Hyperspectral endoscope and imaging method thereof

Abstract

The invention provides a hyperspectral endoscope and an imaging method thereof, and is characterized in that an endoscope body is internally provided with a high-frequency monochromatic illumination assembly, a hyperspectral imaging assembly, a data acquisition assembly, a display assembly, a data processing assembly and a control assembly, and the high-frequency monochromatic illumination assembly uses a high-frequency monochromatic source to illuminate a target object; reflected light of a target object is input to the hyperspectral imaging assembly, the signal output end of the hyperspectral imaging assembly is connected with a signal input end interface of the data acquisition assembly, the signal output end of the data acquisition assembly is connected with the signal input end of the data processing assembly, and the signal output end of the data processing assembly is connected with the display assembly. The illumination assembly, the endoscope imaging assembly, the data acquisition assembly, the display assembly and the data processing assembly are all controlled and connected by the control assembly; according to the invention, the hyperspectral image is provided for an observer, and the diseased or potential diseased tissues or parts can be directly found by analyzing the hyperspectral image, so that the working process of medical personnel is simplified, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of endoscope instruments, in particular to the technical field of hyperspectral endoscope, and specifically to a hyperspectral endoscope and an imaging method thereof. Background Art

[0002] In the prior art, endoscopes are important instruments for minimally invasive surgery and various examinations in the medical field. Inserting an endoscope into a body cavity to observe the illuminated and photographed part can effectively reduce the burden on the patient's body. However, it still has the following technical problems:

[0003] First, the existing endoscopes do not have the function of hyperspectral imaging, and can only provide three-primary color or multi-spectral images; the existing endoscope light sources mainly use LED lamps, halogen lamps and xenon lamps, and the light sources generally use full-spectrum illumination plus filter switching or monochrome LED switching to generate multiple spectral light sources. Therefore, the monochromatic light source has the problems of low power, low spectral resolution, low imaging contrast, and low differentiation between lesion and non-lesion tissue; at the same time, halogen lamps and xenon lamps have the disadvantages of short life and high power consumption.

[0004] Second, use fluorescent agent + specific lighting to detect the diseased tissue or part (fluorescent agent will be lost during surgery and lose its marking function), and display the diseased part by collecting images. The color development component is difficult to control quantitatively, so the color development effect is difficult to output stably.

[0005] 3. The color of the light source cannot be adjusted or the adjustment is complicated. Sometimes, in the use of endoscopes, not only white light is used for normal light observation, but also special light such as infrared light is used for special light observation in order to observe the internal blood vessels.

[0006] Therefore, there is an urgent need for a hyperspectral endoscope with simple structure, efficient color rendering and stability. Summary of the invention

[0007] In view of the above problems, the present application proposes a hyperspectral endoscope that can provide hyperspectral images and adjustable light. By analyzing the hyperspectral images, the lesions or potential lesion tissues or parts can be directly detected, thereby simplifying the workflow of medical staff and improving work efficiency.

[0008] The present application provides a hyperspectral endoscope, comprising an endoscope body, characterized in that a high-frequency monochromatic lighting component, a hyperspectral imaging component, a data acquisition component, a display component, a data processing component, and a control component are arranged in the endoscope body.

[0009] The high-frequency monochromatic lighting component includes a high-frequency monochromatic light source and an illumination fiber. The illumination fiber is set up along the inside of the endoscope body. The tail end of the illumination fiber is connected to the high-frequency monochromatic light source through a spectrum module. The front end of the illumination fiber is fixed to the front end of the endoscope body to illuminate the target object. The high-frequency monochromatic light source as the illumination light source is composed of a spectrum module, i.e., a high-speed monochromator:

[0010] The hyperspectral imaging component is composed of three parts: a wide-angle optical imaging mirror, a relay image transmission mirror, and an image transmission and magnification connecting mirror. They are arranged in sequence from the front end to the rear end inside the endoscope body along the propagation direction of the imaging beam. The wide-angle optical imaging mirror is located at the front end of the endoscope body, the relay image transmission mirror is located in the middle of the endoscope body, and the image transmission and magnification connecting mirror is located at the end of the endoscope body and connected to the detector.

