illuminate the object to be inspected that has been marked with a fluorescent agent in a fluorescence mode based on detection light, wherein the detection light includes white light and excitation light emitted in a set light-emitting mode; based on an acquisition method corresponding to the light-emitting mode, an optical signal from the object to be inspected is acquired, and a first image is obtained based on an optical signal of a first band, and a second image is obtained based on an optical signal of a second band; the first band is set based on the spectral range of the fluorescence excited by the excitation light, and the second band is set based on the spectral range of white light; the first image and the second image are fused to obtain a fluorescence detection image of the object to be inspected, thereby solving the problem of unclear imaging of the area surrounding the fluorescent mark and improving the overall imaging effect.

[0062] In some of the embodiments, the method further includes: setting a light emission mode according to the intensity of the fluorescence excited by the excitation light.

[0063] Among them, the light-emitting mode is set according to the fluorescence intensity stimulated by the excitation light, including: when the fluorescence intensity stimulated by the excitation light meets the preset conditions, the light-emitting mode adopts a mode in which white light and the excitation light are emitted simultaneously; when the fluorescence intensity does not meet the preset conditions, the light-emitting mode adopts a mode in which white light and the excitation light are emitted alternately according to the video frame rate.

[0064] Specifically, the fluorescence intensity is determined based on the statistical value of the fluorescence path brightness. For fluorescence of different intensities, the fixed transmitted excitation light may drown out the weak fluorescence. Therefore, when the fluorescence intensities are different, different luminescence modes can be selected to obtain more fluorescence information.

[0065] In some of the embodiments, based on the collection method corresponding to the light emission method, including: when the light emission method is that white light and excitation light are emitted simultaneously, the collection method is to collect the light signal of the first band and the light signal of the second band at the same time.

[0066] Specifically, light signals in two bands are collected simultaneously to avoid frame rate loss, which helps to improve the quality of the final fused image.

[0067] In some of the embodiments, the first image and the second image are fused to obtain a fluorescence detection image of the object under inspection, including:

[0068] In step S310 , the first image includes a fluorescent image, and the second image includes a white light image.

[0069] Step S320: registering the fluorescence image and the white light image.

[0070] Step S330 , after registration, the fluorescent area in the fluorescent image is superimposed and displayed on the corresponding position of the white light image with a preset color to obtain a fluorescent detection image of the object under inspection.

[0071] Specifically, the fluorescent area in the registered fluorescent image can be extracted, and the fluorescent area can be marked by setting a pseudo color at the corresponding position of the white light image, or the registered fluorescent image can be mapped into a pseudo color of a preset color according to the brightness, and the pseudo color image can be superimposed on the white light image, and finally the output white light + fluorescence superposition fluorescent detection image is displayed.

[0072] In some of the embodiments, based on the collection method corresponding to the light-emitting method, including: when the light-emitting method is that white light and excitation light are emitted alternately according to the video frame rate, the collection method is, when the excitation light is irradiated alone, the light signal of the first band and the light signal of the second band are collected at the same time; when the white light is irradiated alone, only the light signal of the first band is collected.

[0073] Specifically, the collection method of alternating light emission from two light sources is suitable for the case where the set second band partially overlaps with the used fluorescence spectrum. Therefore, when the excitation light is irradiated alone, part of the fluorescence signal can also be collected in the second band.

[0074] At this time, when collecting images, the first image of the fluorescent path can be acquired once every frame, that is, it is collected at the opening frequency of the excitation light to obtain the first frame of the fluorescent path image. The second image of the white light path needs to be collected frame by frame, that is, the adjacent two frames are respectively illuminated by the excitation light and the white light, and the adjacent two frames each collect a second image to obtain the first frame of the white light path image and the second frame of the white light path image.

[0075] Through the above-mentioned alternating acquisition method, more abundant fluorescence information can be obtained.

[0076] In some of the embodiments, the first image and the second image are fused to obtain a fluorescence detection image of the object under inspection, including:

[0077] Step S410, when the spectral range of fluorescence partially overlaps with the spectral range of white light, at the moment of irradiating the object under inspection with excitation light alone, a first image and a second image are simultaneously collected, the first image including a first frame of fluorescence path image, and the second image including a first frame of white light path image.

