Focus-adjustable optical 3D endoscope camera system

Abstract

The invention provides a focusable optical 3D endoscope camera system, comprising a hard endoscope having a left optical path imaging system and a right optical path imaging system for respectively receiving mixed light reflected from an object to be measured; the binocular focusing adapter is used for receiving and adjusting the light path of the two paths of mixed light; the camera device is used for receiving the optical image signal processed by the binocular focusing adapter and converting the optical image signal into an electric signal; the host is used for receiving the electric signal transmitted by the camera device, processing the electric signal through an image processing module to generate a single-path 2D color image and a fluorescence image, and further fusing the 2D color image and the fluorescence image into a fused image; the 3D display is used for receiving and displaying the fused image output by the host; the binocular focusing adapter is provided with a cam structure, and the definition of images at different distances can be adjusted in real time by rotating the cam structure. According to the invention, the external focusing function of the optical 3D can be realized, so that a terminal user can conveniently adjust the definition of the optical 3D in the use process.

Description

Technical Field

[0001] The invention relates to the technical field of endoscopes, and in particular to a focus-adjustable optical 3D endoscope camera system. Background Art

[0002] In the current stage of surgical operations, minimally invasive surgery has become the mainstream with its small trauma and quick recovery. This has also promoted the development of medical devices such as endoscopes, providing doctors with a lot of convenience. However, some operations are very difficult and complicated. It is still difficult to operate by simply providing doctors with a 2D picture without a sense of three-dimensionality. This has restricted the further development of minimally invasive surgery to a certain extent. Therefore, this has promoted the development of 3D endoscopes with a sense of three-dimensionality.

[0003] 3D endoscopes imitate the imaging principle of the human eye, which is called binocular stereoscopic vision. Specifically, two identical optical systems at a certain distance apart image the same object from different angles, forming two parallax images with different image point positions on the image for the same physical point in space. These two parallax images are synthesized by the camera system and can be played on a 3D display. When viewers wear 3D glasses, they can see the corresponding left and right parallax images in their left and right eyes respectively. The human brain will automatically fuse the parallax images seen by the left and right eyes, and produce an obvious sense of depth, thereby perceiving 3D images.

[0004] 3D endoscope camera system can provide medical staff with depth and stereoscopic feeling that traditional 2D endoscope system cannot provide. It enables medical staff to more accurately perceive the spatial distance between surgical instruments and organs in the patient's body, and improve the accuracy of surgical implementation. At present, the 3D endoscope camera systems on the market are mainly divided into optical 3D endoscopes and electronic 3D endoscopes. The difference between optical 3D endoscopes and electronic 3D endoscopes mainly lies in the different positions of image sensors and the different ways of image transmission. The image sensor of electronic 3D is at the tip of the endoscope. After passing through the objective lens, the image is directly formed on the image sensor, and then the image sensor converts the optical signal into an electrical signal and transmits it to the processing module in the handle for further processing; in order to obtain a clear image, the objective lens group at the tip must be focused during assembly. After the focus is clear, it is fixed and then sealed. Therefore, when in use, the electronic 3D cannot be focused, and the real-time focusing function cannot be achieved. As for optical 3D, its image sensor is placed in the handle at the rear end of the endoscope tube. The endoscope tube contains two pure optical imaging lenses. The image is formed by the objective lens at the tip, and then the image is transmitted to the rear end of the endoscope through several groups of 1:1 image transfer systems. After the focusing module, it is clearly presented on the image sensor. Most of the optical 3D endoscope products on the market currently choose to put the focusing module in the handle. If the image becomes blurred after a long time of use, the handle can be easily disassembled for focusing. The focusing is generally more convenient than electronic 3D, but it is also impossible to achieve real-time focusing during the use of end customers. This has some disadvantages. For example, as the use time increases, the optical lens may have some slight changes, and the focal length offset may cause blur. At this time, if the real-time focusing cannot be achieved, the machine must be returned to the factory for disassembly and refocusing, which increases the time cost. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a focus-adjustable optical 3D endoscope camera system, which can realize the external focusing function of optical 3D, so that the end user can adjust the clarity of the optical 3D during use. In the event of blur, there is no need to return to the factory for repair, which greatly reduces time cost, increases convenience, and provides a better user experience.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0007] An optical 3D endoscope camera system with adjustable focus, comprising:

