Intelligent endoscope image processing and displaying system

Abstract

The invention discloses an intelligent endoscope image processing and displaying system, which belongs to the technical field of endoscope images and comprises a fluorescent endoscope module, an image processing module, a display module, a modular module and a control module. The fluorescent endoscope module is used for transmitting an optical signal emitted by a focus tissue to the single-chip three-waveband camera unit in the modular module; the display module is used for displaying images; the image processing module is used for processing the received electric signal to form a real-time three-band image and outputting the three-band image to the display module for displaying; the modular module comprises a single-chip three-waveband camera unit and a three-waveband illumination light source unit; the single-chip three-band camera shooting unit is used for collecting and processing the received optical signals, forming corresponding electric signals and transmitting the electric signals to the image processing module; the three-band illumination light source unit is used for three-band illumination, and the control module is used for imaging control.

Description

Technical Field

[0001] The invention belongs to the technical field of endoscope images, and in particular is an endoscope image intelligent processing and display system. Background Art

[0002] Endoscopes are important tools in medical diagnosis, surgical treatment, and industrial inspection. Their image quality and processing capabilities are directly related to the accuracy of diagnosis and the precision of operation. In clinical use, surgeons often use drugs such as indocyanine green (ICG) and methylene blue (methylene blue) as tissue developers, and cooperate with ICG fluorescent imaging equipment to obtain the development of lesion tissues and fluorescent positioning marks of anatomical tissues. Provide intuitive and simple image positioning marks for surgery to reduce surgical risks. However, existing fluorescent imaging equipment can only provide a single fluorescent image of ICG, and cannot simultaneously present a fluorescent image of methylene blue. There is a lack of an endoscopic fluorescent imaging system that combines two developers into one.

[0003] Based on this, the present invention provides an endoscope image intelligent processing and display system. Summary of the invention

[0004] In order to solve the problems existing in the above-mentioned solutions, the present invention provides an endoscope image intelligent processing and display system.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An endoscope image intelligent processing and display system comprises a fluorescent endoscope module, an image processing module, a display module, a modular module and a control module;

[0007] The fluorescent endoscope module is used to transmit the optical signal emitted by the lesion tissue to the single-chip three-band camera unit in the modular module;

[0008] The display module is used for image display;

[0009] The image processing module is used to process the received electrical signal to form a real-time three-band image, and output the three-band image to the display module for display;

[0010] The modular module includes a single-chip three-band camera unit and a three-band illumination light source unit;

[0011] The single-chip three-band camera unit is used to collect and process the received optical signals, form corresponding electrical signals and transmit them to the image processing module;

[0012] The three-band illumination light source unit is used for three-band illumination, and the three-band illumination includes white light, ICG excitation 780nm, and methylene blue excitation 660nm; the white light band is 400nm-700nm;

[0013] The control module is used for performing imaging control.

[0014] Furthermore, the single-chip three-band camera unit includes an imaging convergence lens and a CMOS chip, and the acquisition and processing method of the single-chip three-band camera unit includes:

[0015] The imaging convergence lens is used to trap and block the excitation interference spectra of the excitation light of 780nm and 660nm of the three-band illumination light source unit, and the CMOS chip is used to image and acquire the white light band of 400nm-700nm and the emission band of 825nm and 680nm to form corresponding electrical signals.

[0016] Furthermore, the three-band lighting source unit includes: a driving and control circuit, a 660nm solid-state light source, an LED white light source, a 780nm solid-state light source, a first dichroic mirror, a second dichroic mirror, a focusing transmission lens, and a light guide interface device.

[0017] Furthermore, the 660nm solid-state light source and the 780nm solid-state light source both have fixed power and light intensity, and output continuously; the LED white light source has fixed power and can adjust the light intensity.

[0018] Furthermore, the first dichroic mirror is 45 degrees, the transmission wavelength is ≥650nm, T≥98%; the reflection wavelength is ≤649nm, R≥95%@300-649; the second dichroic mirror is 45 degrees, the transmission wavelength is ≤700nm, T≥98%; the reflection wavelength is ≥770nm, R≥95%@770-785.