[0078] Step S420 , when the object to be inspected is illuminated by white light alone, a second image is acquired, the second image including a second frame of white light path image.

[0079] Step S430 , synthesizing the first frame of the fluorescent path image and the first frame of the white light path image to obtain an enhanced fluorescent image.

[0080] Step S440 , superimposing the enhanced fluorescence image and the second frame of white light path image to obtain a fluorescence detection image of the object under inspection.

[0081] Specifically, when the fluorescence intensity is weak, the first band may only collect part of the fluorescence energy, making it difficult to extract the fluorescence area. At this time, the frame alternation method can be combined to use the fluorescence signal collected in the second band to strengthen the fluorescence signal collected in the first band, that is, the first frame of the fluorescence path image and the first frame of the white light path image are synthesized to obtain an enhanced fluorescence image, thereby improving the imaging effect. The synthesis can adopt weighted fusion, pyramid fusion, Poisson fusion and other methods.

[0082] In some of the embodiments, the enhanced fluorescence image and the second frame of white light path image are superimposed to obtain a fluorescence detection image of the object under inspection, including:

[0083] Step S441 registers the enhanced fluorescence image with the second frame of white light path image.

[0084] In step S442, after the registration, the fluorescence area of ​​the enhanced fluorescence image is superimposed and displayed on the corresponding position of the second frame of the white light path image with a preset color to obtain a fluorescence detection image of the object under inspection.

[0085] Specifically, the registered enhanced fluorescence image can be mapped into a pseudo color of a preset color according to the brightness, and the pseudo color image can be superimposed on the white light image, and finally the output white light + fluorescence superposition fluorescence detection image is displayed.

[0086] In this embodiment, a fluorescent endoscope system is also provided. Figure 2 The system includes: a light source module 310, a camera module 320, a memory 330 and a processor 340.

[0087] The light source module 310 is used to emit detection light.

[0088] The camera module 320 is used to capture the first image and the second image.

[0089] The memory 330 stores a computer program, and when the processor 340 executes the computer program, the steps of the method in any of the above embodiments are implemented.

[0090] For details, see Figure 3 The fluorescent endoscope system includes an endoscope host 410 and an endoscope operating rod 420; a light source module 310, a memory 330 and a processor 340 are arranged in the endoscope host 410; and the camera module 320 is arranged inside the endoscope operating rod 420. The light source module 310 includes a light source controller 411, a white light source 412, an excitation light source 413, and a beam combining device 414. The light source controller 411 is used to control the white light source 412 and the excitation light source 413 to irradiate white light and excitation light according to a preset luminescence mode. The white light and the excitation light are emitted through the beam combining device 414 to irradiate the object to be inspected.

[0091] The processor 340 includes a main controller 415 and an image processor 416. The first image and the second image captured by the camera module 320 will be sent to the image processor 416, and the fusion processing will be completed in the image processor 416 to obtain a fluorescence detection image; the main controller 415 is used to control the image processing module, the light source control module and other modules to perform corresponding tasks.

[0092] In some of the embodiments, the camera module 320 further includes an optical unit 510 , a light splitting unit 520 , a first imaging unit 530 , and a second imaging unit 540 .

[0093] The optical unit 510 is used to collect light from the object under inspection and transmit the light to the spectroscopic unit 520 .

[0094] The light splitting unit 520 is used to split the received light into a light signal of a first wavelength band and a light signal of a second wavelength band, transmit the light signal of the first wavelength band to the first imaging unit 530 , and transmit the light signal of the second wavelength band to the second imaging unit 540 .

[0095] The first imaging unit 530 is configured to generate a first image based on the light signal in the first wavelength band.

[0096] The second imaging unit 540 is configured to generate a second image based on the light signal in the second wavelength band.

[0097] For details, see Figure 4 The light splitting unit 520 is a light splitting prism, and the light splitting prism and the preset wavelength are used as light splitting boundaries. For example, a range greater than the preset wavelength is used as a first wavelength band, and a range less than the preset wavelength is used as a second wavelength band.

[0098] The first imaging unit 530 includes a fluorescence filter 531 and a fluorescence image sensor 532; the fluorescence filter 531 is used to cut off the excitation light and the white light; the fluorescence image sensor 532 is used to convert the received light signal of the first wavelength band into an electrical signal.

