Endoscope imaging method and endoscope imaging system

Abstract

The invention discloses an endoscope imaging method and an endoscope imaging system. An option window comprising at least three imaging modes and at least two display modes is displayed in the interactive interface, the imaging modes comprise at least two fluorescence imaging modes, and different fluorescence imaging modes correspond to different fluorescent dyes; the target display mode comprises a visible light image display mode and a fluorescence image display mode; determining a target imaging mode according to the selection instruction, and determining a target display mode; controlling a visible light source to output visible light and / or controlling a laser light source to output laser according to the target imaging mode and the target display mode; obtaining a visible light signal and generating visible light image data; and / or acquiring a fluorescence signal and generating fluorescence image data; a visible light image is displayed based on the visible light image data, and / or a fluorescence image is displayed based on the fluorescence image data. The light source is configured according to the combination of the target imaging mode and the target display mode selected by the user, and the imaging effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and more particularly to an endoscopic imaging method and an endoscopic imaging system. Background Art

[0002] In recent years, the development of endoscopic technology has greatly facilitated minimally invasive surgery and accelerated the popularization of minimally invasive surgery. Traditional white light reflective endoscopes can enter different human tissues and provide doctors with visual observation at a relatively low cost of surgical trauma. However, due to the limitations of technical indicators such as image resolution and contrast, traditional endoscopes cannot identify subtle lesions that cannot be identified by the naked eye. The emergence of fluorescent endoscope technology has made lesion visualization and tumor marking possible, while also enabling lymph node localization and vascular tracing.

[0003] However, most of the current fluorescent endoscopes can only image a single near-infrared fluorescent dye, indocyanine green (ICG), and its poor specificity limits its application in different clinical surgeries. Since the excitation and emission bands of different fluorescent dyes may be quite different, the existing fluorescent endoscopic imaging equipment is basically not compatible with fluorescent imaging of multiple different bands. In addition, although there are a few schemes involving multi-spectral fluorescent endoscopic imaging, they generally require the installation of multiple light sources to emit narrow-band light of different bands, or the use of wide-spectrum light-emitting devices, and combined with mechanical rotating parts to drive filters to achieve time-sharing switching of narrow-band spectra, which has high structural complexity and poor reliability. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] A first aspect of an embodiment of the present invention provides an endoscopic imaging method, the method is used in an endoscopic imaging system, the endoscopic imaging system includes a laser light source and a visible light source, the laser light source can output at least two lasers of different wavelengths in a time-sharing or simultaneous manner, the lasers of different wavelengths are used to excite different fluorescent dyes, and the visible light source is used to output visible light;

[0006] The method comprises:

[0007] Display an interactive interface, and display an option window including at least three imaging modes and at least two display modes in the interactive interface. The imaging modes include at least two fluorescence imaging modes and a visible light imaging mode. Different fluorescence imaging modes correspond to different fluorescent dyes. The display modes include a visible light image display mode and a fluorescence image display mode;

[0008] Obtain a selection instruction, and determine a target imaging mode from the at least three imaging modes and a target display mode from the at least two display modes according to the selection instruction;

[0009] According to the target imaging mode and the target display mode, control the visible light source to output visible light, and / or control the laser source to output at least one band of laser; wherein, when the target display mode is the visible light image display mode and the target imaging mode is the visible light imaging mode, control the visible light source to output visible light, obtain the visible light signal obtained by the reflection of the visible light by the tissue, and generate visible light image data based on the visible light signal; when the target display mode is the fluorescence image display mode and the target imaging mode is one of the at least two fluorescence imaging modes, control the visible light source to output corresponding visible light, and / or control the laser source to output the laser of the band corresponding to the one fluorescence imaging mode, obtain at least one fluorescence signal generated by the excitation of the fluorescent dye by the visible light or the laser, and generate fluorescence image data based on the fluorescence signal;

[0010] Display a visible light image in the interactive interface based on the visible light image data, and / or display a fluorescence image in the interactive interface based on the fluorescence image data.