[0008] The rigid endoscope has a left optical path imaging system and a right optical path imaging system for respectively receiving mixed light reflected from the object to be tested;

[0009] A binocular focusing adapter connected to the rear end of the rigid endoscope and used for receiving and adjusting the optical path of the two-way mixed light;

[0010] A camera device, arranged at the rear end of the binocular focusing adapter, for receiving the optical image signal processed by the binocular focusing adapter and converting it into an electrical signal;

[0011] The host includes an image processing module, which is used to receive the electrical signal transmitted from the camera device, and to generate a single-channel 2D color image and a fluorescent image through processing by the image processing module, and to further fuse the left and right 2D color and fluorescent images with parallax into a fused image;

[0012] 3D display, used to receive and display the fused image output by the host, which can present clear and stereoscopic 3D color or white light, fluorescent and fused images when viewed through 3D glasses;

[0013] The binocular focusing adapter has a cam structure, and the clarity of the image at different distances can be adjusted in real time by rotating the cam structure.

[0014] According to a focus-adjustable optical 3D endoscope camera system provided by the present invention, the camera device includes a filter that only allows visible light and fluorescent emission wavelengths to pass through and an image sensor, the filter is used to filter out unnecessary bands and transmit useful optical image signals to the image sensor.

[0015] According to the focus-adjustable optical 3D endoscope camera system provided by the present invention, the light of the mixed light source is transmitted inside the rigid endoscope through the light guide, and the light is irradiated on the object to be measured and reflected to form mixed light, and the mixed light contains light of various wavelength components emitted from the mixed light source, which are respectively received by the left optical path imaging system and the right optical path imaging system to generate corresponding optical image signals, and then transmitted to the binocular focusing adapter;

[0016] The mixed light in the white light mode only includes white light, and the mixed light in the fluorescent mode includes white light and infrared fluorescence emitted by the fluorescent substance.

[0017] According to a focusable optical 3D endoscope camera system provided by the present invention, the binocular focusing adapter includes a left optical system and a right optical system, and the left optical system and the right optical system are both designed according to the object-image relationship xx'=ff' of an ideal optical system, wherein x is the object distance, x' is the image distance, f is the object focus, and f' is the image focus.

[0018] According to the focus-adjustable optical 3D endoscope camera system provided by the present invention, when the binocular focus adapter is a fixed focus system, the object focus f and the image focus f' remain unchanged, so that the product of the object distance x and the image distance x' is a constant K, that is, xx'=K;

[0019] By rotating the cam structure, the left optical system and the right optical system are driven to move forward and backward as a whole, so as to change the distance between the left optical system and the right optical system and their corresponding image sensors, that is, change the image distance x', so as to ensure that when using the optical 3D endoscope camera system to observe objects at different object distances x, the constant value of the object-image relationship xx' can be maintained, so that the optical image signal can be clearly presented on the image sensor.

[0020] According to a focus-adjustable optical 3D endoscope camera system provided by the present invention, the image processing module is configured to perform the following steps to generate a single-channel 2D color image and a fluorescence image:

[0021] Separate the color channels of the left and right images to obtain their respective RGB channel images;

[0022] For the fluorescence component, the fluorescence extraction algorithm is applied to separate the fluorescence channel image from the RGB channel;

[0023] Perform color image processing on the left and right RGB channel images to generate a single 2D color image;

[0024] Performing fluorescence image processing on the left and right fluorescence channel images to generate a single-channel fluorescence image;

[0025] The left and right 2D color images and fluorescence images are registered to eliminate image misalignment caused by viewing angle differences and ensure spatial consistency of the two images.

[0026] According to the focus-adjustable optical 3D endoscope camera system provided by the present invention, the registered left and right 2D color images are fused, and a color fused image with a three-dimensional sense is generated by using depth information or an image fusion algorithm;

[0027] Similarly, the registered left and right fluorescence images are fused to generate a fluorescence fusion image;

[0028] Alternatively, the color fused image is further fused with the fluorescence fused image to simultaneously display color and fluorescence information in the same image;

[0029] The generated color fusion image and fluorescence fusion image are output to a 3D display.