[0011] The endoscope penetrates deep into the body through the opening, and the high-frequency monochromatic light in the body illuminates the target object, the target object reflects the monochromatic light, and part of the monochromatic light enters the front-end imaging component of the hyperspectral endoscope. The signal output end of the hyperspectral imaging component is connected to the detector module, which is wired via the optical fiber or the signal input end of the data acquisition component. The signal output end of the data acquisition component is wired via the optical fiber or the signal input end of the data processing component, and the signal output end of the data processing component is wired to the display component. The lighting component, endoscope imaging component, data acquisition component, display component, and data processing component are all controlled and connected by the control component.

[0012] Furthermore, the illumination optical fiber is composed of four parts: a light energy collecting mirror group, a fiber coupling module of the optical fiber, a fiber light guiding module, and a fiber coupling module that couples the light energy from the optical fiber into the front-end illumination optical system. The light energy collecting mirror group collects the light energy of the high-frequency monochromatic light source and introduces it into the fiber coupling module of the optical fiber, the fiber light guiding module, and the fiber coupling module that couples the light energy from the optical fiber into the front-end illumination optical system.

[0013] Furthermore, the data acquisition component data acquisition electronic circuit module is combined with a CCD or CMOS detector.

[0014] Furthermore, the high-frequency monochromatic light source is obtained by the spectroscopic separation of complex light entering a high-frequency monochromator. The structure of the high-frequency monochromator is as follows: it includes a spectrometer and a scanning emission mechanism. The scanning emission mechanism is loaded after the light beam is emitted from the spectrometer. An incident slit, a spectrometer, a field stop, a collimating optical component, a rotating reflector or a rotating reflector with a grating spectroscopic function, a converging imaging component, and an exit slit are sequentially arranged along the optical path. The light is emitted through the field stop and the exit slit to form an L-shaped optical path.

[0015] The incident slit, the spectrometer, the field diaphragm, the collimating optical component, the rotating reflector or rotating reflector with a grating spectroscopic function, the converging imaging component, and the exit slit are all fixed vertically to the horizontal plane. The rotating reflector or rotating reflector with a grating spectroscopic function is arranged at the junction of the L-shaped optical path. The central axis of the collimating optical component and the central axis of the field diaphragm are on an optical axis. The converging imaging component and the exit slit are arranged on a straight optical axis in the light emitting direction. The central axis of the converging imaging component and the central axis of the exit slit are on an optical axis. A corresponding exit slit is arranged at the image plane of the converging imaging component.

[0016] Furthermore, the rotating reflector or rotating reflector with grating splitting function is located at the entrance pupil and exit pupil of the two optical components, the collimating optical component and the converging imaging component. The rotating reflector or rotating reflector with grating splitting function is a structure in which a rotating reflector is superimposed with a grating, or a structure in which a scanning reflector is superimposed with a grating or a rotating reflector.

[0017] Furthermore, the collimating optical component is a lens or a reflector, and the resolution of the collimating mirror is adapted to the resolution of the spectrum and the position of the motor; the converging imaging component is a lens or a reflector, and the resolution of the converging imaging component is adapted to the resolution of the spectrum and the position of the motor.

[0018] Furthermore, the L-shaped optical path is an acute angle or an obtuse angle, which can be adjusted according to actual needs.

[0019] The present application provides an imaging method for a hyperspectral endoscope, characterized in that a hyperspectral endoscope as described above uses an optical fiber to access the illumination light beam output by a high-frequency monochromator as a light source to illuminate a target object, and then uses an endoscope imaging optical system to image the target object illuminated by the monochromatic light onto an endoscope detector, and collects high-spectral resolution monochrome images through a data acquisition and storage system to form a data cube; a control system uniformly allocates the illumination monochromatic light and exposure monochromatic light images, one frame and one color, and cooperates with the data acquisition system to obtain hyperspectral image data cube data at high speed, and submits it to software or AI for interpretation and display.