[0011] In one embodiment, the at least two fluorescence imaging modes include a first fluorescence imaging mode and a second fluorescence imaging mode. The controlling the visible light source to output corresponding visible light, and / or controlling the laser source to output the laser of the band corresponding to the one fluorescence imaging mode according to the target imaging mode and the target display mode includes:

[0012] When the target imaging mode is the first fluorescence imaging mode, control the visible light source to output visible light to obtain the visible light signal obtained by the reflection of the visible light by the tissue, and control the laser source to output at least one band of laser to obtain at least one fluorescence signal generated by the excitation of the fluorescent dye by the laser;

[0013] When the target imaging mode is the second fluorescence imaging mode, control the visible light source to output visible light, so as to obtain the visible light signal obtained by the reflection of the visible light by the tissue, and obtain at least one fluorescence signal generated by the excitation of the fluorescent dye by the visible light.

[0014] In one embodiment, the first fluorescence imaging mode includes at least one of the following: ICG single dye imaging mode, MB single dye imaging mode, ICG and MB dual dye imaging mode;

[0015] The second fluorescence imaging mode includes at least one of the following: fluorescein sodium dye imaging mode, PPIX dye imaging mode.

[0016] In one embodiment, the controlling the laser light source to output at least one band of laser light includes:

[0017] When the target imaging mode is the ICG single dye imaging mode, control the laser light source to output laser light of the first band; when the target imaging mode is the MB single dye imaging mode, control the laser light source to output laser light of the second band; when the target imaging mode is the ICG and MB dual dye imaging mode, control the laser light source to output the laser light of the first band and the laser light of the second band simultaneously or in a time-sharing manner.

[0018] In one embodiment, the visible light image display mode further includes a narrow-band light image display mode, the imaging mode further includes a narrow-band light imaging mode, and the controlling the visible light source to output visible light and / or controlling the laser light source to output at least one band of laser light according to the target imaging mode and the target display mode includes:

[0019] When the target display mode is the narrow-band light image display mode and the target imaging mode is the narrow-band light imaging mode, control the visible light source to output corresponding narrow-band visible light.

[0020] In one embodiment, the endoscope imaging system further includes at least two image sensors, and the method further includes:

[0021] According to the target imaging mode and the target display mode, select a target image sensor from the at least two image sensors, and acquire the visible light signal and / or the fluorescence signal based on the target image sensor.

[0022] In one embodiment, the at least two image sensors include a visible light image sensor and an infrared image sensor, and the display mode includes a visible light image display mode and a fluorescence image display mode;

[0023] When the target display mode is the visible light image display mode and the target imaging mode is the visible light imaging mode, the target image sensor is the visible light image sensor;

[0024] When the target display mode is the fluorescence image display mode and the target imaging mode is one of the at least two fluorescence imaging modes, the target image sensor includes the infrared image sensor and / or the visible light image sensor. Preferably, the target image sensor includes the infrared image sensor and the visible light image sensor.

[0025] In one embodiment, when the target display mode is the fluorescence image display mode, if the target imaging mode is the following imaging modes, the target image sensor at least includes the infrared image sensor: ICG single dye imaging mode, MB single dye imaging mode, ICG and MB dual dye imaging mode, PPIX dye imaging mode;

[0026] When the target display mode is the fluorescence image display mode, if the target imaging mode is the fluorescein sodium dye imaging mode, the target image sensor is the visible light image sensor.

[0027] In one embodiment, the visible light image display mode further includes a narrowband light image display mode, the visible light imaging mode further includes a narrowband light imaging mode, and when the target imaging mode is the narrowband light imaging mode, the target image sensor is the visible light image sensor.

[0028] In one embodiment, the endoscope imaging system further includes a driving device and at least one movable filter device, and the driving device is used to drive the movable filter device to move;

[0029] The method further includes: controlling the driving device to drive the movable filter device to the front of the optical path of the visible light source to filter out the light other than the target band in the visible light, or controlling the driving device to move the movable filter device away from the front of the optical path of the visible light source.

[0030] In one embodiment, the at least one movable filter device includes at least two movable filter devices, different movable filter devices have different filtering ranges, and the at least two movable filter devices at least include a first movable filter device and a second movable filter device; the imaging mode includes a first imaging mode and a second imaging mode, and the target band includes a first target band and a second target band;

[0031] The method further includes: when the target imaging mode is the first imaging mode, controlling the driving device to drive the first movable filter device in front of the optical path of the visible light source to filter out light other than the first target band in the visible light;

[0032] When the target imaging mode is the second imaging mode, controlling the driving device to drive the second movable filter device in front of the optical path of the visible light source to filter out light other than the second target band in the visible light.