[0030] According to a focus-adjustable optical 3D endoscope camera system provided by the present invention, the cam structure is designed to have surfaces with different curvatures and contours, and when rotated, it can drive the lens group in the binocular focusing adapter to move in different ways, thereby changing the focal length of the lens.

[0031] According to a focusable optical 3D endoscope camera system provided by the present invention, the binocular focusing adapter includes a central circular area and a cam structure arranged around its periphery, the left optical system and the right optical system are arranged in the central circular area, and the cam structure includes a plurality of adjustment units, and the plurality of adjustment units are evenly distributed around the central circular area, and can drive the left optical system and the right optical system to move by rotating.

[0032] It can be seen that compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention can adjust the focus in real time during use, which makes the user experience better. When blur problems occur, there is no need to return to the factory for repair, which reduces time costs.

[0034] 2. The rigid endoscope of the present invention has a left optical path imaging system and a right optical path imaging system, which can respectively receive mixed light reflected from the object to be tested, so that the system can capture left and right images with parallax, providing a basis for subsequent 3D image fusion.

[0035] 3. The present invention can rotate the cam structure in real time to accurately adjust the positions of the left optical system and the right optical system, thereby realizing real-time adjustment of image clarity at different distances. This design provides flexible focal length adjustment, allowing the system to maintain image clarity at different observation distances.

[0036] 4. The present invention receives the electrical signal transmitted from the camera device through the image processing module, and processes it to generate a single 2D color image and a fluorescent image, and further fuses the left and right 2D color and fluorescent images with parallax into a fused image, which not only improves the image resolution and clarity, but also realizes the generation of 3D images, providing doctors with a more intuitive and three-dimensional surgical field of view.

[0037] 5. When the binocular focusing adapter is a fixed focus system, the object focus and the image focus remain unchanged, so that the product of the object distance x and the image distance x' is a constant K (i.e. xx'=K). This feature ensures that at a fixed focal length, no matter how the object distance changes, the size and clarity of the image can remain consistent, thereby improving the stability and reliability of the system.

[0038] 6. By adjusting the image distance x', the binocular focusing adapter of the present invention can ensure that when an externally focusable 3D endoscope camera system is used to observe objects at different object distances x, the constant value of the object-image relationship xx'=ff' remains unchanged, so that the system can maintain the clarity and stability of the image at different observation distances, thereby improving the accuracy and safety of the operation.

[0039] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a principle diagram of an embodiment of a focus-adjustable optical 3D endoscope camera system of the present invention.

[0041] Figure 2 It is a signal transmission schematic diagram of an embodiment of a focus-adjustable optical 3D endoscope camera system of the present invention.

[0042] Figure 3 The present invention is a schematic structural diagram of a binocular focusing adapter in an embodiment of a focusable optical 3D endoscope camera system. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] See also Figures 1 to 3 The present invention provides a focus-adjustable optical 3D endoscope camera system, comprising:

[0046] The rigid endoscope B10 has a left optical path imaging system B11, a right optical path imaging system B13 and a light guide B13, which are used to respectively receive the mixed light reflected from the object to be measured A10.

[0047] The binocular focusing adapter C10 is connected to the rear end of the rigid endoscope B10 and is used to receive and adjust the optical path of the two-way mixed light.

[0048] The camera device D10 is disposed at the rear end of the binocular focusing adapter C10, and is used to receive the optical image signal processed by the binocular focusing adapter C10 and convert it into an electrical signal.

[0049] The host E10 includes an image processing module for receiving the electrical signal transmitted from the camera device D10, and processing the signal through the image processing module to generate a single 2D color image and a fluorescent image, and further fusing the left and right 2D color and fluorescent images with parallax into a fused image.

[0050] The 3D display G10 is used to receive and display the fused image output by the host E10, and can present clear 3D color or white light, fluorescent and fused images with a three-dimensional sense when observed through 3D glasses.

[0051] White light and laser hybrid light source F10.

[0052] Among them, the binocular focusing adapter C10 has a cam structure. During use, the clarity of the image at different distances can be adjusted in real time by rotating the cam structure, so that each distance presents the best state.