[0020] Furthermore, in the spectroscopic method of the high-frequency monochromator, the complex color light is incident from the incident slit, passes through the spectrometer, the field diaphragm, and the collimating optical component to change the incident divergent light beam into a collimated parallel light beam, and then is incident on a rotating reflector or a rotating reflector with a grating spectroscopic function, and various color lights are incident on the converging imaging component to be imaged to its image plane, and color bands of various color lights appear on the image plane of the converging imaging component, and a corresponding exit slit is set at the image plane of the converging imaging component, and by rotating the rotating reflector or the rotating reflector with a grating spectroscopic function, various color lights are sequentially emitted at the exit slit, that is, monochromatic light is emitted, to form a monochromator.

[0021] Furthermore, the reflector with grating spectroscopic function is rotated at high speed by the rotating mechanism, so the switching speed of monochromatic light is also high, forming high-frequency switching monochromatic output; each time the reflector with grating spectroscopic function rotates an angle, monochromatic light of one color is obtained.

[0022] Compared with the prior art, the present application has the following beneficial effects: the present invention provides observers with hyperspectral images, and lesions or potential lesion tissues or sites can be directly discovered through analysis of the hyperspectral images without waiting for clinical sections or fluorescent agents and specific light sources to discover them; the present invention simplifies the workflow of medical staff and improves work efficiency.

[0023] (1) The hyperspectral endoscope of the present application utilizes a high-frequency monochromatic light source as an illumination light source and utilizes an illumination optical fiber to introduce the high-frequency monochromatic light source. The high-frequency monochromatic light source illuminates the monitored area, thereby improving the reflectivity of the target object in the monitored area and the resolution of the reflected light, thereby providing a solid basis for the observer to make judgments on the hyperspectral image. The high-frequency monochromatic light source cooperates with the hyperspectral imaging component to provide the observer with a hyperspectral image.

[0024] (2) The high-frequency monochromatic light source of the hyperspectral endoscope of the present application comes from a high-frequency monochromator, and a rotating reflector with a grating spectroscopic function is used. While ensuring the spectroscopic efficiency, the component structure of the existing monochromator is simplified, and the color of the output high-frequency monochromatic light source can be adjusted. This greatly enhances the practicality of the endoscope in applications, because sometimes not only white light is used for normal light observation, but also components for special light observation using special light such as infrared light are provided to observe internal blood vessels. The output light source of the high-frequency monochromator can be adjusted, making observation more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of the hyperspectral endoscope of the present invention.

[0026] Figure 2 This is a schematic diagram of the working principle of the hyperspectral endoscope of the present invention.

[0027] Figure 3 The figure is a working schematic diagram of a high-frequency monochromator for generating a high-frequency monochromatic light source of the hyperspectral endoscope of the present invention.

[0028] Figure 4 for Figure 3 Schematic diagram of the scanning emission mechanism structure.

[0029] Figure 5 for Figure 3 Working principle diagram of the scanning emission mechanism.

[0030] Figure 6 This is a structural schematic diagram of a rotating reflector with a grating splitting function.

[0031] Description of the markings in the figure:

[0032] 1 endoscope body, 2 illumination beam, 3 imaging beam, 4 high frequency monochromator, 5 high frequency monochromatic light source, 6 illumination optical fiber, 7 wide angle optical imaging mirror, 8 relay image transmission mirror, 9 image transmission magnification connecting mirror;

[0033] 31 entrance slit, 32 rotating reflector or rotating reflector with grating splitting function, 33 exit slit, 34 collimating optical component, 35 converging imaging component, 36 grating, 37 reflector, 38 rotation axis, 39 rotating mechanism, 310 field stop, 311 convex grating. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. It is believed that those skilled in the art can fully understand the technical solution of this case.