[0019] Furthermore, the imaging control method includes:

[0020] Indocyanine green and methylene blue are injected into the lesion tissue at the same time, and the three-band illumination light source unit is controlled to perform three-band illumination on the lesion tissue. After being reflected and absorbed by the lesion tissue, indocyanine green and methylene blue emit 400nm-825nm light signals, which are transmitted to the single-chip three-band camera unit by the fluorescent endoscope module. The single-chip three-band camera unit collects and processes the received light signals to form corresponding electrical signals and transmits them to the image processing module; the image processing module processes the received electrical signals to form real-time three-band images, and outputs the three-band images to the display module for display.

[0021] Furthermore, it also includes a modular analysis module, which is used to perform modular analysis on the single-chip three-band camera unit and the three-band illumination light source unit, including an imaging evaluation unit and an information analysis unit;

[0022] The imaging evaluation unit is used to evaluate the display image of the display module, obtain corresponding imaging evaluation results, and display the imaging evaluation results to the user, and the user performs corresponding processing according to the imaging evaluation results;

[0023] The information analysis unit is used to perform information analysis when the user replaces the corresponding single-chip three-band camera unit or three-band lighting source unit, and determine whether the single-chip three-band camera unit or three-band lighting source unit selected by the user meets the replacement requirements;

[0024] When it is determined that the replacement requirements are not met, a replacement notification is displayed to the user;

[0025] When it is determined that the replacement requirements are met, a replacement prompt is displayed to the user, and after the user completes the replacement, the corresponding imaging evaluation result is obtained, and the user is prompted whether the replacement is successful based on the imaging evaluation result.

[0026] Furthermore, the method for evaluating the displayed image includes:

[0027] Step SA1: The platform sets a non-conforming feature library according to imaging requirements, wherein the non-conforming feature library is used to store non-conforming features and non-conforming reasons corresponding to the non-conforming features;

[0028] A display evaluation model is established, and the expression of the display evaluation model is:

[0029]

[0030] Where: (si, U) is the input data, si is the image recognition feature of the display image, i is the subscript, i=1, 2, ..., n, n is the number of recognition features in the display image; U is the non-conforming feature set; the output data is the non-conforming evaluation value XP (si, U); si→U indicates that the corresponding image recognition feature belongs to the non-conforming feature set;

[0031] Identifying a set of non-conforming features in the non-conforming feature library;

[0032] Step SA2: performing real-time image feature recognition on the display image to obtain corresponding image recognition features, analyzing the recognized image recognition features and the non-conforming feature set through the display evaluation model to obtain non-conforming evaluation values ​​of the image recognition features;

[0033] The display evaluation value of the display image is calculated in real time according to the display evaluation formula; the display evaluation formula is:

[0034]

[0035] Where: PK is the display evaluation value;

[0036] Step SA3: when the displayed evaluation value is greater than or equal to 1, the analysis is stopped, and the evaluation display image does not meet the imaging requirements;

[0037] When the displayed evaluation value is equal to 0, the process returns to step SA2 until there is no new image recognition feature, then stops the analysis and evaluates that the displayed image meets the imaging requirements.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] Traditional fluorescent imaging equipment can only display the fluorescent image of ICG, while the system of the present invention can capture and display the fluorescent images of ICG and methylene blue at the same time. This dual-fluorescence imaging capability provides the surgeon with a richer and more intuitive surgical field of view, helps to more accurately locate the lesion tissue and anatomical structure, thereby reducing the risk of surgery and improving the success rate of surgery. In previous surgeries, if it is necessary to use ICG and methylene blue for development at the same time, the surgeon may need to switch different fluorescent imaging equipment or use other complex means. The system of the present invention realizes the simultaneous imaging of two developers without the need for additional equipment or steps, which greatly simplifies the surgical process, saves operation time, and reduces the burden on the surgeon and the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 This is a principle block diagram of the present invention;

[0042] Figure 2 It is the working mechanism diagram of the present invention;

[0043] Figure 3 It is a structural diagram of the three-band lighting source unit of the present invention. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only 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.

