Side view type three-dimensional microscopic endoscopic imaging probe and imaging system

Abstract

The invention provides a side view type three-dimensional microscopic endoscopic imaging probe and an imaging system. The side-looking three-dimensional microscopic endoscopic imaging probe comprises an illumination light input module, a main imaging light path, a side-looking scanning engine and a middle image acquisition module, wherein an illumination light beam is injected into one end or the middle position of the main imaging light path through the illumination light input module; in the main imaging light path, the input illumination light beam is used as a target light beam to be transmitted to an imaging sample on the side wall of the imaging probe, a back signal light beam is collected, and the collected back signal light beam is transmitted back to the middle image acquisition module; the intermediate image acquisition module is used for obtaining an intermediate image according to the backward signal light beam and carrying out pixelated sampling on the intermediate image; the side-view scanning engine is used for driving the main imaging light path to enable the target light beam to rotate around the center axis of the probe and achieve side-view circular scanning. The side-looking three-dimensional microscopic endoscopic imaging probe provided by the invention meets the imaging requirements of high sensitivity and high flux of mucous membrane tissues on the inner wall of the digestive tract.

Description

Technical Field

[0001] The present invention relates to the fields of optical three-dimensional microscopic imaging, biomedical optics and photonics, and medical imaging equipment imaging systems, and in particular to a side-viewing three-dimensional microendoscopic imaging probe and an imaging system. Background Art

[0002] Early diagnosis and treatment are crucial for the cure and prognosis of luminal malignant tumors. Taking esophageal cancer as an example, most early esophageal cancers and precancerous lesions can be cured through minimally invasive endoscopic treatment, with a 5-year survival rate of up to 95%; while patients with advanced esophageal cancer have low quality of life and poor prognosis, with an overall 5-year survival rate of no more than 20%. The current endoscopic imaging methods represented by standard gastrointestinal white light endoscopes (gastroscopy, colonoscopy, etc.) still need to be improved in terms of detection sensitivity, missed diagnosis rate, and diagnostic consistency for precancerous lesions and early tumors, and it is difficult to meet the needs of high-resolution, high-throughput in vivo close microscopic observation of luminal tumors.

[0003] The development of a high-sensitivity, high-throughput side-view three-dimensional microendoscopic imaging probe suitable for the mucosal tissue of the inner wall of the digestive tract, which is suitable for optical tomography fluorescence microscopic volume imaging methods, can distinguish fluorescent signals originating from tissues at different depths of the inner wall of the lumen, thereby visualizing the three-dimensional microstructure and functional dynamics of the submucosal tissue. This is of great significance for promoting research on the occurrence and development mechanism of digestive tract tumors, and improving the sensitivity and diagnostic accuracy of early digestive tract cancer screening. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a high-sensitivity, high-throughput side-viewing three-dimensional microendoscopic imaging probe suitable for the mucosal tissue of the inner wall of the digestive tract.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a side-view three-dimensional microendoscopic imaging probe, comprising an illumination light input module, a main imaging light path, a side-view scanning engine, and an intermediate image acquisition module, wherein the positional relationship between the illumination light input module, the main imaging light path, and the intermediate image acquisition module satisfies the following optical path:

[0007] The illumination light beam is injected into one end or the middle position of the main imaging light path through the illumination light input module; in the main imaging light path, the input illumination light beam is transmitted as the target light beam to the imaging sample of the side wall of the imaging probe and the back signal light beam is collected, and the collected back signal light beam is transmitted back to the intermediate image acquisition module; the intermediate image acquisition module is used to obtain an intermediate image according to the back signal light beam and perform pixelated sampling on the intermediate image; the side-view scanning engine is used to drive the main imaging light path to make the target light beam rotate around the central axis of the probe and realize side-view circular scanning.

[0008] In some possible implementations, the intermediate image acquisition module performs pixelated sampling on the intermediate image, including:

[0009] When the intermediate image acquisition module has a photoelectric conversion function, the intermediate image acquisition module includes an image sensor or an array sensor for completing the pixelation and digital recording of the intermediate image; when the intermediate image acquisition module does not have a photoelectric conversion function, the intermediate image acquisition module is used to distinguish and collect photons corresponding to each pixel, and then transmit them to an external image sensor located outside the imaging probe and physically separated from the imaging probe to complete the digital recording of the intermediate image.

[0010] In some possible implementations, the positional relationship between the illumination light input module, the main imaging light path, and the intermediate image acquisition module satisfies the following optical path:

[0011] The illumination light beam is injected from the rear end of the main imaging light path through the illumination light input module, and after being transmitted through the main imaging light path, is incident radially onto the imaging sample close to the side wall of the imaging probe, and is driven by the side-view scanning engine to perform circular scanning; the excited back-direction signal light beam is collected and transmitted to the rear end of the main imaging light path by the main imaging light path to form an intermediate image, which is then collected by the intermediate image acquisition module;

[0012] Wherein, the main imaging optical path includes a first lens group, a second lens group and a side-view reflector arranged along the axial direction of the imaging probe, and a side-view reflector adapter; or, the main imaging optical path includes a composite lens and a side-view reflector arranged along the axial direction of the imaging probe, and a side-view reflector adapter; or, the main imaging optical path includes a first lens group, a second lens group and a side-view curved reflector arranged along the axial direction of the imaging probe, and a side-view reflector adapter; or, the main imaging optical path includes a first lens group, a second lens group and a side-view reflector arranged along the axial direction of the imaging probe, and a side-view reflector adapter, and the refractive power of the second lens group is completely integrated with the side-view reflector to form a side-view curved reflector;

[0013] The rotation drive device of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning.

[0014] In some possible implementations, the main imaging optical path includes a perforated curved reflector, a second lens group, and a side-view reflector, as well as a side-view reflector adapter and a reflective prism, which are arranged along the axial direction of the imaging probe; or, the main imaging optical path includes a perforated curved reflector, a second lens group, and a side-view curved reflector, as well as a side-view reflector adapter and a reflective prism, which are arranged along the axial direction of the imaging probe; or, the main imaging optical path includes a perforated curved reflector, a second lens group, and a side-view reflector, as well as a side-view reflector adapter, which are arranged along the axial direction of the imaging probe, and the refractive power of the second lens group is completely integrated into the side-view reflector to form a side-view curved reflector;

[0015] The rotation drive device of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning;

[0016] The positional relationship between the main imaging light path, the illumination light input module, the main imaging light path and the intermediate image acquisition module satisfies the following optical path:

[0017] The illumination light beam is injected from the rear end of the main imaging light path through the illumination light input module, enters the main imaging light path through the through hole of the perforated curved reflector, and after being transmitted through the main imaging light path, is incident radially onto the imaging sample close to the side wall of the imaging probe, and is scanned in a circular motion under the drive of the side-view scanning engine; the excited back-pointing signal light beam is collected and transmitted by the main imaging light path to the rear end of the main imaging light path to form an intermediate image, which is then collected by the intermediate image acquisition module.

[0018] In some possible implementations, the positional relationship between the illumination light input module, the main imaging light path, and the intermediate image acquisition module satisfies the following optical path:

[0019] The illumination light beam is injected from the middle of the main imaging light path through the illumination light input module and then incident radially onto the imaging sample close to the side wall of the imaging probe, and is subjected to circular scanning under the drive of the side-view scanning engine; the excited back-direction signal light beam is collected and transmitted to the rear end of the main imaging light path by the main imaging light path and forms an intermediate image, which is then collected by the intermediate image acquisition module;

[0020] Wherein, the main imaging optical path includes a first lens group, a dichroic mirror, a second lens group and a side-viewing reflector, as well as a side-viewing reflector adapter and a reflecting prism, which are arranged along the axial direction of the imaging probe; or, the main imaging optical path includes a first lens group, a dichroic mirror, a second lens group and a side-viewing reflector, as well as a side-viewing reflector adapter and a reflecting prism, which are arranged along the axial direction of the imaging probe, and the refractive power of the second lens group is completely integrated with the side-viewing reflector to form a side-viewing curved reflector; or, the main imaging optical path includes a first lens group, a dichroic mirror, a second lens group and a side-viewing curved reflector, as well as a side-viewing reflector adapter and a reflecting prism, which are arranged along the axial direction of the imaging probe;

[0021] The rotation drive device of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning.

[0022] In some possible implementations, the main imaging light path is a retroreflective main imaging light path, and the positional relationship between the illumination light input module, the main imaging light path, and the intermediate image acquisition module satisfies the following optical path:

[0023] The illumination light beam is input into the retroreflective main imaging light path through the illumination light input module and then incident radially onto the imaging sample close to the side wall of the imaging probe, and is subjected to circular scanning under the drive of the side-view scanning engine; the excited back-direction signal light beam is collected and transmitted to the rear end of the main imaging light path by the main imaging light path and forms an intermediate image, which is then collected by the intermediate image acquisition module;

[0024] Wherein, the main imaging optical path includes a first lens group and a second lens group arranged radially along the imaging probe, a first reflector arranged at the front end of the first lens group, a second reflector arranged at the front end of the second lens group, and a side view reflector arranged at the rear end of the second lens group, and the first reflector and the second reflector are vertically arranged to form a retroreflective folded optical path; or,

[0025] The main imaging optical path includes a first lens group and a second lens group, and a second reflector arranged at the front end of the second lens group, a side view reflector arranged at the rear end of the second lens group, and the second reflector forms a first reflector of a retroreflective folded optical path, and the diopter of the first lens group is completely integrated with the first reflector to form a curved reflector; or,

[0026] The main imaging optical path includes a first lens group and a second lens group arranged radially along the imaging probe, a first reflector arranged at the front end of the first lens group, a second reflector arranged at the front end of the second lens group, and a side-view reflector arranged at the rear end of the second lens group, the first reflector and the second reflector are vertically arranged to form a retroreflective folded optical path, and the diopter of the second lens group is completely integrated with the side-view reflector to form a side-view curved reflector; or,

[0027] The main imaging optical path includes a first lens group and a second lens group arranged radially along the imaging probe, a first reflector arranged at the front end of the first lens group, a second reflector arranged at the front end of the second lens group, and a side-view curved reflector arranged at the rear end of the second lens group, and the first reflector and the second reflector are vertically arranged to form a retroreflective folded optical path; or,

[0028] The main imaging optical path includes a first lens group and a second lens group, and a second reflector arranged at the front end of the second lens group, a side-view reflector arranged at the rear end of the second lens group, and the second reflector forms a first reflector of a retroreflective folded optical path, and the diopter of the second lens group is completely integrated with the side-view reflector to form a side-view curved reflector, and the diopter of the first lens group is completely integrated with the first reflector to form a curved reflector;

[0029] The rotation drive device of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning.