[0033] In one embodiment, the imaging mode includes a fluorescein sodium imaging mode. When the target imaging mode is the fluorescein sodium dye imaging mode, the driving device drives the movable filter device in front of the optical path of the visible light source to filter the visible light output by the visible light source to obtain excitation light corresponding to the fluorescein sodium dye;

[0034] The obtaining of at least one fluorescence signal generated by the fluorescence dye excited by the visible light or the laser includes: obtaining the fluorescein sodium fluorescence signal generated by the fluorescein sodium dye excited by the excitation light corresponding to the fluorescein sodium dye.

[0035] In one embodiment, the imaging mode includes a narrow-band light imaging mode. When the target imaging mode is the narrow-band light imaging mode, the driving device drives the movable filter device in front of the optical path of the visible light source to filter the visible light output by the visible light source to obtain narrow-band light of at least one band;

[0036] The obtaining of the visible light signal obtained by the reflection of the visible light by the tissue includes: obtaining the narrow-band visible light signal obtained by the reflection of the narrow-band light of at least one band by the tissue.

[0037] In one embodiment, the option window at least includes a first option window and a second option window. The first option window is used to display the at least three imaging modes, and the second option window is used to display the at least two display modes; the obtaining of the selection instruction, determining the target imaging mode from the at least two imaging modes according to the selection instruction, and determining the target display mode from the at least two display modes includes:

[0038] Responding to the user's operation on the first option window, obtaining a first selection instruction, and determining the target imaging mode according to the first selection instruction;

[0039] Responding to the user's operation on the second option window, obtaining a second selection instruction, and determining the target display mode according to the first selection instruction.

[0040] Another aspect of the present invention provides an endoscope imaging system, including a light source, an endoscope, a camera host and a display, wherein:

[0041] The light source includes a laser light source and a visible light source, wherein the laser light source can output at least two lasers of different wavelengths through the same light outlet in a time-sharing or simultaneous manner, and the lasers of different wavelengths are used to excite different fluorescent dyes, and the visible light source is used to output visible light;

[0042] The endoscope comprises an insertion portion and an operation portion, wherein the insertion portion is used to be inserted into a part of a patient to be observed, and the endoscope is used to transmit the laser and / or the visible light to a target object containing at least one of the fluorescent dyes, receive reflected light and fluorescence from the target object, and generate an electrical signal;

[0043] The camera host is connected to the endoscope and is used to perform the method as described above;

[0044] The display is used to output the interactive interface.

[0045] In one embodiment, the system further comprises a driving device and at least one movable optical filter element, wherein the driving device is used to drive the movable optical filter element to move.

[0046] In one embodiment, the system comprises at least two movable optical filter devices, different movable optical filter devices have different filtering ranges, and the at least two movable optical filter devices comprise at least a first movable optical filter device and a second movable optical filter device.

[0047] In one embodiment, the laser light source is a single light-emitting device, which includes a single substrate and at least two laser chips arranged on the single substrate, and the at least two laser chips are used to emit lasers of different bands. The single light-emitting device also includes a single light outlet and a single optical fiber, and the lasers emitted by the at least two laser chips are output from the single light outlet to the single optical fiber.

[0048] In one embodiment, the light source further includes a light combiner, and the light combiner is used to combine the laser and the visible light into a combined light beam.

[0049] In one embodiment, the system further comprises a collimator and / or a beam expander, wherein the collimator is disposed between the visible light source and the light combiner, and is used to collimate the visible light output by the visible light source and transmit the collimated visible light to the light combiner.

[0050] The beam expander is arranged between the laser light source and the light combiner, and is used for expanding the laser light output by the laser light source and transmitting the expanded laser light to the light combiner.

[0051] In one embodiment, the light combiner includes a filter device, the wavelength band of the laser is outside the transmission range of the filter device, and the filter device transmits the visible light and reflects the laser to combine the laser and the visible light into a composite light beam.