[0099] The second imaging unit 540 includes a white light filter 541 and a white light image sensor 542 ; the white light filter 541 is used to cut off the excitation light; the white light image sensor 542 is used to convert the received light signal of the white light band into an electrical signal.

[0100] In this embodiment, the fluorescence endoscope system obtains a first image and a second image containing white light information and fluorescence information, and fuses the first image and the second image to obtain a fluorescence detection image, thereby realizing the use of a two-way splitting method to display the fluorescence superposition image, thereby improving the imaging quality of endoscopic detection.

[0101] The present embodiment is illustrated and described below through preferred implementations.

[0102] 5-ALA is a fluorescent contrast agent used in clinical surgery and examinations. Its main mechanism is to metabolize PpIX in the human body. It has a fluorescent effect. The excitation light is about 405nm and the fluorescence is about 600nm-720nm. The different metabolic rates of PpIX in different parts of the body are used to locate the surgical area by observing the fluorescence. After the object is marked with 5-ALA fluorescent contrast agent, Figure 3 and Figure 4 The endoscope system shown in the figure collects the fluorescence detection image of the object to be inspected. Figure 5-A As shown, the spectrum of the white light source 412 used is 430nm-650nm, which is used to obtain white light images; the spectrum of the excitation light source 413 is as follows, with a central wavelength of about 410nm, which is used to excite fluorescence. The two light sources are controlled by the light source controller 411.

[0103] In the camera module 320, after the optical unit 510 forms an image, the light signal passes through a spectroscopic unit 520. The spectroscopic unit 520 transmits light with a wavelength before 650nm for white light imaging, and reflects light with a wavelength greater than 650nm for fluorescence imaging. The white light image sensor 542 is used to collect white light images. A white light filter 541 is arranged in front of the white light image sensor 542. Its transmittance curve is shown in FIG. Figure 5-B As shown, it is used to cut off the excitation light; the fluorescence path image sensor 532 is used to collect the fluorescence image, and a fluorescence path filter 531 is arranged in front of the fluorescence path image sensor 532, and its transmittance is as shown in FIG. Figure 5-B As shown, it is used to cut off the excitation light and white light.

[0104] The image processing module is used to process the collected images. The processing flow is as follows: Figure 6 When the fluorescence mode is turned on, the light source turns on the white light source 412 and the excitation light source 413, the white light path image sensor 542 and the fluorescence path image sensor 532 simultaneously collect the white light image and the fluorescence image, align the white light image and the fluorescence image, map the aligned fluorescence image into a pseudo color of a preset color according to the brightness, superimpose the pseudo color image on the white light image, and finally display the fused image.

[0105] When the fluorescence intensity is weak, since the fluorescence path only collects the fluorescence energy after 650nm, it may be difficult to extract the fluorescence area and display the fluorescence image. In this case, the frame alternation method can be combined to improve the effect. The process is as follows: Figure 7At this time, the light source controller 411 controls the white light source 412 and the excitation light source 413 to illuminate alternately. At this time, the white light path image sensor 542 alternately acquires white light images and fluorescence images in the band before 650nm, and the fluorescence path image sensor 532 acquires a frame of fluorescence images in the band after 650nm every other frame. The fluorescence images acquired by the two image sensors are synthesized to increase the fluorescence intensity. The synthesized fluorescence image is fused with the white light image, and finally the fused image is displayed.

[0106] Through this preferred implementation, the simultaneous acquisition of fluorescent images and white light images is achieved, frame rate loss is avoided, and there is a high tolerance for fluorescence intensity. It can be applied to fluorescence scenes of different strengths. Using frame alternation under weak fluorescence can solve the problem that the fluorescent area is difficult to accurately and clearly identify.

[0107] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0108] In addition, in combination with the fluorescence image processing method provided in the above embodiments, a storage medium may be provided in this embodiment to implement the method. The storage medium stores a computer program; when the computer program is executed by a processor, any one of the fluorescence image processing methods in the above embodiments is implemented.