[0045] like Figures 1 to 3 As shown, an endoscope image intelligent processing and display system includes a fluorescent endoscope module, an image processing module, a display module, a modular module, a modular analysis module and a control module;

[0046] The fluorescent endoscope module is an existing fluorescent endoscope, which is used to transmit the optical signal emitted by the lesion tissue to the single-chip three-band camera unit in the modular module.

[0047] The display module is used for image display and can apply existing displays with a resolution of 4K, 3840*2160.

[0048] The image processing module is used for performing image processing, that is, processing the received electrical signal to form a three-band image, and outputting the three-band image to the display module for display.

[0049] In one embodiment, the specific image processing method can be processed according to various existing image processing technologies, such as respectively acquiring a reference image and an original fluorescence image, performing image comparison between the reference image and the original fluorescence image, and obtaining a color difference image according to the comparison result; splitting the color difference image to obtain color difference values ​​and brightness curves respectively; performing color processing on the color difference image according to the color difference values ​​and brightness curves of the color difference image, and generating a fluorescence color image; replacing the original fluorescence image with the fluorescence color image to obtain a fluorescence processed image, and then transmitting the fluorescence processed image to a display terminal; refer to the patent application with publication number CN118433550A.

[0050] The modular module includes a single-chip three-band camera unit and a three-band illumination light source unit, and the single-chip three-band camera unit and the three-band illumination light source unit are both arranged in a modular manner, that is, they can be replaced accordingly as needed later;

[0051] The single-chip three-band camera unit is used to collect and process the received optical signals, and form corresponding electrical signals to be transmitted to the image processing module. The single-chip three-band camera unit includes an imaging convergence lens, a CMOS chip, and the like.

[0052] In one embodiment, the method for collecting and processing the received optical signal includes:

[0053] The excitation interference spectra of 780nm and 660nm of the three-band illumination light source unit are notched and blocked by the imaging convergence lens, and only the white light band (400nm-700nm), emission band 825nm, 680nm and other wavelength light signals are retained for single-chip CMOS imaging. The CMOS chip selection should meet the spectral response efficiency of 400-700nm: QE≥98%, 820-840±5nm: QE≥95%, etc., to ensure the maximum photoelectric signal conversion ratio of the chip, and transmit the electrical signal to the image processing module at the same time.

[0054] The three-band illumination light source unit is used for three-band illumination, and the three-band illumination includes white light (400-700nm)+ICG excitation 780nm+methylene blue excitation 660nm.

[0055] like Figure 3 As shown, the three-band lighting source unit includes:

[0056] Driving and control circuit: Provides the voltage and current requirements of the light source, as well as real-time monitoring and system feedback protection, user adjustment, etc.;

[0057] 660nm solid-state light source: fixed power and light intensity, non-adjustable, continuous output;

[0058] LED white light source: fixed power and independent adjustment of light intensity;

[0059] 780nm solid-state light source: fixed power and light intensity, non-adjustable, continuous output;

[0060] Dichroic mirror 1: 45 degrees; transmission wavelength ≥ 650nm, T ≥ 98%; reflection wavelength ≤ 649nm, R ≥ 95% @ 300-649; for distinction, marked as the first dichroic mirror;

[0061] Dichroic mirror 2: 45 degrees; transmission wavelength ≤ 700nm, T ≥ 98%; reflection wavelength ≥ 770nm, R ≥ 95% @ 770-785; for distinction, marked as the second dichroic mirror;

[0062] Focusing transmission lens;

[0063] Light guide interface device.

[0064] The control module is used for performing imaging control. When imaging is required, indocyanine green and methylene blue are injected into the lesion tissue simultaneously, and the three-band illumination light source unit is controlled to perform three-band illumination on the lesion tissue. After being reflected and absorbed by the lesion tissue, indocyanine green and methylene blue emit 400nm-825nm light signals, which are transmitted to the single-chip three-band camera unit by the fluorescent endoscope module. The single-chip three-band camera unit collects and processes the received light signals to form corresponding electrical signals and transmits them to the image processing module; the image processing module processes the received electrical signals to form real-time three-band images, and outputs the three-band images to the display module for display.