[0052] The endoscopic imaging method and endoscopic imaging system according to the embodiments of the present invention can image multiple fluorescent dyes in time-sharing or simultaneously, and during the imaging process, the light source is configured according to the combination of the target imaging mode and the target display mode selected by the user, thereby improving the imaging effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0054] In the attached picture:

[0055] Figure 1 A schematic block diagram of an endoscopic imaging system according to an embodiment of the present invention is shown;

[0056] Figure 2 A schematic flow chart showing an endoscopic imaging method according to an embodiment of the present invention;

[0057] Figure 3 A schematic diagram showing a movable optical filter device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0059] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0060] It should be understood that the present invention can be implemented in different forms and should not be interpreted as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to make the disclosure thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0061] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present invention. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0062] In order to fully understand the present invention, a detailed structure will be proposed in the following description to illustrate the technical solution proposed by the present invention. The optional embodiments of the present invention are described in detail as follows, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0063] Next, first refer to Figure 1 An endoscopic imaging system according to an embodiment of the present invention is described. Figure 1 FIG. 4 shows a schematic structural block diagram of an endoscopic imaging system 100 according to an embodiment of the present invention.

[0064] like Figure 1 As shown, the endoscope imaging system 100 includes a light source 110, an endoscope 120, a camera host 130 and a display 140. The light source 110 includes a laser light source and a visible light source. The laser light source can output at least two lasers of different wavelengths through the same light outlet in a time-sharing or simultaneous manner. The lasers of different wavelengths are used to excite different fluorescent dyes. The visible light source is used to output visible light.

[0065] The endoscope 120 includes an insertion portion and an operation portion, wherein the insertion portion is used to be inserted into the patient's part to be observed, and the operation portion is used for hand-held operation by a user, and the insertion portion and the operation portion may be an integral structure or a detachable structure; the endoscope further includes at least one image sensor (not shown), and illustratively, the image sensor may be disposed at the front end of the insertion portion of the endoscope. The endoscope 120 is capable of transmitting a composite light beam to a target object containing at least one fluorescent dye, receiving reflected light and fluorescence from the target object, and converting the reflected light and fluorescence into electrical signals through the image sensor.

[0066] The other end of the endoscope 120 is connected to the camera host 130 via a cable, and the electrical signal is transmitted to the camera host 130 via the cable for processing. In some embodiments, the endoscope can also send the electrical signal to the camera host 130 by wireless transmission. The camera host 130 is used to separate the reflected light signal and at least one fluorescent signal from the electrical signal, generate visible light image data based on the reflected light signal, and generate fluorescent image data based on the fluorescent signal. Specifically, a processor is provided in the camera host 130, and the processor obtains the electrical signal output by the endoscope 120 and generates visible light image data and fluorescent image data.

[0067] The display 140 is connected to the camera host 130 and is used to display at least one of the visible light image and the fluorescent image based on the visible light image data and the fluorescent image data. Specifically, the camera host 130 is connected to the display 140 via a video connection line and is used to send the endoscopic image to the display 140 for display.

[0068] When the target object contains at least two fluorescent dyes, and the camera host separates the fluorescent signals corresponding to at least two different fluorescent dyes, the display 140 can display the at least two fluorescent images in a superimposed or fused manner, and different fluorescent images are distinguished by different colors; or the display 140 can display the at least two fluorescent images separately. The at least two fluorescent images can be displayed superimposed on the visible light image.

[0069] It should be noted that Figure 1 The endoscopic imaging system 100 is merely an example and does not constitute a limitation on the endoscopic imaging system 100. The endoscopic imaging system 100 may include Figure 1 More or fewer components, or a combination of certain components, or different components may be shown. For example, the endoscope system 100 may also include a dilator, a smoke control device, input and output devices, a network access device, etc.