[0053] In this embodiment, the camera device D10 includes filters and image sensors that only allow visible light and fluorescent emission wavelengths to pass, which are filters D11 and D12, and multi-CMOS image sensors D13 and D14. The filters are used to filter out unnecessary bands and transmit useful optical image signals to the image sensors.

[0054] In this embodiment, light from the mixed light source is transmitted inside the rigid endoscope B10 through the light guide. The light is irradiated on the object to be measured A10 and reflected to form mixed light. The mixed light contains light of various wavelength components emitted from the mixed light source, which are received by the left optical path imaging system B11 and the right optical path imaging system B13 respectively to generate corresponding optical image signals, which are then transmitted to the binocular focusing adapter C10.

[0055] The mixed light in the white light mode only includes white light, and the mixed light in the fluorescent mode includes white light and infrared fluorescence emitted by the fluorescent substance.

[0056] Specifically, after the two mixed lights come out from the rear end of the rigid endoscope B10, they pass through the binocular focusing adapter C10, and then after filtering out stray light through a specific filter, they hit the left and right image sensors D13 and D14; the image sensor generates a corresponding electrical signal, which is transmitted to the digital signal processing chip (DSP) for processing, and a single 2D color (white light) and fluorescent image can be generated. Then, the left and right 2D color (white light) and fluorescent images with a certain parallax are further fused into a fused image through image processing technology on the host E10, and then output to the 3D display G10. Through 3D glasses, you can see clear 3D color (white light), fluorescent and fused images with a three-dimensional sense.

[0057] In this embodiment, the binocular focusing adapter C10 includes a left optical system C11 and a right optical system C12. Both the left optical system C11 and the right optical system C12 are designed according to the object-image relationship xx'=ff' of an ideal optical system, where x is the object distance, x' is the image distance, f is the object focus, and f' is the image focus.

[0058] In this embodiment, when the binocular focusing adapter C10 is a fixed focus system, the object focus f and the image focus f' remain unchanged, so that the product of the object distance x and the image distance x' is a constant K, that is, xx'=K;

[0059] By rotating the cam structure, the left optical system C11 and the right optical system C12 are driven to move forward and backward as a whole, so as to change the distance between the left optical system C11 and the right optical system C12 and their corresponding image sensors D13 and D14, that is, change the image distance x', so as to ensure that when using the optical 3D endoscope camera system to observe objects at different object distances x, the constant value of the object-image relationship xx' can be maintained, so that the optical image signal can be clearly presented on the image sensor.

[0060] Specifically, the focusing adapter is a binocular focusing adapter with a cam structure, including left and right optical systems C11 and C12, and the two optical systems are fixed-focus systems with the same structure. According to the object-image relationship of the ideal optical system xx'=ff', where x is the object distance, x' is the image distance, f is the object focus, and f' is the image focus. When the system is a fixed-focus system, that is, the object focus f and the image focus f' remain unchanged, then xx'=K, K is a constant, so when the object distance x changes, the image distance x' needs to change accordingly to keep the image clear. Therefore, when using an externally adjustable focusing 3D endoscope camera system to view objects at different object distances x, in order to keep xx' at a constant value, the image distance x' must be changed. At this time, the cam structure is rotated to drive the internal optical systems C11 and C12 of the structure to move back and forth as a whole, thereby changing the distance between the optical systems C11 and C12 and the image sensors D13 and D14. In other words, the image distance x' is changed so that the optical image signal can be clearly presented on the image sensors D13 and D14.

[0061] In this embodiment, the image processing module is configured to perform the following steps to generate a single-channel 2D color image and a fluorescence image:

[0062] Separate the color channels of the left and right images to obtain their respective RGB channel images;

[0063] For the fluorescence component, the fluorescence channel image is separated from the RGB channel using a fluorescence extraction algorithm, which includes steps such as light filtering, background removal, and noise suppression.

[0064] Perform color image processing on the left and right RGB channel images, such as color correction and contrast enhancement, to generate a single-channel 2D color image;

[0065] Perform fluorescence image processing on the left and right fluorescence channel images, such as fluorescence signal enhancement, background elimination, etc., to generate a single-channel fluorescence image;

[0066] The left and right 2D color images and fluorescence images are registered to eliminate image misalignment caused by viewing angle differences and ensure spatial consistency of the two images.