[0035] Embodiment 1

[0036] like Figure 1 As shown, the present application provides a hyperspectral endoscope, including an endoscope body 1, in which a high-frequency monochromatic lighting component, a hyperspectral imaging component, a data acquisition component, a display component, a data processing component, and a control component are arranged. The high-frequency monochromatic lighting component utilizes a high-frequency monochromatic light source 5 to illuminate a target object, and the reflected light of the target object is input to the hyperspectral imaging component. The signal output end of the hyperspectral imaging component is wired via an optical fiber or a signal input end of a data acquisition component, the signal output end of the data acquisition component is wired via an optical fiber or a signal input end of a data processing component, and the signal output end of the data processing component is wired to the display component. The lighting component, the endoscope imaging component, the data acquisition component, the display component, and the data processing component are all controlled and connected by the control component.

[0037] The illumination beam output by the high-frequency monochromator is connected through an optical fiber as a light source to illuminate the target object, and then the target object illuminated by the monochromatic light is imaged onto the endoscope detector through the endoscope imaging optical system, and the high-spectral resolution monochrome images are collected through the data acquisition and storage system to form a data cube; the control system uniformly allocates the illumination monochromatic light and the exposure monochromatic light images, one frame and one color, and cooperates with the data acquisition system to obtain the hyperspectral image data cube data at high speed, which is then handed over to the software or AI for interpretation and display.

[0038] In this embodiment, the high-frequency monochromatic lighting assembly includes a high-frequency monochromatic light source 5 and an illumination fiber 6. The illumination fiber 6 is set up along the inside of the endoscope body 1. In this embodiment, it can be fixed by a wiring groove or adhesive or other conventional fixing methods. The tail end of the illumination fiber 6 is connected to the high-frequency monochromatic light source 5 through a spectrum module, and the front end of the illumination fiber 6 is fixed to the front end of the endoscope body 1 to illuminate the target object; wherein the high-frequency monochromatic light source 5 as an illumination light source is composed of a spectrum module, that is, a high-speed monochromator:

[0039] In this embodiment, the hyperspectral imaging component is composed of three parts: a wide-angle optical imaging lens 7, a relay image transmission lens 8, and an image transmission and magnification connecting lens 9. They are arranged in sequence from the front end to the rear end inside the endoscope body 1 along the propagation direction of the imaging beam 3. The wide-angle optical imaging lens 7 is located at the front end of the endoscope body 1, the relay image transmission lens 8 is located in the middle of the endoscope body 1, and the image transmission and magnification connecting lens 9 is located at the end of the endoscope body 1 and connected to the detector;

[0040] In this embodiment, the data acquisition component: the data acquisition electronic circuit module cooperates with detectors such as CCD or CMOS to obtain hyperspectral imaging data, and images the target object illuminated by monochromatic light onto the endoscope detector; the data processing component: performs data processing, storage, submission, intelligence generation, autonomous decision-making, early warning and other functions on the hyperspectral imaging data obtained by the data acquisition component; the display component: the display cooperates with necessary display software to display the hyperspectral image;

[0041] In another embodiment, the existing light source illumination system is used unchanged, and at the focal plane of the current imaging system, only the existing CCD or CMOS chip is replaced with a hyperspectral image chip to obtain a hyperspectral image, which is then processed by software for display.

[0042] In another embodiment, the existing light source illumination system is used unchanged, and the switching scanning output system and the spectrometer applied for in this application are connected at the focal plane of the imaging system at the focal plane of the current imaging system, that is, the patent we applied for is used in reverse, and then a CCD or CMOS chip is set at the focal plane of the spectrometer, and a hyperspectral image can also be obtained, which is then processed and displayed by software.

[0043] In this embodiment, the software and control components: control module components including lighting, acquisition, processing, display, etc., organize these module components, and make these module components work in a predetermined order and maintain normal operation, acquire hyperspectral imaging data, process hyperspectral imaging data, store hyperspectral imaging data, produce intelligence, make decisions, and display them to staff, etc.