[0030] In some possible implementations, the side-view curved reflector formed by integrating the side-view reflectors includes any basic surface shape of a hyperbola, an elliptical surface, or a parabola.

[0031] In some possible implementations, the illumination light input module includes an illumination beam shaping unit, which is used to jointly generate a Bessel beam emitted radially with the main imaging optical path, and the Bessel beam is used to expand the depth of field of the side-view imaging of the side-view three-dimensional microendoscopy imaging probe.

[0032] In a second aspect, the present invention further provides an imaging system, comprising the side-viewing three-dimensional microendoscopic imaging probe as described in any one of the first aspects, and also comprising a light source module, wherein the light source module is used to generate an illumination light beam.

[0033] In some possible implementation manners, the intermediate image acquisition module of the side-view three-dimensional microscopic endoscope imaging probe does not have a photoelectric conversion function, and the imaging system further includes an external image sensor separated from the side-view three-dimensional microscopic endoscope imaging probe.

[0034] The beneficial effects brought by the technical solution provided by the embodiment of the present invention are as follows:

[0035] To provide a side-view three-dimensional microscopic endoscope imaging probe with high sensitivity and high throughput applicable to the inner wall mucosal tissue of the digestive tract, through innovations in the principle architecture and acquisition strategy levels, the present invention can distinguish and parallelly detect the backscattered fluorescence signals from tissues at different depths on the inner wall of the lumen, thereby visualizing the three-dimensional microscopic structure and functional dynamics of the submucosal tissue, and realizing in-vivo in-situ, high-throughput, and large-range close observation of the inner wall tissue of the digestive (or other) lumen. Specifically, the imaging probe adopts a side-view architecture, enabling the illumination beam to be incident radially on the inner wall mucosal tissue of the digestive tract, collecting the backscattered signal beam, and realizing side-view circumferential scanning, which helps to improve the imaging sensitivity of the inner wall mucosal tissue of the digestive tract. Through the rotation of the side-view scanning engine, omnidirectional scanning of the inner wall tissue of the lumen is achieved. Combining the efficient beam transmission of the main imaging optical path and the collection of the backscattered signal beam, a high-resolution three-dimensional image can be obtained, more clearly showing the microscopic structure of the submucosal tissue; at the same time, the circumferential scanning realized reduces the operation complexity and makes the imaging process more simple and fast. The excited backscattered signal beam is, for example, fluorescence or reflected light. Therefore, the imaging probe can distinguish and detect the backscattered fluorescence signals from different depths on the inner wall of the lumen, providing information in the depth direction, enhancing the layering and three-dimensional sense of the imaging, and helping to more accurately diagnose and evaluate the state of the lumen tissue. By optimizing the scanning strategy through the rotation of the side-view scanning engine and combining the above-mentioned optical path design optimization, the imaging rate can be increased (to achieve high-throughput imaging), enabling the imaging probe to quickly cover a large area of the lumen tissue and improving the diagnostic efficiency. The design of the imaging probe allows it to be close to and close to the inner wall of the lumen, that is, large-range close observation, providing a closer view of the lumen tissue and helping to detect early lesions or minor abnormalities. Without tissue sectioning or sample removal, in-vivo in-situ observation of the inner wall tissue of the digestive (or other) lumen is realized, providing real-time tissue information under physiological conditions while reducing the harm to patients. Description of the Drawings

[0036] The present invention will be further described below with reference to the drawings and embodiments.

[0037] Figure 1 The structural schematic diagram of the imaging system provided by the present invention is shown.

[0038] Figure 2a The structural schematic diagram of a side-view three-dimensional microscopic endoscope imaging probe according to Embodiment 2 of the present invention is shown.

[0039] Figure 2b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0040] Figure 2c A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0041] Figure 2d A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0042] Figure 2e A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0043] Figure 3a A schematic structural diagram of a side-view three-dimensional microendoscopic imaging probe according to embodiment 3 of the present invention is shown.

[0044] Figure 3b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 3 of the present invention is shown.

[0045] Figure 3c A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 3 of the present invention is shown.

[0046] Figure 4a A schematic structural diagram of a side-view three-dimensional microendoscopic imaging probe according to embodiment 4 of the present invention is shown.

[0047] Figure 4b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 4 of the present invention is shown.

[0048] Figure 4c A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 4 of the present invention is shown.

[0049] Figure 4d A partial structural schematic diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 4 of the present invention is shown.

[0050] Figure 5a A schematic structural diagram of a side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0051] Figure 5b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0052] Figure 5cA schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0053] Figure 5d A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0054] Figure 5e A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0055] Figure 6a A schematic structural diagram of a side-view three-dimensional microendoscopic imaging probe according to embodiment 6 of the present invention is shown.

[0056] Figure 6b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 6 of the present invention is shown.

[0057] Figure 6c A schematic structural diagram of another side-viewing three-dimensional microendoscopic imaging probe according to embodiment 6 of the present invention is shown.

[0058] Figure 6d A partial structural schematic diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 6 of the present invention is shown. DETAILED DESCRIPTION

[0059] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0061] First, we briefly analyze the existing equipment suitable for optical tomography fluorescence microscopic volume imaging methods:

[0062] 1) Gastrointestinal white-light endoscopy: The wide-field imaging mode of gastrointestinal white-light endoscopy can only visualize the tissue surface morphology of the inner wall of the digestive tract, lacks penetration and depth tomography capabilities, and cannot explore the three-dimensional tomographic microstructure of the submucosal tissue. Magnifying endoscopy and fluorescence endoscopy can provide richer information, but are essentially wide-field reflected light or fluorescence imaging, and cannot visualize the three-dimensional tomographic microstructure of the submucosal tissue.

[0063] 2) Narrow-band imaging (NBI): Narrow-band imaging uses the differences in biological tissue scattering and hemoglobin absorption of red, green and blue spectral illumination light. By rapidly alternating the acquisition of backscattered images of the three spectral bands and optimizing the processing, it can distinguish and enhance the contrast between the superficial capillaries of the mucosa and the deeper veins, thereby highlighting the distribution of the vascular network. However, narrow-band imaging also cannot obtain depth information, and the dimensions of information that can be obtained and presented are limited.

[0064] 3) Ultrasound endoscopy: Ultrasound endoscopy scans the inner wall of the digestive tract by installing a miniature high-frequency ultrasound probe at the front end of the endoscope. Although it has deep tomography capabilities, the physical wavelength of ultrasound determines that its spatial resolution is limited and cannot provide (sub) cellular level microstructures. Photoacoustic endoscopy uses light pulses to stimulate tissues to generate ultrasonic signals. Its imaging resolution is similar to that of ultrasound and cannot provide (sub) cellular level microstructures.

[0065] 4) Optical coherence tomography (OCT), optical coherence tomography uses the coherent gating effect to distinguish reflected light from different axial depths, thereby achieving deep tomographic detection of microstructures. The volume rate of OCT's line-by-line (A-line) scanning imaging mode is significantly higher than that of the point scanning mode, and its low numerical aperture (NA) illumination is better compatible with the side-viewing probe architecture - generally using a motor installed at the front or back end of the probe to drive the side illumination beam to rotate around the probe to obtain a 2D annular field of view, and then combined with an external pulling movement to complete spiral scanning 3D imaging. However, the image contrast of OCT is essentially derived from the scattering characteristics of the tissue, lacks molecular sensitivity, and can provide limited image information.

[0066] 5) Confocal microendoscopes use optical fibers as detection pinholes, and two-photon microendoscopes use nonlinear effects for excitation. Both achieve optical tomography at the subcellular level, have molecular sensitivity and metabolic imaging capabilities, and the near-infrared illumination wavelength of two-photon can penetrate deeper into tissues. However, limited by the point-by-point traversal scanning mode, the imaging frame rates of confocal and two-photon microendoscopes are at most in the order of dozens of frames per second; even with the introduction of high-speed axial scanning, the volumetric rate of three-dimensional volume imaging (i.e., stacking dozens to hundreds of two-dimensional images corresponding to different depths) that can be achieved is also very limited (a typical value is 0.1 volume / second). More critically, both confocal and two-photon fluorescence rely on high numerical aperture (NA) objectives to generate tightly focused excitation light, which is generally suitable for forward-looking probe architectures and difficult to be compatible with side-looking architectures and to perform large-range scanning detection on the inner wall of the digestive tract lumen.

[0067] Based on this, the present invention provides a side-looking three-dimensional microscopic endoscopic imaging probe and an imaging system. Considering the above-mentioned deficiencies in related technologies, through innovations in the principle architecture and acquisition strategy, it can distinguish and parallelly detect the backscattered fluorescence signals from tissues at different depths on the inner wall of the lumen, thereby visualizing the three-dimensional microscopic structure and functional dynamics of the submucosal tissue, and achieving in-vivo in-situ, high-throughput, and large-range close-range observation of the inner wall tissue of the digestive (or other) lumen. The imaging probe will be described first below, and then the imaging system will be described.

[0068] Embodiment 1

[0069] See Figure 1 , Figure 1 shows a schematic structural diagram of the imaging system provided by the present invention. The imaging system includes a light source module, an external image sensor (optional), and an (side-looking three-dimensional microscopic endoscopic) imaging probe.

[0070] The embodiment of the present invention provides a side-looking three-dimensional microscopic endoscopic imaging probe, which includes an illumination light input module, a main imaging optical path, a side-looking scanning engine (front end or rear end), and an intermediate image acquisition module. The positional relationship among the illumination light input module, the main imaging optical path, and the intermediate image acquisition module satisfies the following optical path: the illumination beam is injected into one end or the middle position (mid-end injection or rear-end injection) of the main imaging optical path through the illumination light input module; in the main imaging optical path, the input illumination beam is used as the target beam to be transmitted to the imaging sample on the side wall of the imaging probe and collect the backscattered signal beam, and the collected backscattered signal beam is transmitted back to the intermediate image acquisition module; the intermediate image acquisition module is used to obtain an intermediate image according to the backscattered signal beam and perform pixelated sampling on the intermediate image; the side-looking scanning engine is used to drive the main imaging optical path so that the target beam rotates around the probe central axis and realizes side-looking circumferential scanning.