[0070] Below, refer to Figure 2 Describe the endoscopic imaging method of the embodiment of the present invention. The method can be referred to as Figure 1 The described endoscopic imaging system is implemented, the endoscopic imaging system comprises a laser light source and a visible light source, the laser light source can output at least two lasers of different wavelengths in time division or simultaneously, the lasers of different wavelengths are used to excite different fluorescent dyes, and the visible light source is used to output visible light; Figure 2 is a schematic flow chart of an endoscopic imaging method 200 in an embodiment of the present invention, which specifically includes the following steps:

[0071] In step S210, an interactive interface is displayed, and an option window including at least three imaging modes and at least two display modes is displayed in the interactive interface. The imaging modes include at least two fluorescence imaging modes and a visible light imaging mode. Different fluorescence imaging modes correspond to different fluorescent dyes. The display modes include a white light image display mode and a fluorescence image display mode;

[0072] In step S220, a selection instruction is obtained, and a target imaging mode is determined from the at least three imaging modes according to the selection instruction, and a target display mode is determined from at least two display modes;

[0073] In step S230, according to the target imaging mode and the target display mode, a visible light source is controlled to output visible light, and / or a laser light source is controlled to output at least one band of laser; wherein, when the target display mode is the visible light image display mode, the visible light source is controlled to output visible light, a visible light signal obtained by reflection of the visible light by the tissue is acquired, and visible light image data is generated based on the visible light signal; when the target display mode is the fluorescence image display mode and the target imaging mode is one of at least two fluorescence imaging modes, the visible light source is controlled to output visible light, and / or the laser light source is controlled to output a laser of a band corresponding to one fluorescence imaging mode, at least one fluorescence signal generated by the fluorescent dye being excited by the visible light or the laser is acquired, and fluorescence image data is generated based on the fluorescence signal;

[0074] In step S240, a visible light image is displayed in the interactive interface based on the visible light image data, and / or a fluorescence image is displayed in the interactive interface based on the fluorescence image data.

[0075] Different from the current endoscope imaging system which only configures a fluorescence image display mode and a visible light image display mode, the embodiment of the present invention configures at least three imaging modes and at least two display modes. The imaging modes include at least two fluorescence imaging modes, and different fluorescence imaging modes correspond to different fluorescent dyes. The display modes include a visible light image display mode and a fluorescence image display mode, and the light source and / or the image sensor are configured according to the combination of the target imaging mode and the target display mode selected by the user to achieve a better imaging effect.

[0076] Each fluorescence imaging mode can correspond to one fluorescent dye or at least two fluorescent dyes. The fluorescence imaging mode corresponding to one fluorescent dye can be called a single-dye fluorescence imaging mode, and the fluorescence imaging mode corresponding to at least two fluorescent dyes can be called a multi-dye fluorescence imaging mode. For example, the fluorescence imaging mode includes at least one of the following: ICG single-dye imaging mode, MB single-dye imaging mode, ICG and MB dual-dye imaging mode, fluorescein sodium dye imaging mode, PPIX dye imaging mode. Among them, the ICG and MB dual-dye imaging mode is a multi-dye fluorescence imaging mode, and the others are single-dye fluorescence imaging modes. In the single-dye fluorescence imaging mode, only the excitation light corresponding to one fluorescent dye needs to be provided, while in the multi-dye fluorescence imaging mode, the excitation lights corresponding to at least two fluorescent dyes need to be provided.

[0077] It should be noted that the target imaging mode selected by the user in the embodiments of the present invention is not necessarily consistent with the fluorescent dye actually injected into the part to be observed. For example, the fluorescent dyes actually injected into the part to be observed may be ICG and MB. At this time, the user can select the ICG and MB dual-dye imaging mode to observe the fluorescence images obtained by the excitation of the two fluorescent dyes; the user can also select the ICG single-dye imaging mode or the MB single-dye imaging mode to only observe the fluorescence image obtained by the excitation of one of the fluorescent dyes. At this time, the excitation light of the other fluorescent dye is not provided, so as to ensure the imaging effect of the fluorescence image that the user wants to observe.

[0078] In one embodiment, the interaction interface at least includes a first option window and a second option window operable by the user. The first option window is used to display at least three imaging modes, and the second option window is used to display at least two display modes; in response to the user's operation on the first option window, a first selection instruction is obtained to select a target imaging mode from at least two imaging modes; in response to the user's operation on the second option window, a second selection instruction is obtained to select a target display mode from at least two display modes.