[0044] like Figure 2As shown, the software and control module control and organically organize the data acquisition and lighting systems. First, the lighting system is controlled to call a certain monochromatic light in the front-end endoscope imaging optical system to illuminate the target. Then, the data acquisition system is controlled to collect the target monochromatic light image data and hand it over to the storage migration module and the display module. While providing images that meet specific requirements to display part of the data or all of the data and intelligence in real time, the collected data and images are stored and handed over to the intelligence processing system for analysis, processing, and decision-making, and analysis results or reports and alarms are given.

[0045] In this embodiment, the illumination optical fiber 6 is composed of four parts: a light energy collecting mirror group, a fiber coupling module for the optical fiber, a fiber light guiding module, and a fiber coupling module for coupling the light energy from the optical fiber into the front-end illumination optical system. The light energy collecting mirror group collects the light energy of the high-frequency monochromatic light source 5 and introduces it into the fiber coupling module, the fiber light guiding module, and the fiber coupling module for coupling the light energy from the optical fiber into the front-end illumination optical system.

[0046] In this embodiment, the high-frequency monochromatic light source 5 is obtained by splitting the complex light into the high-frequency monochromator 4. The structure of the high-frequency monochromator 4 is as follows: Figure 3-5 As shown: it includes a spectrometer and a scanning output mechanism. The scanning output mechanism is loaded after the spectrometer outputs a light beam. An incident slit 31, a spectrometer, a field stop 310, a collimating optical component 34, a rotating reflector with a grating light splitting function or a rotating reflector 32, a converging imaging component 35, and an exit slit 33 are sequentially arranged along the light path. The light is emitted through the field stop 310 and the exit slit 33 to form an L-shaped light path.

[0047] The incident slit 31, the spectrometer, the field aperture 310, the collimating optical component 34, the rotating reflector or the rotating reflector 32 with a grating spectroscopic function, the converging imaging component 35, and the exit slit 33 are all fixed vertically to the horizontal plane. The rotating reflector or the rotating reflector 32 with a grating spectroscopic function is arranged at the junction of the L-shaped optical path. The central axis of the collimating optical component 34 and the central axis of the field aperture 310 are on an optical axis. The converging imaging component 35 and the exit slit 33 are arranged on a straight optical axis in the light emitting direction. The central axis of the converging imaging component 35 and the central axis of the exit slit 33 are on an optical axis. A corresponding exit slit 33 is arranged at the image plane of the converging imaging component 35.

[0048] In this embodiment, the selected spectrometer may be any conventional spectrometer.

[0049] In this embodiment, the L-shaped light path is at a certain angle. Specifically, the L-shaped light path can be adjusted as needed to be an acute angle or an obtuse angle.

[0050] In this embodiment, if Figure 6As shown, the rotating reflector with grating light splitting function or the rotating reflector 32 is a structure of a rotating reflector superimposed with a grating or a rotating reflector. The rotating reflector with grating light splitting function is a structure of a rotating reflector superimposed with a grating. The rotating mirror can be a plane or superimposed grating, the type of grating is not limited, and the superimposed grating adopts a plane grating, a concave grating or a convex grating.

[0051] In another embodiment, if Figure 6 As shown, the rotating reflector or rotating reflector 32 with grating light splitting function is a structure of a scanning reflector superimposed with a grating or a rotating reflector. The rotating mirror can be a plane or superimposed grating, the type of grating is not limited, and the superimposed grating adopts a plane grating, a concave grating or a convex grating.

[0052] In this embodiment, the collimating optical component 34 is a lens or a reflector, and the resolution of the collimating mirror is adapted to the resolution of the spectrum and the position of the motor.

[0053] In this embodiment, the converging imaging component 35 is a lens or a reflector, and the resolution of the converging imaging component 35 is adapted to the resolution of the spectrum and the position of the motor.

[0054] In this embodiment, the rotating reflector or the rotating reflector 32 with grating light splitting function is located at the entrance pupil and exit pupil of the collimating optical component 34 and the converging imaging component 35, so as to conveniently and efficiently utilize the energy of the input and output beams.

[0055] In this embodiment, the line width of the slit will affect the spectral resolution and energy of the spectrometer; the slit (the end in the figure), the line width of the slit will affect the spectral resolution and energy of the spectrometer. It can be adjusted as needed.