[0071] The illumination light input module is used to transmit the illumination light from the light source module to the imaging probe and inject it into the main imaging light path. Necessary shaping can be performed before injection; the injection position can be one end of the main imaging light path or any position in the middle of the main imaging light path. The illumination light input module can use optical fiber (abbreviated as "optical fiber") to transmit the illumination light beam, and use reflectors, reflective prisms and / or dichroic mirrors to control the direction of the illumination light beam. It can also introduce beam shaping elements with specific refractive properties such as gradient refractive index lenses, conical surface reflectors, cone prisms or axicons according to design requirements, which are not limited in this embodiment.

[0072] The main imaging optical path is used to transmit the aforementioned input (e.g., after shaping) illumination light beam to the imaging sample on the side wall of the imaging probe, and to collect the back signal light beam (e.g., including fluorescence or scattered light) and transmit it back to the intermediate image acquisition module. The main imaging optical path can be a combination of any optical elements such as lenses (groups) and dichroic mirrors, so that the overall optical design minimizes aberrations, and this embodiment does not limit its combination.

[0073] At the same time, it can be considered that the main imaging optical path includes an illumination optical path and a detection optical path, which correspond to the optical path of transmitting the input illumination beam as the target beam to the imaging sample of the side wall of the imaging probe and the optical path of transmitting the collected back signal beam back to the intermediate image acquisition module. The main imaging optical path may include a side-viewing reflector, and the side-viewing scanning engine is used to drive the side-viewing reflector in the main imaging optical path and the illumination beam emitted radially after being reflected by the side-viewing reflector to rotate around the central axis of the probe to achieve side-viewing circular scanning. In a specific application, the side-viewing scanning engine, for example, includes a rotation drive device (preferably a motor) and a transmission and switching component for fixing the side-viewing reflector (a side-viewing plane or curved reflector). The side-viewing scanning engine can be located at the front end side of the side-viewing reflector, and can also be located at the rear end side of the side-viewing reflector, which is not limited in this embodiment. The intermediate image acquisition module is used to receive the back signal beam and sample (i.e., pixelate) the intermediate image (i.e., the intermediate optical image) reconstructed by the main imaging optical path.

[0074] Therefore, the imaging probe adopts a side-view architecture, so that the illumination beam can be incident on the mucosal tissue of the inner wall of the digestive tract in the radial direction, collect the back signal beam, and realize the side-view circular scanning, which helps to improve the imaging sensitivity of the mucosal tissue of the inner wall of the digestive tract. Through the rotation of the side-view scanning engine, the omnidirectional scanning of the inner wall tissue of the lumen is realized. Combined with the efficient beam transmission of the main imaging optical path and the collection of the back signal beam, a high-resolution three-dimensional image can be obtained, and the microscopic structure of the submucosal tissue can be more clearly displayed; the circular scanning realized at the same time reduces the complexity of the operation and makes the imaging process simpler and faster. The back signal beam excited is, for example, fluorescence or reflected light, so the imaging probe can distinguish and detect the back fluorescence signals originating from different depths of the inner wall of the lumen, providing information in the depth direction, enhancing the layering and three-dimensional sense of the imaging, and helping to more accurately diagnose and evaluate the state of the lumen tissue. The scanning strategy optimization is realized by the rotation of the side-view scanning engine, and combined with the above-mentioned optical path design optimization, the imaging rate can be improved (to achieve high-throughput imaging), so that the imaging probe can quickly cover a large area of ​​lumen tissue, improving the efficiency of diagnosis. The design of the imaging probe allows it to approach and get close to the inner wall of the lumen, that is, a wide range of close observation, providing a closer observation of the lumen tissue, which helps to find early lesions or minor abnormalities. There is no need to perform tissue sections or remove samples, and in situ observation of the inner wall tissue of the digestive (or other) lumen is achieved, providing real-time tissue information under physiological conditions while reducing harm to patients.

[0075] In summary, the side-viewing three-dimensional microendoscopic imaging probe provided in this embodiment meets the requirements for high-sensitivity and high-throughput imaging of the mucosal tissue of the inner wall of the digestive tract.

[0076] In one embodiment, the intermediate image acquisition module performs pixelated sampling on the intermediate image, including:

[0077] Distinguishing and collecting photons corresponding to each pixel, and then transmitting them to an external image sensor located outside the imaging probe and physically separated from the imaging probe to complete the digital recording of the intermediate image; or,

[0078] The intermediate image acquisition module includes an image sensor or an array sensor, which is used to complete the pixelation and digital recording of the intermediate image.

[0079] Specifically, the intermediate image acquisition module can sample the intermediate image at the optical level. For example, it can use special optical fiber elements to distinguish and collect photons corresponding to each pixel, and then use waveguides or other mechanisms to transmit them to an external image sensor located outside the imaging probe and physically separated from the imaging probe to complete the digital recording of the intermediate image. As another example, the intermediate image acquisition module includes a photoelectric conversion unit (such as a miniaturized image or array sensor), which itself has a photoelectric conversion function and uses a miniaturized image or array sensor to directly complete the pixelation and digital recording of the intermediate image.

[0080] Example 2

[0081] See also Figure 2a to Figure 2e , an embodiment of the present invention provides a side-view three-dimensional microendoscopic imaging probe, wherein the positional relationship between the illumination light input module, the main imaging light path and the intermediate image acquisition module satisfies the following optical path:

[0082] The illumination light beam is injected from the rear end of the main imaging light path through the illumination light input module, and after being transmitted through the main imaging light path, is incident radially onto the imaging sample close to the side wall of the imaging probe, and is driven by the side-view scanning engine to perform circular scanning; the excited back-direction signal light beam is collected and transmitted to the rear end of the main imaging light path by the main imaging light path to form an intermediate image, which is then collected by the intermediate image acquisition module;

[0083] Wherein, the main imaging optical path includes a first lens group 131, a second lens group 132 and a side-view reflector 141 arranged along the axial direction of the imaging probe, and a side-view reflector adapter 15; or,

[0084] The main imaging optical path includes a compound lens 133 and a side-view reflector 141 arranged along the axial direction of the imaging probe, and a side-view reflector adapter 15; or,

[0085] The main imaging optical path includes a first lens group 131, a second lens group 132, a side-view curved reflector 142, and a side-view reflector adapter 15 arranged along the axial direction of the imaging probe; or,

[0086] The main imaging optical path includes a first lens group 131, a second lens group and a side-view reflector, and a side-view reflector adapter, which are arranged along the axial direction of the imaging probe, and the refractive power of the second lens group is completely integrated with the side-view reflector to form a side-view curved reflector 143;

[0087] The rotation drive device 16 of the side-view scanning engine is used to drive the side-view reflector 141 or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter 15, thereby driving the target light beam to perform circular scanning.

[0088] In one embodiment, the side-view curved reflector includes any basic surface shape of a hyperbola, an ellipsoid or a parabola.

[0089] See also Figure 2a , Figure 2a A schematic structural diagram of a side-view three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0090] In one embodiment, as a side-view three-dimensional microendoscopic imaging probe based on rear-end injection illumination, the illumination beam is emitted from the illumination optical fiber 11, and enters the main imaging optical path formed by the first lens group 131 and the second lens group 132 through the reflection prism 121 and the dichroic mirror 122; the illumination beam generates the required sample side illumination beam under the joint action of the first lens group 131 and the second lens group 132, and enters the sample to be imaged in the radial direction after being reflected by the side-view reflector 141. The rotation drive device 16 of the side-view scanning engine drives the side-view reflector adapter 15 to rotate, so that the side-view reflector 141 can rotate around the central axis of the probe, driving the side illumination beam to perform circular scanning. The excited back signal beam (such as fluorescence or scattered light) returns through the imaging optical path, forms an intermediate image at the rear end of the first lens group 131, and is received by the intermediate image acquisition module 17. All of the above devices are fixed and encapsulated in the probe housing 18, and it can be considered that the housing part through which the radial illumination beam and the back signal light pass is optically transparent.

[0091] Preferably, the intermediate image acquisition module 17 uses an optical fiber image transmission bundle with a beveled receiving end face. By adjusting the placement orientation of the optical fiber image transmission bundle, the intermediate image formed at the rear end of the first lens group 131 can be accurately projected onto the beveled receiving end face of the optical fiber image transmission bundle. The optical fiber array completes the reception and optical sampling of the intermediate image, and then transmits it back to the image sensor and control host at the remote end to achieve image recording, display and processing.

[0092] Preferably, the first lens group 131 and the second lens group 132 use the same aspheric achromatic lens and are installed symmetrically, convex to convex, with a lateral magnification of 1.0; this installation method helps to reduce aberrations and improve the imaging resolution of on-axis points; in alternative embodiments, the first lens group 131 and the second lens group 132 can use spherical or aspheric lenses, double-cemented or triple-cemented achromatic lenses, and any other lens combination, etc.

[0093] In the attached Figures 2a to 2eIn the subsequent figures, the illumination light enters the illumination optical fiber 11 and then emits an illumination beam. In the technical solution provided in Example 2, the core function of the first lens group 131 and the second lens group 132 is to transmit the illumination beam to the imaging sample, and the side-view scanning engine drives the side-view reflector 141 to rotate around the central axis of the imaging probe to drive the target beam (side illumination beam) to perform circular scanning, and collects and converges the back-directed signal light originating from different tissue depths at different positions of the receiving end surface of the intermediate image acquisition module, thereby realizing radial depth tomography (within a certain range) and improving the three-dimensional resolution of the system as much as possible.

[0094] See also Figure 2b , Figure 2b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0095] In one embodiment, unlike the previous embodiment, the first lens group 131 and the second lens group 132 constituting the main imaging optical path are not simply symmetrically arranged lens groups of the same type, but are two lens groups whose surface shape, focal length, lens composition and appearance are independently designed. This allows for more flexible implementation of aberration compensation, as well as adjustment of the length and diameter of the hard part of the probe, to adapt to the characteristics and needs of different clinical application scenarios (such as different parts of the digestive tract).

[0096] See also Figure 2c , Figure 2c A schematic structural diagram of another side-viewing three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0097] In one embodiment, the main imaging optical path lens group uses an integrated composite lens 133 to achieve the imaging function originally produced by the combination of the first lens group 131 and the second lens group 132. The composite lens 133 can be designed with comprehensive consideration of chromatic aberration and aberration compensation to ensure that object points from different radial depths can be clearly imaged onto the receiving end surface of the optical fiber image transmission bundle at the same time.

[0098] In this embodiment, the composite lens 133 preferably uses a symmetrical triplet achromatic lens with the same front and rear focal lengths; in corresponding alternative implementation schemes, the composite lens 133 may also use other types of lenses or lens groups.