[0109] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0110] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0111] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0112] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A fluorescence image processing method, characterized in that: The method comprises: In the fluorescence mode, the object to be inspected, which has been marked with a fluorescent agent, is illuminated based on the detection light, wherein the detection light includes white light and excitation light emitted in a set light emission mode; Based on a collection method corresponding to the light emission method, light signals from the object under inspection are collected, a first image is obtained based on light signals of a first band, and a second image is obtained based on light signals of a second band; the first band is set based on a spectral range of fluorescence excited by the excitation light, and the second band is set based on a spectral range of white light; The first image and the second image are fused to obtain a fluorescence detection image of the object under inspection.

2. The fluorescence image processing method according to claim 1, characterized in that: Setting the light emission mode according to the intensity of the fluorescence excited by the excitation light; Wherein, setting the light emission mode according to the intensity of the fluorescence excited by the excitation light includes: When the intensity of the fluorescence excited by the excitation light meets the preset condition, the light emission mode adopts the mode of emitting the white light and the excitation light simultaneously; When the fluorescence intensity does not meet the preset condition, the light emitting mode adopts a mode in which the white light and the excitation light are emitted alternately according to the video frame rate.

3. The fluorescence image processing method according to claim 2, characterized in that: Based on the collection method corresponding to the light emitting method, it includes: When the light emitting mode is that the white light and the excitation light are emitted simultaneously, the collecting mode is that the light signal of the first waveband and the light signal of the second waveband are collected at the same time.

4. The fluorescence image processing method according to claim 3, characterized in that: The first image and the second image are fused to obtain a fluorescence detection image of the object under inspection, including: The first image comprises a fluorescent image, and the second image comprises a white light image; registering the fluorescence image and the white light image; After the registration, the fluorescent area in the fluorescent image is superimposed and displayed on the corresponding position of the white light image with a preset color to obtain a fluorescent detection image of the object to be inspected.

5. The fluorescence image processing method according to claim 2, characterized in that: Based on the collection method corresponding to the light emitting method, it includes: When the light-emitting mode is that the white light and the excitation light are emitted alternately according to the video frame rate, the collection mode is that when the excitation light is irradiated alone, the light signal of the first band and the light signal of the second band are collected at the same time; when the white light is irradiated alone, only the light signal of the first band is collected.

6. The fluorescence image processing method according to claim 5, characterized in that: The first image and the second image are fused to obtain a fluorescence detection image of the object under inspection, including: When the spectrum range of the fluorescence partially overlaps with the spectrum range of the white light, at the moment when the object to be inspected is irradiated with the excitation light alone, the first image and the second image are simultaneously collected, the first image including a first frame of fluorescence path image, and the second image including a first frame of white light path image; When the object to be inspected is illuminated by the white light alone, the second image is acquired, wherein the second image includes a second frame of white light path image; synthesizing the first frame of the fluorescent path image and the first frame of the white light path image to obtain an enhanced fluorescent image; The enhanced fluorescence image and the second frame of white light path image are superimposed to obtain a fluorescence detection image of the object under inspection.

7. The fluorescence image processing method according to claim 6, characterized in that: The enhanced fluorescence image and the second frame of white light path image are superimposed to obtain a fluorescence detection image of the object under inspection, including: Registering the enhanced fluorescence image with the second frame of white light path image; After registration, the fluorescent area of ​​the enhanced fluorescent image is superimposed and displayed on the corresponding position of the second frame of white light path image in a preset color to obtain a fluorescent detection image of the object under inspection.

8. A fluorescence endoscope system, characterized in that: The system includes: a light source module, a camera module, a memory and a processor; The light source module is used to emit detection light; The camera module is used to capture the first image and the second image; The memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

9. The fluorescence endoscope system according to claim 8, characterized in that: The camera module also includes an optical unit, a light splitting unit, a first imaging unit and a second imaging unit; The optical unit is used to collect light from the object to be inspected and transmit the light to the spectroscopic unit; The light splitting unit is used to split the received light into a light signal of a first wavelength band and a light signal of a second wavelength band, transmit the light signal of the first wavelength band to the first imaging unit, and transmit the light signal of the second wavelength band to the second imaging unit; The first imaging unit is configured to generate the first image based on the light signal of the first wavelength band; The second imaging unit is used to generate the second image based on the light signal in the second wavelength band.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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