[0067] In this embodiment, the registered left and right 2D color images are fused, and a color fused image with a three-dimensional sense is generated using depth information or an image fusion algorithm;

[0068] Similarly, the registered left and right fluorescence images are fused to generate a fluorescence fusion image;

[0069] Alternatively, the color fused image is further fused with the fluorescence fused image to simultaneously display color and fluorescence information in the same image;

[0070] The generated color fusion image and fluorescence fusion image are output to the 3D display G10.

[0071] In this embodiment, the cam structure is designed to have surfaces with different curvatures and profiles, and when rotating, it can drive the lens group in the binocular focusing adapter C10 to move in different ways, thereby changing the focal length of the lens.

[0072] In this embodiment, the binocular focusing adapter C10 includes a central circular area and a cam structure arranged around its periphery. The left optical system C11 and the right optical system C12 are arranged in the central circular area. The cam structure includes a plurality of adjustment units, and the plurality of adjustment units are evenly distributed around the central circular area. The left optical system C11 and the right optical system C12 can be driven to move by rotation.

[0073] The camera device D10 of this embodiment may be a camera handle, and the camera device D10 includes filters D11 and D12 and multiple CMOS image sensors D13 and D14.

[0074] For 3D 4K endoscope camera systems with fluorescence function, since the excitation wavelength and emission wavelength of fluorescence are different, the useful signals that the image sensor needs to receive are the fluorescence signal and visible light signal transmitted by the emission wavelength. Therefore, it is necessary to add bandpass filters D11 and D12 that only allow visible light and fluorescence emission wavelengths to pass between the optical system C11 and C12 and the image sensors D13 and D14, filter out unnecessary bands, and transmit useful optical image signals to the image sensors D13 and D14.

[0075] For image sensors D13 and D14, after receiving the optical image signals transmitted by C11 and C12, they will convert the optical signals into corresponding analog electrical signals through photoelectric conversion, and then further convert them into digital image signals after A / D conversion, and transmit them to the digital signal processing chip (DSP) in the host E10 for processing, so that single-channel 2D color and fluorescent images can be output. Then, the left and right 2D color and fluorescent images with certain parallax are further fused by HIP1000 in the host E10, and output to the 4K 3D display G10. Through 3D glasses, you can see clear 3D 4K images with a sense of stereo.

[0076] In summary, the present invention can adjust the focus in real time during use, so that the user experience is better, and when blur problems occur, there is no need to return to the factory for repair, thus reducing time costs.

[0077] Furthermore, the rigid endoscope B10 of the present invention has a left optical path imaging system B11 and a right optical path imaging system B13, which can respectively receive mixed light reflected from the object to be tested A10, so that the system can capture left and right images with parallax, providing a basis for subsequent 3D image fusion.

[0078] Furthermore, the present invention can rotate the cam structure in real time to accurately adjust the positions of the left optical system C11 and the right optical system C12, thereby achieving real-time adjustment of image clarity at different distances. This design provides flexible focal length adjustment, allowing the system to maintain image clarity at different observation distances.

[0079] Furthermore, the present invention receives the electrical signal transmitted from the camera device D10 through the image processing module, and processes it to generate a single 2D color image and a fluorescent image, and further fuses the left and right 2D color and fluorescent images with parallax into a fused image, which not only improves the image resolution and clarity, but also realizes the generation of 3D images, providing doctors with a more intuitive and three-dimensional surgical field of view.

[0080] Furthermore, when the binocular focusing adapter C10 is a fixed focus system, the object focus and the image focus remain unchanged, so that the product of the object distance x and the image distance x' is a constant K (i.e., xx'=K). This feature allows the image size and clarity to remain consistent under a fixed focal length regardless of how the object distance changes, thereby improving the stability and reliability of the system.

[0081] Furthermore, by adjusting the image distance x', the binocular focusing adapter C10 of the present invention can ensure that when an externally focusable 3D endoscope camera system is used to observe objects at different object distances x, the constant value of the object-image relationship xx'=ff' remains unchanged, so that the system can maintain image clarity and stability at different observation distances, thereby improving the accuracy and safety of the operation.