[0099] See also Figure 2d , Figure 2d A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0100] In one embodiment, the side-view reflector uses a side-view curved reflector 142 with an optimized surface shape, so that it can share the refractive power of the lens group and specifically compensate for aberrations such as astigmatism introduced by the transparent tube wall.

[0101] In this embodiment, the illumination light beam emitted from the second lens group 132 has a converging wavefront, so the side-view curved reflector 142 is preferably a hyperbolic basic surface shape; in a corresponding alternative embodiment, the side-view curved reflector 142 can also be selected according to the overall optical path design, and any surface shape such as an elliptical surface, a parabola or any other form can be selected, and then combined with the design of the first lens group 131 and the second lens group 132 for joint optimization.

[0102] See also Figure 2e , Figure 2e A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 2 of the present invention is shown.

[0103] In one embodiment, Figure 2a The refractive power of the second lens group 132 in the main imaging optical path is integrated into the side-view curved reflector 143 (which can also be regarded as Figure 2a The side-view reflector 141 in the illustrated embodiment is integrated with the second lens group 132 in the imaging optical path to form a side-view curved reflector 143). When the side-view curved reflector 143 rotates around the central axis of the probe, circular scanning of the imaging sample can be achieved.

[0104] The technical solution provided by this embodiment reduces the number of imaging probe components and helps to further reduce the size of the imaging probe. In this implementation, the illumination beam emitted from the first lens group 131 is approximately collimated, so the side-viewing curved reflector 143 preferably uses a parabolic basic surface shape; in a corresponding alternative embodiment, the side-viewing curved reflector 143 can also select an elliptical surface, a hyperbolic surface or any other basic surface shape according to the overall optical path design, and then combine it with the design of the lens group 131 for joint optimization.

[0105] In specific applications, such as Figure 2a-2e In the above embodiment shown, the surfaces of the side-view reflector 141, the side-view curved reflectors 142, 143 can be coated with metal or dielectric reflective film, and the specific selection depends on the wavelength of the illumination light and the signal light. The shape of the base part can be polygonal, cylindrical or other arbitrary shapes to adapt to the requirements of assembly and scanning load.

[0106] The reflection surface of the side-view reflector 141 in each embodiment has an inclination angle of 45° relative to the rotation axis of the rotation drive device (such as a motor), so that the main light of the side illumination light beam after being reflected by it is nearly perpendicular to the rotation axis of the rotation drive device (i.e., the central axis of the imaging probe). When the rotation drive device 16 drives the side-view reflector 141 to rotate, the scanning trajectory of the illumination light beam focus is a circle with equal (vertical) distance relative to the central axis of the imaging probe, and the scanning imaging surface swept by the light waist in the imaging sample is a vertical axis annular surface, which helps to ensure the continuity and uniformity of the sample scanning and reduce the complexity of post-processing. In a corresponding alternative embodiment, the inclination angle of the side-view reflector 141 can also deviate from 45 degrees, so that the angle of the side illumination light beam after reflection relative to the rotation (central) axis will deviate from 90 degrees. At this time, the imaging surface swept by the light waist is a truncated cone with a certain (equivalent) cone angle, which can also be used for imaging.

[0107] Figure 2d-2e In the illustrated embodiment, the principal ray of the side illumination beam generated by the reflection of the side-view curved reflectors 142 and 143 is also perpendicular to the rotation (central) axis of the drive device, and sweeps through the imaging sample to form an annular vertical axis imaging surface. In corresponding alternative embodiments, the side-view curved reflectors 142 and 143 may also adopt other surface shapes and / or other installation angles, so that the principal ray of the illumination beam after reflection is not perpendicular to the central axis of the probe, and the formed scanning imaging surface is a truncated cone with a certain (equivalent) cone angle.

[0108] Figure 2a-2e In the illustrated embodiment, the rotation axis of the rotary drive device 16 (and the side-view reflector coupled thereto) is preferably selected to coincide with the central axis of the imaging probe, so that the vertical axis distance of the waist of the radial illumination beam relative to the central axis of the imaging probe remains unchanged, thereby achieving circular scanning of biological samples close to the side wall of the imaging probe, making it easier to obtain imaging sample information and reducing the complexity of image post-processing.

[0109] Figure 2a-2e In the embodiment shown, the rotation drive device 16 preferably uses a motor with suitable torque and shape parameters to directly drive the side view reflector 141 or the side view curved reflector (142 or 143) to rotate, and the magnitude and direction of its rotation (angular) speed can be controlled and adjusted by the driving software and the driving circuit. In an alternative embodiment, the rotation drive device 16 may also include a transmission device such as a planetary reduction gear, and a corresponding closed-loop control mechanism such as an encoder, so as to more finely control the rotation speed of the side view reflector 141 or the side view curved reflector (142 or 143) to meet the beam scanning requirements of different imaging scenes.

[0110] Figure 2a-2eIn the embodiment shown, a reflective prism 121 and a dichroic mirror 122 can be used to control the incident angle of the illumination light beam, and the reflective surface can be plated with metal or dielectric film, or the light beam reflection can be realized based on the total internal reflection mechanism. In the corresponding alternative implementation scheme, the reflective prism 121 can also be a polygonal reflective prism, a cylindrical reflector, a D-shaped reflector, a MEMS reflector, or other beam deflection devices with any shape and any optical path trajectory; the polygonal reflective prism can have any shape and number of faces; the light beam can experience one or more reflections inside the prism, and can be refracted when incident and emitted; the specific design is based on the orientation of the output light sheet required to realize the imaging system.

[0111] Figure 2a-2e In the illustrated embodiment, the intermediate image acquisition module 17 is preferably selected as a fiber optic image transmission bundle with a beveled receiving end face, and its beveled receiving end face should be consistent with the optical axis of the imaging light path (hereinafter referred to as the main optical axis), so that only the back-signal light beam on the same side of the optical axis as the fiber optic receiving end face can be received. It is particularly important to point out that the inclination angle of the beveled receiving end face of the fiber optic image transmission bundle relative to the main optical axis and the inclination angle of the beveled receiving end face relative to the central axis of the fiber optic image transmission bundle itself (and the constituent optical fibers contained therein) can be independently controlled. In view of the fact that the end face bevel angle of a single-mode or multi-mode optical fiber waveguide will affect the direction of its receiving light cone, the end face bevel angle of the fiber optic image transmission bundle can be optimized to maximize the collection efficiency of the back-signal light beam while ensuring that the entire receiving end face coincides with the intermediate image.

[0112] In an alternative embodiment, the intermediate image acquisition module 17 may also use any other type of array detector with corresponding pixel size and pixel number, including (but not limited to) charge-coupled device (CCD), intensified CCD (ICCD), electron magnified CCD (EMCCD) or complementary metal-oxide-semiconductor (CMOS) image sensor, and multi-anode photomultiplier tube (PMT) array, multi-anode silicon photomultiplier (Si-PMT) array, or avalanche photodiode (APD) array, etc. The front of the array detector may also be equipped with a microlens array, etc. for focusing light, or analyzing light field information, etc.

[0113] Example 3

[0114] See also Figure 3a to Figure 3cThe embodiment of the present invention provides a side-view three-dimensional microendoscopic imaging probe. The main imaging optical path includes a perforated curved reflector 144, a second lens group 132, a side-view reflector 141, a side-view reflector adapter 15, and a reflective prism 121 arranged along the axial direction of the imaging probe; or

[0115] The main imaging optical path includes a perforated curved reflector 144, a second lens group 132 and a side-view curved reflector 142, a side-view reflector adapter 15 and a reflecting prism 121 arranged along the axial direction of the imaging probe; or,

[0116] The main imaging optical path includes a perforated curved reflector 144 , a second lens group 132 , a side view reflector 141 , and a side view reflector adapter 15 arranged along the axial direction of the imaging probe, and the refractive power of the second lens group 132 is completely integrated with the side view reflector 141 to form a side view curved reflector 143 .

[0117] The rotation drive device 16 of the side-view scanning engine is used to drive the side-view reflector 141 or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter 15, thereby driving the target light beam to perform circular scanning.

[0118] The positional relationship between the main imaging light path, the illumination light input module, the main imaging light path and the intermediate image acquisition module satisfies the following optical path:

[0119] The illumination light beam is injected from the rear end of the main imaging light path through the illumination light input module, enters the main imaging light path through the through hole of the perforated curved reflector, and after being transmitted through the main imaging light path, is incident radially onto the imaging sample close to the side wall of the imaging probe, and is scanned in a circular motion under the drive of the side-view scanning engine; the excited back-pointing signal light beam is collected and transmitted by the main imaging light path to the rear end of the main imaging light path to form an intermediate image, which is then collected by the intermediate image acquisition module.

[0120] In one embodiment, the side-view curved reflector includes any basic surface shape of a hyperbola, an ellipsoid or a parabola.

[0121] See also Figure 3a , Figure 3a A schematic structural diagram of a side-view three-dimensional microendoscopic imaging probe according to embodiment 3 of the present invention is shown.

[0122] In one embodiment, as a side-view three-dimensional microendoscopic imaging probe based on the rear end injection illumination of the perforated curved reflector, the illumination beam emitted from the illumination optical fiber 11 located at the central axis of the imaging probe is first adjusted and shaped by the beam shaping lens 123, and then directly enters the second lens group 132 after passing through the through hole of the perforated curved reflector 144, and then is reflected by the side-view reflector 141 to form a radially emitted side illumination beam, which is incident on the imaging sample close to the side wall of the imaging probe. The back signal beam returned from the imaging sample will pass through the side-view reflector 141, the second lens group 132, the non-through hole part of the perforated curved reflector 144 and the reflecting prism 121 in sequence, and finally converge to the receiving end surface of the intermediate image acquisition module.

[0123] See also Figure 3b , Figure 3b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 3 of the present invention is shown.

[0124] In one embodiment, different from the previous embodiment, the side-view reflector adopts a side-view curved reflector 142 with an optimized surface shape, so that it can share the refractive power of the second lens group 132 and specifically compensate for aberrations such as astigmatism introduced by the tube wall.

[0125] In this embodiment, the illumination light beam emitted from the second lens group 132 has a converging wavefront, so the side-view curved reflector 142 is preferably a hyperbolic basic surface shape; in a corresponding alternative embodiment, the side-view curved reflector 142 can also select an elliptical surface, a parabola or any other basic surface shape according to the overall optical path design, and then combine the design of the main imaging optical path (including the beam shaping lens 123 and the second lens group 132) for overall optimization.

[0126] See also Figure 3c , Figure 3c A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to Embodiment 3 of the present invention is shown.