[0065] The corresponding modules and units can realize the on and off of the LED white light source, the light intensity adjustment, the on and off of the LED+780nm light source, the fluorescent real-time imaging of LED white light and 780nm excitation, and the continuous and simultaneous imaging of the image background brightness and fluorescence of LED white light; the on and off of the LED white light+780nm+660nm three-band illumination light source, the dual fluorescent real-time imaging of LED white light+780nm+660nm excitation; the continuous and simultaneous imaging of the image background brightness and two fluorescents of LED white light. The 780nm and 660nm light sources need to be turned on together with the LED white light, and cannot be turned on separately, and the output is: continuous output of two mixed lights of white light and one of the light sources; or continuous output of three mixed lights of white light and two light sources. The light intensity of the 780nm and 660nm light sources cannot be adjusted to fix the maximum power and light intensity so that the developer can obtain the maximum excitation energy efficiency. The choice of light source is related to the choice of the corresponding developer by the operator.

[0066] The actual working mechanism of the three-band illumination source unit, fluorescent endoscope module, and single-chip three-band camera unit is to provide the image processing center with independent signals of white light, ICG, and methylene blue fluorescence spectra after notch blocking, and generate real-time images containing three-band spectra after image algorithm processing. The larger the pixel of the chip, the clearer the final display effect and the more prominent the details.

[0067] In one embodiment, the present invention can also be expanded to: a two-way binocular 3D three-band three-mode simultaneous imaging endoscopic imaging system of the system, the difference being that the single-chip system application is defined as a phase difference acquisition screen for the left eye and the right eye, which is output to an image processing center for synthesized 3D polarized video format (left and right, up and down, line by line) and output to a 3D display to obtain a 3D three-band three-mode stereoscopic image.

[0068] The modular analysis module is used to perform modular analysis on the single-chip three-band camera unit and the three-band illumination light source unit, and includes an imaging evaluation unit and an information analysis unit;

[0069] The imaging evaluation unit is used to evaluate the display image of the display module, determine whether the display image meets the imaging requirements, obtain corresponding imaging evaluation results, and display the obtained imaging evaluation results to the user; the user performs corresponding processing according to the imaging evaluation results, such as replacing the corresponding single-chip three-band camera unit, three-band lighting source unit, etc., and the processing is specifically performed according to user needs and reasons for non-compliance.

[0070] The display image is a three-band image displayed in real time by the display module.

[0071] The imaging requirements are set according to the lighting direction and the image acquisition direction to determine whether the displayed image does not meet the use requirements due to lighting, image acquisition and other reasons, and then set the corresponding imaging requirements to determine to what extent the displayed image meets the use requirements and to what extent the image does not meet the use requirements.

[0072] In one embodiment, the displayed image may be evaluated based on existing image evaluation technology, such as establishing a corresponding image evaluation model based on a neural network such as a CNN network or a DNN network, and performing intelligent evaluation using a successfully trained image evaluation model.

[0073] In one embodiment, a method for evaluating a displayed image includes:

[0074] Step SA1: A non-conforming feature library is set up according to the imaging requirements. The non-conforming feature library is used to store various image recognition features that do not meet the imaging requirements, mark them as non-conforming features, and set corresponding non-conforming reasons for each non-conforming feature, and add them to the non-conforming feature library; the non-conforming feature library is specifically established by the platform, such as the platform analyzing various existing display images that do not meet the requirements, summarizing various non-conforming features, and setting corresponding non-conforming reasons; and the non-conforming feature library can be updated at each user's location as the platform updates.

[0075] A display evaluation model is established. The display evaluation model is established based on the existing image recognition and recognition judgment technology. The expression of the display evaluation model is:

[0076]

[0077] Where: (si, U) is the input data, si is the image recognition feature of the display image, i is the subscript, i=1, 2, ..., n, n is the number of recognition features in the display image; U is the set of non-conforming features in the non-conforming feature library, marked as the non-conforming feature set; the output data is the non-conforming evaluation value XP (si, U); si→U indicates that the corresponding image recognition feature belongs to the non-conforming feature set;

[0078] Identify a set of non-conforming features in a non-conforming feature library;