[0079] In addition, the user can also select the target imaging mode and the target display mode by means such as a light source touch screen, a camera host touch screen or a button on the endoscope operation part. In addition, the user can also input the first selection instruction and the second selection instruction by means such as a digital operating room control system, a foot switch or a voice system.

[0080] Exemplarily, when the target display mode is the visible light image display mode, control the visible light source to output visible light. When the target display mode selected by the user is the visible light image display mode, it is not necessary to excite the fluorescent dye. Therefore, the option of the fluorescence imaging mode can be not opened, and the laser light source will not be turned on either. Only when the target display mode selected by the user is the fluorescence image display mode, is it allowed to select the fluorescence imaging mode.

[0081] When the target display mode is the fluorescence image display mode, further select to turn on the visible light source and / or the laser source according to the target imaging mode to meet the imaging requirements of different fluorescent dyes.

[0082] Among them, when the target imaging mode is the first fluorescence imaging mode, control the visible light source to output visible light to obtain the visible light signal reflected by the tissue through the visible light, and control the laser source to output the laser of the band corresponding to the first fluorescence imaging mode to obtain at least one fluorescence signal generated by the excitation of the fluorescent dye by the laser. That is, the excitation light of the fluorescent dye corresponding to the first fluorescence imaging mode is the laser output by the laser source. In the first fluorescence imaging mode, the visible light source outputs visible light to provide illumination, and the laser source provides laser to excite the fluorescent dye.

[0083] Referring to Table 1, the first fluorescence imaging mode includes at least one of the following: ICG single dye imaging mode, MB single dye imaging mode, and ICG and MB dual dye imaging mode. When the target imaging mode is the ICG single dye imaging mode, control the laser source to output the laser of the first band, and the laser of the first band can be the laser of the 780nm band, which is used to excite the ICG dye; when the target imaging mode is the MB single dye imaging mode, control the laser source to output the laser of the second band, and the laser of the second band can be the laser of the 660nm band, which is used to excite the MB dye; when the target imaging mode is the ICG and MB dual dye imaging mode, control the laser source to output the lasers of the first band and the second band at the same time, that is, the laser source outputs the lasers of the 780nm band and the 660nm band at the same time, which are used to excite the ICG dye and the MB dye at the same time.

[0084] Table 1

[0085]

[0086] When the target imaging mode is the second fluorescence imaging mode, control the visible light source to output visible light to obtain the visible light signal reflected by the tissue through the visible light, and obtain at least one fluorescence signal generated by the excitation of the fluorescent dye by the visible light. That is, the excitation light of the fluorescent dye corresponding to the second fluorescence imaging mode is the visible light output by the visible light source. In the second fluorescence imaging mode, only the visible light source needs to be turned on. The visible light source outputs visible light to provide illumination, and at the same time, the visible light is also used to excite the fluorescent dye.

[0087] Continuing to refer to Table 1, the second fluorescence imaging mode includes at least one of the following: fluorescein sodium dye mode, PPIX dye mode. The excitation bands of the fluorescein sodium dye and the PPIX dye are in the visible light band, so only the visible light source needs to output visible light.

[0088] In some embodiments, the endoscopic imaging system includes at least two image sensors, namely a visible light image sensor (white sensor) and an infrared image sensor (IR sensor). After selecting the target imaging mode and the target display mode, the target image sensor can also be selected from at least two image sensors according to the target imaging mode and the target display mode, and visible light signals and / or fluorescence signals are acquired based on the target image sensor.

[0089] Specifically, when the target display mode is the visible light image display mode, there is no need to collect fluorescence image signals, so the target image sensor can be directly selected as the visible light image sensor. When the target display mode is the fluorescence image display mode, the target image sensor is selected according to the specific target imaging mode, where the visible light image sensor is selected in some fluorescence imaging modes, and the infrared image sensor is selected in some fluorescence imaging modes.

[0090] Specifically, when the user selects the superimposed fluorescence image display mode and the target imaging mode is one of at least two fluorescence imaging modes, the display will show the superimposed image of the target fluorescence image and the visible light image. Correspondingly, at this time, the target image sensor needs to select the visible light image sensor and the infrared image sensor.