[0127] In one embodiment, a perforated curved reflector 144 and a side-view curved reflector 143 are used to replace the second lens group, and the diopter required for the imaging optical path is also provided by the perforated curved reflector 144 and the side-view curved reflector 143 (which can be regarded as Figure 3a The side-view reflector 141 in the embodiment shown is integrated with the second lens group 132 in the imaging optical path to form a side-view curved reflector 143). When the side-view curved reflector 143 rotates around the central axis of the probe, a circular scan of the imaging sample can be achieved. This technical solution reduces the number of probe components and helps to further reduce the size of the probe.

[0128] In this embodiment, the light beam between the perforated curved mirror 144 and the side-view curved mirror 143 is approximately collimated. Therefore, the side-view curved mirror 143 preferably uses a parabolic basic surface shape. In the corresponding alternative embodiment, the side-view curved mirror 143 can also be selected according to the overall optical path design, such as an ellipsoidal surface, a hyperboloidal surface, or any other surface shape, and jointly optimized in combination with the design of the perforated curved mirror 144.

[0129] In a specific application, such as Figure 3a-3c In the above embodiment shown, the backward signal light beam reflected by the side-view curved mirror 143 is approximately collimated. Therefore, the perforated curved mirror 144 preferably uses a parabolic basic surface shape. In the corresponding alternative embodiment, the perforated curved mirror 144 can also be selected according to the overall optical path design, such as an ellipsoidal surface, a hyperboloidal surface, or any other basic surface shape, and then jointly optimized in combination with the design of the second lens group 132 or the side-view curved mirrors 142 and 143.

[0130] Figure 3a-3c In the embodiment shown, the beam shaping lens 123 is preferably a gradient refractive index lens (i.e., a GRIN lens) that can collimate the light beam. In an alternative embodiment, the beam shaping lens can also be an optical element that can adjust the beam shape, such as a gradient refractive index optical fiber, a micro spherical or aspherical lens, a diffractive optical element, a metasurface lens, etc.

[0131] Figure 3a-3c In the embodiment shown, the surfaces of the side-view mirrors 141, the side-view curved mirrors 142 and 143, and the perforated curved mirror 144 can be coated with a metal or dielectric reflective film, and the specific selection depends on the wavelengths of the illumination light and the signal light. The outer shape of its base part can be polygonal, cylindrical, or any other shape, subject to the requirements of fitting assembly and scanning load.

[0132] In an alternative embodiment, the installation scheme, installation angle, and function of the side-view mirror or the curved mirror are the same as those described in the alternative embodiment of Embodiment 2, and will not be elaborated here.

[0133] In this embodiment and the corresponding alternative embodiment, the specific implementation schemes that can be adopted for the reflecting prism, the rotation driving device, and the intermediate image acquisition module are the same as those described in the alternative embodiment of Embodiment 2, and will not be elaborated here.

[0134] Embodiment 4

[0135] Refer to Figures 4a to 4d , an embodiment of the present invention provides a side-view three-dimensional microscopic endoscope imaging probe, and the positional relationship among the illumination light input module, the main imaging optical path, and the intermediate image acquisition module satisfies the following optical path:

[0136] The illumination light beam is injected from the middle of the main imaging light path through the illumination light input module and then radially incident on the imaging sample close to the side wall of the imaging probe, and is driven by the side-view scanning engine to perform circular scanning; the stimulated back-pointing signal light beam is collected and transmitted by the main imaging light path to the rear end of the main imaging light path to form an intermediate image, which is then collected by the intermediate image acquisition module.

[0137] The main imaging optical path includes a first lens group 131, a dichroic mirror 122, a second lens group 132 and a side-view reflector 141, a side-view reflector adapter 15 and a reflective prism 121 arranged along the axial direction of the imaging probe;

[0138] Or, the main imaging optical path includes a first lens group 131, a dichroic mirror 122, a second lens group 132 and a side-view reflector 141 arranged along the axial direction of the imaging probe, as well as a side-view reflector adapter 15 and a reflecting prism 121, and the refractive power of the second lens group 132 is completely integrated with the side-view reflector 141 to form a side-view curved reflector 143;

[0139] Alternatively, the main imaging optical path includes a first lens group 131 , a dichroic mirror 122 , a second lens group 132 and a side-view curved reflector 142 , as well as a side-view reflector adapter 15 and a reflective prism 121 , which are arranged along the axial direction of the imaging probe.

[0140] The rotation drive device 16 of the side-view scanning engine is used to drive the side-view reflector 141 or the side-view curved reflector 143 to rotate around the central axis of the imaging probe through the side-view reflector adapter 15, thereby driving the target light beam to perform circular scanning.

[0141] In one embodiment, the side-view curved reflector includes any basic surface shape of a hyperbola, an ellipsoid or a parabola.

[0142] See also Figure 4a , Figure 4a A schematic structural diagram of a side-view three-dimensional microendoscopic imaging probe according to embodiment 4 of the present invention is shown.

[0143] In one embodiment, as a side-view three-dimensional microendoscopic imaging probe based on the mid-end injection illumination, the illumination beam is first adjusted and shaped by the beam shaping lens 123, and then directly enters the second lens group 132 after being successively reflected by the reflection prism 121 and the dichroic mirror 122, and then reflected by the side-view reflector 141 to form a radially emitted side illumination beam, which is incident on the imaging sample close to the side wall of the imaging probe. The back signal beam returned from the imaging sample will pass through the side-view reflector 141, the second lens group 132, the dichroic mirror 122 and the first lens group 131 in sequence, and finally imaged onto the receiving end surface of the intermediate image acquisition module.

[0144] In this embodiment, the illumination light beam no longer passes through the first lens group 131, but innovatively enters the imaging light path between the first lens group 131 and the second lens group 132. Before entering the second lens group 132, the illumination light is shaped by the beam shaping lens 123, and the direction and position of the illumination light beam can be controlled using the reflection prism 121 and the dichroic mirror 122.

[0145] See also Figure 4b , Figure 4b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 4 of the present invention is shown.

[0146] In one embodiment, different from the previous embodiment, the lens group in the imaging optical path is simplified to a single first lens group 131, and the remaining refractive power required by the imaging optical path is provided by the side-view curved reflector 143 (which can be regarded as Figure 4a The side-view reflector 141 in the illustrated embodiment is integrated with the second lens group 132 to form a side-view curved reflector 143).

[0147] Thus, when the side-view curved reflector 143 rotates around the central axis of the probe, a circular scan of the imaging sample can be achieved. This technical solution reduces the number of probe components and helps to further reduce the size of the imaging probe. In this embodiment, the illumination beam emitted from the beam shaping lens 123 is approximately collimated, so the side-view curved reflector 143 preferably uses a parabolic basic surface shape; in a corresponding alternative embodiment, the side-view curved reflector 143 can also select an elliptical surface, a hyperbolic surface or any other basic surface shape according to the overall optical path design, and then combine the design of the first lens group 131 for joint optimization.

[0148] See also Figure 4c , Figure 4c A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 4 of the present invention is shown.

[0149] In one embodiment, the side-view reflector uses a side-view curved reflector 142 with an optimized surface shape, so that it can share the refractive power of the first lens group 131 and the second lens group 132, and can also specifically compensate for the astigmatism introduced by the tube wall.

[0150] In this embodiment, the illumination light beam emitted from the second lens group 132 has a converging wavefront, so the side-view curved reflector 142 preferably uses a hyperbolic basic surface shape; in a corresponding alternative embodiment, the side-view curved reflector 142 can also select an elliptical surface, a parabola or any other basic surface shape according to the overall optical path design, and then combine the designs of the first lens group 131 and the second lens group 132 for joint optimization.

[0151] See also Figure 4d , Figure 4d A partial structural schematic diagram of a side-view three-dimensional microendoscopic imaging probe according to embodiment 4 of the present invention is shown.

[0152] In one embodiment, see Figure 4d , omitting the similar Figure 4a-4c In the imaging optical path, the illumination beam emitted from the illumination optical fiber 11 is reflected and collimated by the curved reflector 143, and then passes through the dichroic mirror 122 to realize the middle-end injection illumination, which simplifies the structure of the probe. Figure 4d In the technical solution shown, the curved reflector 143 is preferably a parabolic reflector; in an alternative embodiment, according to the design of the subsequent imaging light path, the curved reflector 143 may also be an elliptical surface, a hyperbolic surface or other suitable surface shapes.

[0153] In specific applications, such as Figure 4a-4c In the above embodiment shown in FIG. 1 , the beam shaping lens 123 is preferably a gradient index lens (i.e., a GRIN lens) that can collimate the light beam; in alternative embodiments, the lens can also be a gradient index optical fiber, a micro spherical or aspherical lens, a diffractive optical element, a metasurface lens, or other optical elements that can adjust the shape of the light beam, or a lens such as Figure 4d The curved reflector shown.

[0154] Figures 4a-4d In the embodiment shown, the surfaces of the side-view reflector 141, the side-view curved reflector 142 and the curved reflector 143 can be coated with metal or dielectric reflective film, and the specific selection depends on the wavelength of the illumination light and the signal light. The shape of the base part can be polygonal, cylindrical or other arbitrary shapes, depending on the requirements of the assembly and scanning load.

[0155] Figure 4a-4c In the illustrated embodiment, the lens groups (131 and / or 132) are preferably identical spherical or aspherical lenses and are symmetrically mounted to reduce the aberration of the main imaging light path; in an alternative embodiment, the two may also be two different groups of lenses (groups) independently designed in terms of surface shape, focal length, lens composition and appearance, so that aberration compensation can be performed more flexibly, and the length and diameter of the hard part of the probe can be adjusted to adapt to the characteristics and requirements of different clinical application scenarios (such as different parts of the digestive tract).

[0156] In the alternative embodiment, the installation scheme, installation angle and function of the side-view plane reflector and / or curved reflector are the same as those described in the alternative embodiment of Example 2, and will not be repeated here.

[0157] In the alternative embodiment, the specific implementation scheme that can be adopted for the reflecting prism, the rotating driving device and the intermediate image acquisition module is the same as that described in the alternative embodiment of Example 2, and will not be repeated here.