[0079] Step SA2: performing real-time image feature recognition on the displayed image to obtain corresponding image recognition features, analyzing the recognized image recognition features and the non-conforming feature set through the display evaluation model to obtain non-conforming evaluation values ​​of the corresponding image recognition features;

[0080] The display evaluation value of the display image is calculated in real time according to the display evaluation formula; the display evaluation formula is:

[0081]

[0082] Where: PK is the display evaluation value; that is, the display evaluation value is calculated once each time a non-conforming characteristic value is obtained;

[0083] Step SA3: when the displayed evaluation value is greater than or equal to 1, the analysis is stopped, and the evaluation display image does not meet the imaging requirements;

[0084] When the displayed evaluation value is equal to 0, the process returns to step SA2 until there is no new image recognition feature, then stops the analysis and evaluates that the displayed image meets the imaging requirements.

[0085] The information analysis unit is used to perform information analysis when the user replaces the corresponding single-chip three-band camera unit or three-band lighting source unit, and determine whether the single-chip three-band camera unit or three-band lighting source unit selected by the user meets the replacement requirements;

[0086] When it is determined that the replacement requirements are not met, a replacement notification is displayed to the user;

[0087] When it is determined that the replacement requirements are met, a replacement prompt is displayed to the user, and after the user completes the replacement, the corresponding imaging evaluation result is obtained, and the user is prompted whether the replacement is completed based on the imaging evaluation result, that is, meeting the imaging requirements indicates that the replacement is successful.

[0088] In one embodiment, whether the single-chip three-band camera unit or the three-band illumination light source unit selected by the user meets the replacement requirements can be judged based on the existing technology, that is, whether the relevant information of the single-chip three-band camera unit or the three-band illumination light source unit selected by the user meets the corresponding requirements therefor, and the respective unit requirements, such as the dichroic mirror requirements, etc., can be determined according to the relevant information of the above-mentioned single-chip three-band camera unit and the three-band illumination light source unit, and the corresponding unit requirements are specifically set by the platform party.

[0089] In one embodiment, a method for determining whether a single-chip three-band camera unit or a three-band illumination light source unit selected by a user meets the replacement requirements includes:

[0090] The unit information of the single-chip three-band camera unit or the three-band illumination light source unit selected by the user is obtained, the corresponding unit requirements are obtained, the corresponding unit information is judged according to the unit requirements, and the judgment result is obtained.

[0091] In one embodiment, a method for determining whether a single-chip three-band camera unit or a three-band illumination light source unit selected by a user meets the replacement requirements includes:

[0092] The platform compiles all optional single-chip three-band camera units and three-band lighting source units that meet the replacement requirements, establishes a unit library, and updates it in real time. The unit library is displayed to users, and users can directly select from it, or compare with the unit library after selection.

[0093] The above formulas are all calculated by removing dimensions and taking numerical values. The formula is a formula that is closest to the actual situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained by simulating a large amount of data.

[0094] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. An endoscope image intelligent processing and display system, characterized in that: It includes a fluorescent endoscope module, an image processing module, a display module, a modular module and a control module; The fluorescent endoscope module is used to transmit the optical signal emitted by the lesion tissue to the single-chip three-band camera unit in the modular module; The display module is used for image display; The image processing module is used to process the received electrical signal to form a real-time three-band image, and output the three-band image to the display module for display; The modular module includes a single-chip three-band camera unit and a three-band illumination light source unit; The single-chip three-band camera unit is used to collect and process the received optical signals, form corresponding electrical signals and transmit them to the image processing module; The three-band illumination light source unit is used for three-band illumination, and the three-band illumination includes white light, ICG excitation 780nm, and methylene blue excitation 660nm; the white light band is 400nm-700nm; The control module is used for performing imaging control.

2. The endoscopic image intelligent processing and display system according to claim 1, characterized in that: The single-chip three-band camera unit includes an imaging convergence lens and a CMOS chip. The acquisition and processing method of the single-chip three-band camera unit includes: The imaging convergence lens is used to trap and block the excitation interference spectra of the excitation light of 780nm and 660nm of the three-band illumination light source unit, and the CMOS chip is used to image and acquire the white light band of 400nm-700nm and the emission band of 825nm and 680nm to form corresponding electrical signals.