[0082] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. An optical 3D endoscope camera system with adjustable focus, characterized in that: include: The rigid endoscope has a left optical path imaging system and a right optical path imaging system for respectively receiving mixed light reflected from the object to be tested; A binocular focusing adapter connected to the rear end of the rigid endoscope and used for receiving and adjusting the optical path of the two-way mixed light; A camera device, arranged at the rear end of the binocular focusing adapter, for receiving the optical image signal processed by the binocular focusing adapter and converting it into an electrical signal; A host, including an image processing module, for receiving an electrical signal transmitted from a camera device, and processing the electrical signal through the image processing module to generate a single-channel 2D color image and a fluorescent image, and further fusing the left and right 2D color and fluorescent images with parallax into a fused image; A 3D display, used for receiving and displaying the fused image output by the host, which can present clear 3D color or white light, fluorescent and fused images with stereoscopic sense when viewed through 3D glasses; Wherein, the binocular focusing adapter has a cam structure, and the clarity of the image at different distances can be adjusted in real time by rotating the cam structure.

2. The system according to claim 1, characterized in that: The camera device includes a filter that only allows visible light and fluorescence emission wavelengths to pass through and an image sensor. The filter is used to filter out unnecessary wavelengths and transmit useful optical image signals to the image sensor.

3. The system according to claim 1, characterized in that: The light from the mixed light source is transmitted inside the rigid endoscope through the light guide, and the light is irradiated on the object to be tested and reflected to form mixed light, which contains light of various wavelength components emitted from the mixed light source, and is respectively received by the left optical path imaging system and the right optical path imaging system to generate corresponding optical image signals, which are then transmitted to the binocular focusing adapter; The mixed light in the white light mode only includes white light, and the mixed light in the fluorescent mode includes white light and infrared fluorescence emitted by the fluorescent substance.

4. The system according to claim 1, characterized in that: The binocular focusing adapter comprises a left optical system and a right optical system, both of which are designed according to the object-image relationship xx'=ff' of an ideal optical system, wherein x is the object distance, x' is the image distance, f is the object focus, and f' is the image focus.

5. The system according to claim 4, characterized in that: When the binocular focusing adapter is a fixed focus system, the object focus f and the image focus f' remain unchanged, so that the product of the object distance x and the image distance x' is a constant K, that is, xx'=K; By rotating the cam structure, the left optical system and the right optical system are driven to move forward and backward as a whole, so as to change the distance between the left optical system and the right optical system and their corresponding image sensors, that is, change the image distance x', so as to ensure that when using the optical 3D endoscope camera system to observe objects at different object distances x, the constant value of the object-image relationship xx' can be maintained, so that the optical image signal can be clearly presented on the image sensor.

6. The system according to claim 1, characterized in that: The image processing module is configured to perform the following steps to generate a single-channel 2D color image and a fluorescence image: Separate the color channels of the left and right images to obtain their respective RGB channel images; For the fluorescence component, the fluorescence extraction algorithm is applied to separate the fluorescence channel image from the RGB channel; Perform color image processing on the left and right RGB channel images to generate a single 2D color image; Performing fluorescence image processing on the left and right fluorescence channel images to generate a single-channel fluorescence image; The left and right 2D color images and fluorescence images are registered to eliminate image misalignment caused by viewing angle differences and ensure spatial consistency of the two images.

7. The system according to claim 6, characterized in that: The registered left and right 2D color images are fused, and a three-dimensional color fused image is generated using depth information or image fusion algorithm; Similarly, the registered left and right fluorescence images are fused to generate a fluorescence fusion image; Alternatively, the color fused image is further fused with the fluorescence fused image to simultaneously display color and fluorescence information in the same image; The generated color fusion image and fluorescence fusion image are output to a 3D display.

8. The system according to any one of claims 1 to 7, characterized in that: The cam structure is designed to have surfaces with different curvatures and profiles, and when rotated, it can drive the lens group in the binocular focusing adapter to move in different ways, thereby changing the focal length of the lens.

9. The system according to any one of claims 1 to 7, characterized in that: The binocular focusing adapter includes a central circular area and a cam structure arranged around its periphery. The left optical system and the right optical system are arranged in the central circular area. The cam structure includes a plurality of adjustment units, which are evenly distributed around the central circular area and can drive the left optical system and the right optical system to move by rotating.

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