[0158] Example 5

[0159] See also Figure 5a to Figure 5e , an embodiment of the present invention provides a side-view three-dimensional microendoscopic imaging probe, wherein the main imaging optical path is a retroreflective main imaging optical path, and the positional relationship between the illumination light input module, the main imaging optical path and the intermediate image acquisition module satisfies the following optical path:

[0160] After the illumination light beam is input into the retroreflective main imaging light path through the illumination light input module, it is incident radially onto the imaging sample close to the side wall of the imaging probe, and is scanned in a circular motion under the drive of the side-view scanning engine; the stimulated back-pointing signal light beam is collected by the main imaging light path and transmitted to the rear end of the main imaging light path to form an intermediate image, which is then collected by the intermediate image acquisition module.

[0161] Wherein, the main imaging optical path includes a first lens group 131 and a second lens group 132 arranged radially along the imaging probe, a first reflector 31 arranged at the front end of the first lens group 131, a second reflector 32 arranged at the front end of the second lens group, and a side view reflector 141 arranged at the rear end of the second lens group 132, and the first reflector 31 and the second reflector 32 are vertically arranged to form a retroreflective folded optical path; or,

[0162] The main imaging optical path includes a first lens group 131 and a second lens group 132, a second reflector 32 arranged at the front end of the second lens group, a side view reflector 141 arranged at the rear end of the second lens group 132, and the second reflector 32 to form a first reflector 31 of a retroreflective folded optical path, and the refractive power of the first lens group 131 is completely integrated with the first reflector 31 to form a curved reflector 143; or,

[0163] The main imaging optical path includes a first lens group 131 and a second lens group 132 arranged radially along the imaging probe, a first reflector 31 arranged at the front end of the first lens group 131, a second reflector 32 arranged at the front end of the second lens group, and a side-view reflector 141 arranged at the rear end of the second lens group 132, the first reflector 31 and the second reflector 32 are vertically arranged to form a retroreflective folded optical path, and the refractive power of the second lens group 132 is completely integrated with the side-view reflector 141 to form a side-view curved reflector 143; or,

[0164] The main imaging optical path includes a first lens group 131 and a second lens group 132 arranged radially along the imaging probe, a first reflector 31 disposed at the front end of the first lens group 131, a second reflector 32 disposed at the front end of the second lens group 132, and a side-view curved reflector 142 disposed at the rear end of the second lens group 132, wherein the first reflector 31 and the second reflector 32 are vertically arranged to form a retroreflective folded optical path; or,

[0165] The main imaging optical path includes a first lens group 131 and a second lens group 132, a second reflector 32 arranged at the front end of the second lens group, a side-view reflector 141 arranged at the rear end of the second lens group 132, and the second reflector 32 forms the first reflector 31 of the retroreflective folded optical path, and the refractive power of the second lens group 132 is completely integrated with the side-view reflector 141 to form a side-view curved reflector 146, and the refractive power of the first lens group 131 is completely integrated with the first reflector 31 to form a curved reflector 145.

[0166] The rotation drive device 16 of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning.

[0167] Different from the technical solutions of Examples 2 to 4, the rotation drive device of the side-view scanning engine in Example 5 is installed behind the side-view (flat or curved) reflector, that is, the so-called "rear-end drive device". In other words, the rotation drive device of the side-view scanning engine in Examples 2 to 4 is equivalent to a front-end drive device. The front end here can be understood as the front end close to the entire imaging probe, and the rear end can be understood as the rear end close to the entire imaging probe. The advantage of the rear-end drive device is to shorten the length of the hard part of the probe and avoid the drive device lead blocking the radial illumination beam.

[0168] In one embodiment, the side-view curved reflector includes any basic surface shape of a hyperbola, an ellipsoid or a parabola.

[0169] See also Figure 5a , Figure 5a A schematic structural diagram of a side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0170] In one embodiment, as a side-view three-dimensional microendoscopic imaging probe based on a retroreflective main imaging optical path and a rear-end driving device, the illumination light beam emitted from the illumination optical fiber 11 is continuously reflected by the reflection prism 121 and the dichroic mirror 122 and then incident on the first lens group 131. The illumination light beam emitted from the first lens group 131 passes through the retroreflective folded optical path, and the propagation direction is reversed by 180°, then enters the second lens group 132, and finally reflects through the side-view reflector 141 and incidents on the imaging sample in the radial direction. Among them, the retroreflective folded optical path refers to the optical path formed by the first reflector 31 and the second reflector 32 arranged vertically.

[0171] The side-view reflector 141 rotates under the action of the rear-end rotation drive device 16, and the rotation axis is designed to coincide with the central axis of the probe, so that the vertical axis distance of the radial illumination beam waist relative to the central axis of the probe remains unchanged, and a circular scan of the biological sample close to the side wall of the probe is achieved. The back-pointing signal beam will pass through the side-view reflector 141, the second lens group 132, the second reflector 32, the first reflector 31 and the first lens group 131 in sequence (i.e., pass through the main imaging light path in reverse), and form an intermediate image after passing through the dichroic mirror 122, and finally be collected by the intermediate image acquisition module 17.

[0172] In this embodiment, lens groups 131 and 132 preferably use the same aspheric achromatic lenses, and are symmetrically installed via reflectors 31 and 32 to reduce the aberration of the main imaging light path; in alternative embodiments, both may also select ordinary spherical or aspheric lenses, double-cemented or triple-cemented achromatic lenses, and any other lens combination; in other alternative embodiments, lens groups 131 and 132 may also be two lenses (groups) whose surface shape, focal length, lens composition and appearance can be independently designed, so that aberration compensation can be performed more flexibly.

[0173] See also Figure 5b , Figure 5b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0174] In one embodiment, different from the previous embodiment, the first lens group 131 and the first reflector 31 are integrated into a curved reflector 143. The illumination light beam emitted from the illumination fiber 11 enters the main imaging light path composed of the curved reflector 143, the reflector 32, the second lens group 132 and the side view reflector 141 after being reflected by the reflection prism 121 and the dichroic mirror 122, and finally incidents on the imaging sample in the radial direction.

[0175] In this embodiment, the back-facing signal light beam is approximately collimated after passing through the second lens group 132, so the curved reflector 143 is preferably a parabolic basic surface shape; in a corresponding alternative embodiment, the curved reflector 143 can also be selected according to the overall optical path design, and the basic surface shape of the curved reflector 143 can be selected as an elliptical surface, a hyperbolic surface or any other form, and then combined with the design of the second lens group 132 for joint optimization.

[0176] Furthermore, the main imaging optical path can be any number of permutations and combinations of curved reflectors, plane reflectors, and lens groups, thereby deriving a large number of alternative embodiments. Figure 5c , Figure 5d and Figure 5e And corresponding embodiments are provided for illustration.

[0177] See also Figure 5c , Figure 5c A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0178] In one embodiment, Figure 5c In the illustrated embodiment, the second lens group 132 and the side-viewing plane reflector 141 are integrated into a side-viewing curved reflector 143 , which together with the second reflector 32 , the first reflector 31 , and the first lens group 131 form a main imaging optical path.

[0179] In this embodiment, the illumination light beam emitted from the first lens group 131 (and reflected by the reflectors 31 and 32) is approximately collimated, so the side-view curved reflector 143 preferably uses a parabolic basic surface shape; in a corresponding alternative embodiment, the side-view curved reflector 143 can also select an elliptical surface, a hyperbolic surface or any other basic surface shape according to the overall optical path design, and then combine it with the design of the first lens group 131 for joint optimization.

[0180] See also Figure 5d , Figure 5d A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0181] In one embodiment, the side-view reflector uses a side-view curved reflector 142, which forms a main imaging optical path together with the first lens group 131, the second lens group 132, the reflector 31, and the reflector 32. The side-view curved reflector 142 can share the refractive power of the first lens group 131 and the second lens group 132, thereby increasing the design freedom and the range of component selection, and facilitating the control of system aberrations.

[0182] In this embodiment, the illumination light beam emitted from the second lens group 132 has a converging wavefront, so the side-view curved reflector 142 preferably uses a hyperbolic basic surface shape; in a corresponding alternative embodiment, the side-view curved reflector 142 can also select an elliptical surface, a parabola or any other basic surface shape according to the overall optical path design, and then combine the designs of the first lens group 131 and the second lens group 132 for joint optimization.

[0183] See also Figure 5e , Figure 5e A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 5 of the present invention is shown.

[0184] In one embodiment, the corresponding technical solution abandons the lens group and uses the curved reflector 145 and the side curved reflector 146 to provide the diopter required for the imaging optical path (which can be regarded as Figure 5a In the illustrated embodiment, the first lens group 131 and the first reflector 31 are fused into a curved reflector 145, and the side view reflector 141 and the second lens group 132 are fused into a side view curved reflector 146). When the side view curved reflector 146 rotates around the central axis of the probe, circular scanning of the imaging sample can be achieved.

[0185] This technical solution reduces the number of optical elements required for the probe part, which helps to reduce the length of the hard part of the probe. In this embodiment, the light beam between the curved reflector 145 and the side-view curved reflector 146 is approximately collimated, so the curved reflector 145 and the side-view curved reflector 146 preferably use a parabolic basic surface shape; in a corresponding alternative embodiment, the curved reflector 145 and the side-view curved reflector 146 can also select an elliptical surface, a hyperbolic surface or any other basic surface shape according to the overall optical path design, and then combine the mutual design for joint optimization.

[0186] In specific applications, such as Figure 5a-5e In the above-mentioned embodiment shown, the rotation center axis of the rear end rotation drive device 16 (and the side view reflector coupled thereto) is preferably selected as the central axis of the imaging probe, so that the vertical axis distance of the waist of the radial illumination light beam relative to the central axis of the imaging probe remains unchanged, thereby realizing circular scanning of biological samples close to the side wall of the imaging probe, making it easier to obtain imaging sample information and reducing the complexity of image post-processing.

[0187] Figure 5a-5e In the above-mentioned embodiment, the surfaces of the side-view reflector 141, the curved reflector 145, the side-view curved reflectors 142, 143 and 146 can be coated with metal or dielectric reflective films, and the specific selection depends on the wavelengths of the illumination light and the signal light. The shape of the base part can be polygonal, cylindrical or other arbitrary shapes, depending on the requirements of the assembly and scanning load.

[0188] In an alternative embodiment, the installation scheme, installation angle, and function of the side-view mirror or curved mirror are the same as those described in the alternative embodiment of Embodiment 2, and will not be elaborated here.

[0189] In this embodiment and the corresponding alternative embodiment, the specific implementation schemes that can be adopted for the reflecting prism, rotation driving device, and intermediate image acquisition module are the same as those described in the alternative embodiment of Embodiment 2, and will not be elaborated here.