3. The endoscopic image intelligent processing and display system according to claim 1, characterized in that: The three-band lighting source unit includes: a driving and control circuit, a 660nm solid-state light source, an LED white light source, a 780nm solid-state light source, a first dichroic mirror, a second dichroic mirror, a focusing transmission lens, and a light guide interface device.

4. The endoscopic image intelligent processing and display system according to claim 3, characterized in that: The 660nm solid-state light source and the 780nm solid-state light source both have fixed power and light intensity, and continuous output; the LED white light source has fixed power and can adjust the light intensity.

5. The endoscopic image intelligent processing and display system according to claim 3, characterized in that: The first dichroic mirror is 45 degrees, the transmission wavelength is ≥650nm, T≥98%; the reflection wavelength is ≤649nm, R≥95%@300-649; the second dichroic mirror is 45 degrees, the transmission wavelength is ≤700nm, T≥98%; the reflection wavelength is ≥770nm, R≥95%@770-785.

6. The endoscopic image intelligent processing and display system according to claim 1, characterized in that: Methods of imaging control include: Indocyanine green and methylene blue are injected into the lesion tissue at the same time, and the three-band illumination light source unit is controlled to perform three-band illumination on the lesion tissue. After being reflected and absorbed by the lesion tissue, indocyanine green and methylene blue emit 400nm-825nm light signals, which are transmitted to the single-chip three-band camera unit by the fluorescent endoscope module. The single-chip three-band camera unit collects and processes the received light signals to form corresponding electrical signals and transmits them to the image processing module; the image processing module processes the received electrical signals to form real-time three-band images, and outputs the three-band images to the display module for display.

7. The endoscopic image intelligent processing and display system according to claim 1, characterized in that: It also includes a modular analysis module, which is used to perform modular analysis on the single-chip three-band camera unit and the three-band illumination light source unit, including an imaging evaluation unit and an information analysis unit; The imaging evaluation unit is used to evaluate the display image of the display module, obtain corresponding imaging evaluation results, and display the imaging evaluation results to the user, and the user performs corresponding processing according to the imaging evaluation results; The information analysis unit is used to perform information analysis when the user replaces the corresponding single-chip three-band camera unit or three-band lighting source unit, and determine whether the single-chip three-band camera unit or three-band lighting source unit selected by the user meets the replacement requirements; When it is determined that the replacement requirements are not met, a replacement notification is displayed to the user; When it is determined that the replacement requirements are met, a replacement prompt is displayed to the user, and after the user completes the replacement, the corresponding imaging evaluation result is obtained, and the user is prompted whether the replacement is successful based on the imaging evaluation result.

8. The endoscopic image intelligent processing and display system according to claim 7, characterized in that: Methods for evaluating displayed images include: Step SA1: The platform sets a non-conforming feature library according to imaging requirements, wherein the non-conforming feature library is used to store non-conforming features and non-conforming reasons corresponding to the non-conforming features; A display evaluation model is established, and the expression of the display evaluation model is: Where: (si, U) is the input data, si is the image recognition feature of the display image, i is the subscript, i=1, 2, ..., n, n is the number of recognition features in the display image; U is the non-conforming feature set; the output data is the non-conforming evaluation value XP (si, U); si→U indicates that the corresponding image recognition feature belongs to the non-conforming feature set; Identifying a set of non-conforming features in the non-conforming feature library; Step SA2: performing real-time image feature recognition on the display image to obtain corresponding image recognition features, analyzing the recognized image recognition features and the non-conforming feature set through the display evaluation model to obtain non-conforming evaluation values ​​of the image recognition features; The display evaluation value of the display image is calculated in real time according to the display evaluation formula; the display evaluation formula is: Where: PK is the display evaluation value; Step SA3: when the displayed evaluation value is greater than or equal to 1, the analysis is stopped, and the evaluation display image does not meet the imaging requirements; When the displayed evaluation value is equal to 0, the process returns to step SA2 until there is no new image recognition feature, then stops the analysis and evaluates that the displayed image meets the imaging requirements.

Images