[0056] In this embodiment, the reflector or rotating reflector with grating spectroscopic function is rotated at high speed by the rotating mechanism, so the switching speed of monochromatic light is also high, forming high-frequency switching monochromatic output. High-speed rotating reflector 2 (reflector or rotating reflector with grating spectroscopic function, so the switching speed of monochromatic light is also high, thus realizing high-frequency switching monochromatic light output.

[0057] Embodiment 2

[0058] Based on the first embodiment, the spectrometer in the high-frequency monochromator 4 is preferably a spectrometer containing a convex grating. The spectrometer uses a convex grating as a spectroscopic element. The convex grating does not need to rotate during the spectroscopic process, thereby ensuring that the position of the emitted monochromatic light is relatively fixed.

[0059] Embodiment 3

[0060] On the basis of the first embodiment, the high-frequency monochromator 4 can also be simplified to consist of two matching objective lenses and a high-speed grating swing mirror, so that the white light beam collimated by the front objective lens is incident on the rotating mirror (grating) and forms a collimated light beam arranged in a monochromatic pattern after diffraction by the high-speed swing mirror, and the monochromatic spectrum is arranged on the focal plane of the objective lens after convergence by the second objective lens, and then the monochromatic light is emitted through the exit slit 33. When the exit slit 33 is fixed, the rotation of the swing mirror can select the wavelength of the emitted monochromatic light, that is, the spectrum.

[0061] Embodiment 4

[0062] On the basis of the first embodiment, the source of the high-frequency monochromatic light source 5 of the present application can also be replaced by any conventional monochromator.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A hyperspectral endoscope, comprising an endoscope body, characterized in that: The endoscope body is provided with a high-frequency monochromatic lighting component, a hyperspectral imaging component, a data acquisition component, a display component, a data processing component, and a control component. A high-frequency monochromatic lighting component, comprising a high-frequency monochromatic light source and an illumination fiber. The illumination fiber is set up along the interior of the endoscope body. The tail end of the illumination fiber is connected to the high-frequency monochromatic light source through a spectrum module. The front end of the illumination fiber is fixed to the front end of the endoscope body to illuminate the target object. The high-frequency monochromatic light source as the illumination light source is composed of a spectrum module, namely a high-speed monochromator: The hyperspectral imaging component is composed of three parts: a wide-angle optical imaging mirror, a relay image transmission mirror, and an image transmission and magnification connecting mirror. They are arranged in sequence from the front end to the rear end inside the endoscope body along the propagation direction of the imaging beam. The wide-angle optical imaging mirror is located at the front end of the endoscope body, the relay image transmission mirror is located in the middle of the endoscope body, and the image transmission and magnification connecting mirror is located at the end of the endoscope body and connected to the detector. The endoscope penetrates deep into the body through the opening, and the high-frequency monochromatic light in the body illuminates the target object, the target object reflects the monochromatic light, and part of the monochromatic light enters the front-end imaging component of the hyperspectral endoscope. The signal output end of the hyperspectral imaging component is connected to the detector module, which is wired via the optical fiber or the signal input end of the data acquisition component. The signal output end of the data acquisition component is wired via the optical fiber or the signal input end of the data processing component, and the signal output end of the data processing component is wired to the display component. The lighting component, endoscope imaging component, data acquisition component, display component, and data processing component are all controlled and connected by the control component.

2. A hyperspectral endoscope according to claim 1, characterized in that: The illumination optical fiber is composed of four parts: a light energy collecting mirror group, an optical fiber coupling module for the optical fiber, an optical fiber light guide module, and an optical fiber coupling module for coupling the optical energy from the optical fiber into the front-end illumination optical system. The light energy collecting mirror group collects the light energy of the high-frequency monochromatic light source and introduces it into the optical fiber coupling module, the optical fiber light guide module, and the optical fiber coupling module for coupling the light energy from the optical fiber into the front-end illumination optical system.