[0190] Embodiment 6

[0191] See Figures 6a to 6d , an embodiment of the present invention provides a side-view three-dimensional microscopic endoscope imaging probe. The illumination light input module includes an illumination beam shaping unit. The beam shaping unit is used to jointly generate a Bessel beam that exits radially with the main imaging optical path. The Bessel beam is used to expand the depth of field of side-view imaging.

[0192] Specifically, the illumination beam shaping unit is an optical device based on a axicon lens (or having a similar function), which jointly generates a Bessel beam that exits radially with the main imaging optical path (which can also be considered a Bessel-Gaussian beam) to expand the depth of field of side-view imaging. At the same time, combined with the injection positions of the shaped illumination light in Embodiments 2 to 4, numerous embodiments can be derived.

[0193] See Figure 6a , Figure 6a shows a schematic structural diagram of a side-view three-dimensional microscopic endoscope imaging probe according to Embodiment 6 of the present invention.

[0194] In one embodiment, as a side-view three-dimensional microscopic endoscope imaging probe based on back-end injection of Bessel beam illumination, the illumination beam exiting from the illumination optical fiber 11 is first collimated by the collimating lens 124, then passes through the micro axicon 125 (also known as an axicon lens) to generate a Bessel beam, and after being reflected by the reflecting prism 121 and the dichroic mirror 122, it is injected into the main imaging optical path composed of the first lens group 131, the second lens group 132, and the side-view mirror 141, and finally enters the sample to be imaged close to the probe side wall in the radial direction. Compared with a Gaussian beam having the same waist diameter, the Bessel beam has a longer equivalent waist length and can maintain a uniform transverse resolution within a longer axial range (i.e., the radial direction of the probe).

[0195] In the technical solution provided in this embodiment, the first lens group 131 and the second lens group 132 are preferably symmetrically installed spherical or aspherical lenses. In an alternative embodiment, the two can also be two different lens groups with independently designed surface shapes, focal lengths, lens compositions, and outer shapes (by analogy Figure 2b The embodiment shown in the figure) or combining the two into a set of composite lenses (analogous to Figure 2c Embodiment shown).

[0196] In the technical solution provided in this embodiment, the side-view reflector 141 uses a plane reflector. In an alternative embodiment, the reflector can also use a curved reflector with an optimized design surface shape (analogously Figure 2d The embodiment shown in the figure), and the lens group 132 and the side-view reflector can also be integrated into a side-view curved reflector with suitable refractive power and optimized surface shape (analog Figure 2e The specific design and structure diagram of the above alternative embodiments can be compared to Figure 2b-2e The implementation of the various embodiments shown will not be described in detail here.

[0197] See also Figure 6b , Figure 6b A schematic structural diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 6 of the present invention is shown.

[0198] In one embodiment, the illumination beam emitted from the illumination fiber 11 is first collimated by the collimating lens 124, and then passes through the micro-axicon 125 (also called axicon) to generate a Bessel beam as the illumination beam. Then, an annular light spot is generated by the Fourier transform lens 126, and then, after being reflected by the reflecting prism 121 and the dichroic mirror 122, it is injected into the main imaging optical path from between the lens groups 131 and 132. The annular light spot is re-formed into a Bessel illumination beam through the action of the second lens group 132, and after being reflected by the side-view reflector 141, it is incident radially onto the sample to be imaged close to the side wall of the probe.

[0199] In the technical solution of this embodiment, the side-view reflector 141 uses a plane reflector. In an alternative embodiment, the reflector can also use a curved reflector with an optimized surface shape (analog Figure 4c The second lens group 132 and the side-view reflector can also be combined to form a side-view curved reflector with suitable refractive power and optimized surface shape (analog Figure 4b The specific design and structure diagram of the above alternative embodiments can be compared to Figure 4b-4c The implementation of the various embodiments shown will not be described in detail here.

[0200] See also Figure 6c , Figure 6c A schematic structural diagram of another side-viewing three-dimensional microendoscopic imaging probe according to embodiment 6 of the present invention is shown.

[0201] In one embodiment, the Bessel beam is generated in the same manner as in Figure 6bThe annular light spot generated by the Fourier transform lens 126 enters the main imaging optical path through the through hole of the perforated curved reflector 144, is re-formed into a Bessel illumination beam through the action of the second lens group 132, and is incident radially onto the sample to be imaged close to the side wall of the probe after being reflected by the side view reflector 141.

[0202] In the technical solution provided in this embodiment, the perforated curved reflector 144 is preferably a parabolic reflector; in derived alternative embodiments, a curved reflector with any other surface shape may also be used.

[0203] In the technical solution provided in this embodiment, the side-view reflector 141 uses a plane reflector. In an alternative embodiment, the reflector can also use a curved reflector with an optimized design surface shape (analog Figure 3b The second lens group 132 and the side-view reflector can also be combined to form a side-view curved reflector with suitable refractive power and optimized surface shape (analog Figure 3c The specific design and structure diagram of the above alternative embodiments can be compared to Figure 3b-3c The implementation of the embodiments shown will not be described in detail here.

[0204] See also Figure 6d , Figure 6d A partial structural schematic diagram of another side-view three-dimensional microendoscopic imaging probe according to embodiment 6 of the present invention is shown.

[0205] For Example 6, the Bessel illumination beam shaping unit may be implemented in a variety of other ways. Figure 6d The embodiment shown will Figure 6b and 6c The Fourier transform lens 126 and the reflecting prism 121 in the embodiment are combined into a curved reflecting mirror 143, which can be similar to Figure 6b The embodiment shown injects the main imaging light path from the middle end, and can also be similar to Figure 6c The illustrated embodiment injects the main imaging light path from the rear end through a perforated curved reflector. Figure 6d Only the design of the illumination light input and Bessel illumination beam shaping module is shown, and the details of the corresponding subsequent illumination light path and detection light path are omitted.

[0206] In the technical solution provided in this embodiment, the curved reflector 143 is preferably a parabolic reflector; in derived alternative embodiments, a curved reflector with any other surface shape may also be used.

[0207] In specific applications, such as Figure 6a-6dIn the embodiment shown, it is preferred to use a micro axicon 125 as an illumination beam shaping unit and generate a Bessel beam. In a corresponding alternative embodiment, the micro axicon 125 as an illumination beam shaping unit can also be replaced by a diffractive optical element or a metasurface lens with an axicon holographic phase; other methods and devices for generating (quasi) Bessel beams, including an annular pupil, known to researchers in the field, can also be used.

[0208] Figure 6a-6c In the illustrated embodiment, the reflecting prism 121 in the Bessel light injection module is preferably a plane reflecting mirror; in an alternative embodiment, the reflecting prism may also be a curved reflecting mirror with an optimized surface shape, thereby sharing the refractive power required for the subsequent illumination optical path and / or being used for aberration correction.

[0209] Figure 6a-6d In the embodiment shown, the collimating lens 124 is preferably a gradient index lens (i.e., a GRIN lens); in some alternative embodiments, the collimating lens may also use a gradient index optical fiber, a micro spherical or aspherical lens, a diffractive optical element, a metasurface lens, etc. for light beam collimation.

[0210] Figure 6a-6d In the embodiment shown, the illumination optical fiber 11 is preferably a polarization-maintaining single-mode optical fiber, so as to generate a high-quality Bessel illumination beam. In corresponding alternative embodiments, ordinary single-mode optical fiber or gradient refractive index optical fiber may also be used.

[0211] Figure 6a-6d In the embodiment shown, the surfaces of the side-view reflector 141, the curved reflector 143, and the perforated curved reflector 144 can be coated with metal or dielectric reflective film, and the specific selection depends on the wavelength of the illumination light and the signal light. The shape of the base part can be polygonal, cylindrical, or other arbitrary shapes, depending on the requirements of the assembly and scanning load.

[0212] Figure 6a-6d In the illustrated embodiment and the alternative embodiment, the installation scheme and installation angle of the side-view reflector or the curved reflector are the same as those described in the alternative embodiment of embodiment 2, and will not be repeated here.

[0213] Figure 6a-6d In the illustrated embodiment and the alternative embodiment, the specific implementation schemes that can be adopted by the reflective prism 121, the rotation drive device 16 and the intermediate image acquisition module 17 are the same as those described in the alternative embodiment of embodiment 2, and will not be repeated here.

[0214] It can be seen from Examples 1 to 6 that, compared with the gastrointestinal auto-optical endoscope and NBI endoscope, the side-viewing three-dimensional microendoscopic imaging probe of the present invention has optical tomography (also known as depth tomography or optical sectioning) and three-dimensional volume imaging capabilities, and can clearly visualize the three-dimensional microscopic structure of subepidermal tissue.

[0215] Compared with ultrasonic endoscopes and photoacoustic endoscopes, the side-viewing three-dimensional microendoscopic imaging probe of the present invention provides subcellular spatial resolution and richer image contrast information while maintaining its advantages of high-speed three-dimensional volume imaging.

[0216] Compared with the optical coherence tomography (OCT) imaging modality based on backscattered light, the side-viewing three-dimensional microendoscopic imaging probe described in the present invention can utilize fluorescence signals for imaging, and can provide molecular sensitivity, subcellular spatial resolution, and richer image contrast information.

[0217] Compared with endoscopic imaging probes based on confocal fluorescence and two-photon fluorescence that rely on point scanning imaging modes of tightly focused excitation light, the side-viewing three-dimensional microendoscopic imaging probe described in the present invention uses side-view imaging and spiral rotation scanning, which improves the imaging rate of the sample and increases the three-dimensional volume rate by orders of magnitude. It does not rely on a high numerical aperture objective lens and has a longer working distance.

[0218] Example 7

[0219] See also Figure 1 An embodiment of the present invention provides an imaging system, comprising the side-viewing three-dimensional microendoscopic imaging probe described in any one of Embodiments 1 to 6, and also comprising a light source module, wherein the light source module is used to generate an illumination beam.

[0220] The light source module is preferably a laser light source, and may also be a light emitting diode, a lamp, and various light sources emitted after being transmitted through an optical fiber. The light source module may include multiple groups of physically separated light source devices, may include multiple wavelength components, or directly use broadband light sources such as supercontinuum lasers, superluminescent diodes, and swept lasers. When the light source device is physically separated from the miniaturized imaging probe, the light source module may also include one or more optical fibers for transmitting the illumination light from the light source to the distal imaging probe.

[0221] In one embodiment, the intermediate image acquisition module of the side-viewing three-dimensional microendoscopic imaging probe does not have a photoelectric conversion function, and the imaging system further includes an external image sensor separated from the side-viewing three-dimensional microendoscopic imaging probe.