3. A hyperspectral endoscope according to claim 1, characterized in that: The data acquisition component data acquisition electronic circuit module is combined with a CCD or CMOS detector.

4. A hyperspectral endoscope according to claim 1, characterized in that: The high-frequency monochromatic light source is obtained by the spectroscopic separation of complex light entering the high-frequency monochromator. The structure of the high-frequency monochromator is as follows: it includes a spectrometer and a scanning emission mechanism. The scanning emission mechanism is loaded after the light beam emitted by the spectrometer. An incident slit, a spectrometer, a field stop, a collimating optical component, a rotating reflector with a grating spectroscopic function or a rotating reflector, a converging imaging component, and an exit slit are sequentially arranged along the light path. The light is emitted through the field stop and the exit slit to form an L-shaped light path. The entrance slit, the spectrometer, the field diaphragm, the collimating optical component, the rotating reflector or rotating reflector with a grating spectroscopic function, the converging imaging component, and the exit slit are all fixed vertically to the horizontal plane. The rotating reflector or rotating reflector with a grating spectroscopic function is arranged at the junction of the L-shaped optical path. The central axis of the collimating optical component and the central axis of the field diaphragm are on an optical axis. The converging imaging component and the exit slit are arranged on a straight optical axis in the light emitting direction. The central axis of the converging imaging component and the central axis of the exit slit are on an optical axis. A corresponding exit slit is arranged at the image plane of the converging imaging component.

5. A hyperspectral endoscope according to claim 4, characterized in that: The rotating reflector or rotating reflector with grating splitting function is located at the entrance pupil and exit pupil of the collimating optical component and the converging imaging component. The rotating reflector or rotating reflector with grating splitting function is a structure in which a rotating reflector is superimposed with a grating, or a structure in which a scanning reflector is superimposed with a grating or a rotating reflector.

6. A hyperspectral endoscope according to claim 4, characterized in that: The collimating optical component is a lens or a reflector, and the resolution of the collimating mirror is adapted to the resolution of the spectrum and the position of the motor; the converging imaging component is a lens or a reflector, and the resolution of the converging imaging component is adapted to the resolution of the spectrum and the position of the motor.

7. A hyperspectral endoscope according to claim 4, characterized in that: The L-shaped optical path is an acute angle or an obtuse angle.

8. A hyperspectral endoscope imaging method, characterized in that: The hyperspectral endoscope as described in any one of claims 1 to 7 uses an optical fiber to access the illumination beam output by the high-frequency monochromator as a light source to illuminate the target object, and then uses the endoscope imaging optical system to image the target object illuminated by the monochromatic light onto the endoscope detector, and collects high-spectral resolution monochrome images through the data acquisition and storage system to form a data cube; the control system uniformly allocates the illumination monochromatic light and the exposure monochromatic light images, one frame and one color, and cooperates with the data acquisition system to obtain the hyperspectral image data cube data at high speed, and submits it to the software or AI for interpretation and display.

9. The method for developing a hyperspectral endoscope according to claim 8, characterized in that: The spectroscopic method of the high-frequency monochromator is that the complex color light is incident from the incident slit, passes through the spectrometer, the field diaphragm, and the collimating optical component to change the incident divergent light beam into a collimated parallel light beam, and then is incident on a rotating reflector or a rotating reflector with a grating spectroscopic function. Various color lights are incident on the converging imaging component and imaged to its image plane. Color bands of various color lights appear on the image plane of the converging imaging component. A corresponding exit slit is set on the image plane of the converging imaging component. By rotating the rotating reflector or the rotating reflector with a grating spectroscopic function, various color lights are sequentially emitted at the exit slit, that is, monochromatic light is emitted, to form a monochromator.

10. The hyperspectral endoscope imaging method according to claim 8, characterized in that: The reflector with grating spectroscopic function is rotated at high speed by the rotating mechanism, so the switching speed of monochromatic light is also high, forming high-frequency switching monochromatic output; each time the reflector with grating spectroscopic function rotates an angle, monochromatic light of one color is obtained.

Images