[0222] Among them, when the intermediate image acquisition module of the aforementioned imaging probe does not have the photoelectric conversion function, it is necessary to use an external image sensor separated from the imaging probe, and specific options include (but not limited to) charge-coupled device (CCD), complementary metal oxide semiconductor (CMOS), single photon avalanche diode (SPAD) or SPAD array, photomultiplier (PMT) or PMT array, silicon photomultiplier (SiPM) or SiPM array. According to the optical design and application requirements of the imaging probe, the external image sensor can be a single point detector or a one-dimensional or two-dimensional array, and the present invention does not limit it.

[0223] It should be noted that, in the embodiments of the present invention, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, a and b, a and c, b and c or a and b and c, where a, b and c can be single or multiple. It is worth noting that "at least one" can also be interpreted as "one or more items".

[0224] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are configured to distinguish similar objects, and are not necessarily configured to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0225] The present invention is explained from the viewpoints of purpose of use, efficiency, progress and novelty, and has complied with the functional enhancement and use requirements emphasized by the Patent Law. The above description and drawings of the present invention are only preferred embodiments of the present invention, and are not intended to limit the present invention. Therefore, all structures, devices, features, etc. that are similar or identical to the present invention, that is, all equivalent replacements or modifications made according to the scope of the patent application of the present invention, should fall within the scope of protection of the patent application of the present invention.

Claims

1. A side-view three-dimensional microendoscopic imaging probe, characterized in that: include: The illumination light input module, the main imaging light path, the side-view scanning engine and the intermediate image acquisition module, the positional relationship of the illumination light input module, the main imaging light path and the intermediate image acquisition module satisfies the following optical path: The illumination light beam is injected into one end or the middle position of the main imaging light path through the illumination light input module; in the main imaging light path, the input illumination light beam is transmitted as the target light beam to the imaging sample of the side wall of the imaging probe and the back signal light beam is collected, and the collected back signal light beam is transmitted back to the intermediate image acquisition module; the intermediate image acquisition module is used to obtain an intermediate image according to the back signal light beam and perform pixelated sampling on the intermediate image; the side-view scanning engine is used to drive the main imaging light path to make the target light beam rotate around the central axis of the probe and realize side-view circular scanning.

2. The side-view three-dimensional microendoscopic imaging probe according to claim 1, characterized in that: The intermediate image acquisition module performs pixelated sampling on the intermediate image, including: When the intermediate image acquisition module has a photoelectric conversion function, the intermediate image acquisition module includes an image sensor or an array sensor for completing the pixelation and digital recording of the intermediate image; when the intermediate image acquisition module does not have a photoelectric conversion function, the intermediate image acquisition module is used to distinguish and collect photons corresponding to each pixel, and then transmit them to an external image sensor located outside the imaging probe and physically separated from the imaging probe to complete the digital recording of the intermediate image.

3. The side-view three-dimensional microendoscopic imaging probe according to claim 2, characterized in that: The positional relationship between the illumination light input module, the main imaging light path and the intermediate image acquisition module satisfies the following optical path: The illumination light beam is injected from the rear end of the main imaging light path through the illumination light input module, and after being transmitted through the main imaging light path, is incident radially onto the imaging sample close to the side wall of the imaging probe, and is driven by the side-view scanning engine to perform circular scanning; the excited back-direction signal light beam is collected and transmitted to the rear end of the main imaging light path by the main imaging light path to form an intermediate image, which is then collected by the intermediate image acquisition module; Wherein, the main imaging optical path includes a first lens group, a second lens group and a side-view reflector arranged along the axial direction of the imaging probe, and a side-view reflector adapter; or, the main imaging optical path includes a composite lens and a side-view reflector arranged along the axial direction of the imaging probe, and a side-view reflector adapter; or, the main imaging optical path includes a first lens group, a second lens group and a side-view curved reflector arranged along the axial direction of the imaging probe, and a side-view reflector adapter; or, the main imaging optical path includes a first lens group, a second lens group and a side-view reflector arranged along the axial direction of the imaging probe, and a side-view reflector adapter, and the refractive power of the second lens group is completely integrated with the side-view reflector to form a side-view curved reflector; The rotation drive device of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning.

4. The side-view three-dimensional microendoscopic imaging probe according to claim 2, characterized in that: The main imaging optical path includes a perforated curved reflector, a second lens group, a side-view reflector, a side-view reflector adapter, and a reflecting prism, which are arranged along the axial direction of the imaging probe; or, the main imaging optical path includes a perforated curved reflector, a second lens group, a side-view curved reflector, a side-view reflector adapter, and a reflecting prism, which are arranged along the axial direction of the imaging probe; or, the main imaging optical path includes a perforated curved reflector, a second lens group, a side-view reflector, and a side-view reflector adapter, which are arranged along the axial direction of the imaging probe, and the refractive power of the second lens group is completely integrated with the side-view reflector to form a side-view curved reflector; The rotation drive device of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning; The positional relationship between the main imaging light path, the illumination light input module, the main imaging light path and the intermediate image acquisition module satisfies the following optical path: The illumination light beam is injected from the rear end of the main imaging light path through the illumination light input module, enters the main imaging light path through the through hole of the perforated curved reflector, and after being transmitted through the main imaging light path, is incident radially onto the imaging sample close to the side wall of the imaging probe, and is scanned in a circular motion under the drive of the side-view scanning engine; the excited back-pointing signal light beam is collected and transmitted by the main imaging light path to the rear end of the main imaging light path to form an intermediate image, which is then collected by the intermediate image acquisition module.

5. The side-viewing three-dimensional microendoscopic imaging probe according to claim 2, characterized in that: The positional relationship between the illumination light input module, the main imaging light path and the intermediate image acquisition module satisfies the following optical path: The illumination light beam is injected from the middle of the main imaging light path through the illumination light input module and then incident radially onto the imaging sample close to the side wall of the imaging probe, and is subjected to circular scanning under the drive of the side-view scanning engine; the excited back-direction signal light beam is collected and transmitted to the rear end of the main imaging light path by the main imaging light path and forms an intermediate image, which is then collected by the intermediate image acquisition module; Wherein, the main imaging optical path includes a first lens group, a dichroic mirror, a second lens group and a side-viewing reflector, as well as a side-viewing reflector adapter and a reflecting prism, which are arranged along the axial direction of the imaging probe; or, the main imaging optical path includes a first lens group, a dichroic mirror, a second lens group and a side-viewing reflector, as well as a side-viewing reflector adapter and a reflecting prism, which are arranged along the axial direction of the imaging probe, and the refractive power of the second lens group is completely integrated with the side-viewing reflector to form a side-viewing curved reflector; or, the main imaging optical path includes a first lens group, a dichroic mirror, a second lens group and a side-viewing curved reflector, as well as a side-viewing reflector adapter and a reflecting prism, which are arranged along the axial direction of the imaging probe; The rotation drive device of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning.

6. The side-view three-dimensional microendoscopic imaging probe according to claim 2, characterized in that: The main imaging optical path is a retroreflective main imaging optical path, and the positional relationship between the illumination light input module, the main imaging optical path and the intermediate image acquisition module satisfies the following optical path: The illumination light beam is input into the retroreflective main imaging light path through the illumination light input module and then incident radially onto the imaging sample close to the side wall of the imaging probe, and is subjected to circular scanning under the drive of the side-view scanning engine; the excited back-direction signal light beam is collected and transmitted to the rear end of the main imaging light path by the main imaging light path and forms an intermediate image, which is then collected by the intermediate image acquisition module; Wherein, the main imaging optical path includes a first lens group and a second lens group arranged radially along the imaging probe, a first reflector arranged at the front end of the first lens group, a second reflector arranged at the front end of the second lens group, and a side view reflector arranged at the rear end of the second lens group, and the first reflector and the second reflector are vertically arranged to form a retroreflective folded optical path; or, The main imaging optical path includes a first lens group and a second lens group, and a second reflector arranged at the front end of the second lens group, a side view reflector arranged at the rear end of the second lens group, and the second reflector forms a first reflector of a retroreflective folded optical path, and the diopter of the first lens group is completely integrated with the first reflector to form a curved reflector; or, The main imaging optical path includes a first lens group and a second lens group arranged radially along the imaging probe, a first reflector arranged at the front end of the first lens group, a second reflector arranged at the front end of the second lens group, and a side-view reflector arranged at the rear end of the second lens group, the first reflector and the second reflector are vertically arranged to form a retroreflective folded optical path, and the diopter of the second lens group is completely integrated with the side-view reflector to form a side-view curved reflector; or, The main imaging optical path includes a first lens group and a second lens group arranged radially along the imaging probe, a first reflector arranged at the front end of the first lens group, a second reflector arranged at the front end of the second lens group, and a side-view curved reflector arranged at the rear end of the second lens group, and the first reflector and the second reflector are vertically arranged to form a retroreflective folded optical path; or, The main imaging optical path includes a first lens group and a second lens group, and a second reflector arranged at the front end of the second lens group, a side-view reflector arranged at the rear end of the second lens group, and the second reflector forms a first reflector of a retroreflective folded optical path, and the diopter of the second lens group is completely integrated with the side-view reflector to form a side-view curved reflector, and the diopter of the first lens group is completely integrated with the first reflector to form a curved reflector; The rotation drive device of the side-view scanning engine is used to drive the side-view reflector or the side-view curved reflector to rotate around the central axis of the imaging probe through the side-view reflector adapter, thereby driving the target light beam to perform circular scanning.

7. The side-view three-dimensional microendoscopic imaging probe according to any one of claims 3 to 6, characterized in that: The side-view curved reflector formed by integrating the side-view reflectors includes any basic surface shape of a hyperbolic surface, an elliptical surface or a parabola.

8. The side-view three-dimensional microendoscopic imaging probe according to any one of claims 3 to 6, characterized in that: The illumination light input module comprises an illumination beam shaping unit, which is used to generate a Bessel light beam emitted radially in combination with the main imaging light path, and the Bessel light beam is used to expand the depth of field of the side-view imaging of the side-view three-dimensional microendoscopic imaging probe.

9. An imaging system, characterized in that: The side-view three-dimensional microendoscopic imaging probe comprises the probe according to any one of claims 1 to 8, and further comprises a light source module, wherein the light source module is used to generate an illumination light beam.

10. An imaging system according to claim 9, characterized in that: The intermediate image acquisition module of the side-viewing three-dimensional microendoscopic imaging probe does not have a photoelectric conversion function, and the imaging system also includes an external image sensor separated from the side-viewing three-dimensional microendoscopic imaging probe.

Images