[0091] Continuing to refer to Table 1, when the target display mode is the fluorescence image display mode, if the target imaging mode is the following imaging modes, the infrared image sensor is selected as the target image sensor: ICG single dye imaging mode, MB single dye imaging mode, ICG and MB double dye imaging mode, PPIX dye imaging mode; if the target imaging mode is the fluorescein sodium dye imaging mode, the visible light image sensor is selected as the target image sensor.

[0092] In one embodiment, the display mode further includes a narrowband light image display mode, and the imaging mode includes a narrowband light imaging mode. When configuring the light source according to the target display mode and the target imaging mode, if the target display mode is the narrowband light image display mode and the target imaging mode is the narrowband light imaging mode, the visible light source is controlled to output visible light. When configuring the image sensor according to the target display mode and the target imaging mode, if the target display mode is the narrowband light image display mode and the target imaging mode is the narrowband light imaging mode, the visible light image sensor is selected as the target image sensor.

[0093] Since the visible light output by the visible light source is broadband light, in order to provide the narrowband light required for narrowband light imaging, it is also necessary to filter the visible light output by the visible light source to obtain the narrowband light corresponding to the required wavelength band. In one embodiment, such as Figure 3As shown, the endoscopic imaging system further includes a driving device 310 and at least one movable filter device 320. The driving device 310 is used to drive the movable filter device 320 to move. When narrow-band light imaging is required, the driving device 310 can be controlled to drive the movable filter device 320 in front of the optical path of the visible light source 330 to filter out the light other than the target band in the visible light, so as to obtain the narrow-band light required for narrow-band light imaging. When narrow-band light is not needed, the driving device 310 can be controlled to move the movable filter device 320 away from the front of the optical path of the visible light source 330. Thus, by controlling the switching of the light source and the movable filter device to provide the corresponding illumination spectrum, the simultaneous output of visible light and laser can be achieved, and the output of narrow-band light of different bands can also be achieved.

[0094] Among them, the driving device and the movable filter device may include a paddle assembly. The driving device includes a motor, and the movable filter device includes a bracket and a filter. The bracket is connected to the rotating shaft of the motor, and the motor can drive the bracket to rotate, so as to rotate the filter in front of the optical path of the visible light source and filter the visible light output by the visible light source.

[0095] Furthermore, the endoscopic imaging system may include at least two movable filter devices. Different movable filter devices have different filtering ranges. The at least two movable filter devices at least include a first movable filter device and a second movable filter device. When the target imaging mode is the first imaging mode, the driving device is controlled to drive the first movable filter device in front of the optical path of the visible light source to filter out the light other than the first target band in the visible light. When the target imaging mode is the second imaging mode, the driving device is controlled to drive the second movable filter device in front of the optical path of the visible light source to filter out the light other than the second target band in the visible light. By driving different movable filter devices to move in front of the optical path of the visible light source, visible light of different bands can be obtained to meet the requirements of different imaging modes for the light source.

[0096] In one example, the at least two movable filter devices may include a bracket and filter sheets of different bands arranged on the bracket. The motor can drive the bracket to rotate to rotate the filter sheets of different bands in front of the optical path of the visible light source.

[0097] As described above, the light source corresponding to the sodium fluorescein dye mode is a visible light source. Therefore, when the target imaging mode is the sodium fluorescein dye mode, the driving device can be controlled to drive the movable filter device to the front of the light path of the visible light source, and the visible light output by the visible light source is filtered to obtain the excitation light corresponding to the sodium fluorescein dye, thereby obtaining the sodium fluorescein fluorescence signal generated by the sodium fluorescein dye being excited by the excitation light corresponding to the sodium fluorescein dye. The excitation light corresponding to the sodium fluorescein dye is a narrow-band light in the band near 488nm. Referring to Table 1, in the sodium fluorescein dye mode, the binary paddle 1 is moved to the front of the light path of the visible light source, and the binary paddle 1 is a movable filter device including a 488nm filter.

[0098] When the target imaging mode is a narrow-band light imaging mode, the driving device drives the movable filter device to the front of the optical path of the visible light source, and filters the visible light output by the visible light source to obtain narrow-band light of at least one band, thereby obtaining a narrow-band visible light signal obtained by reflecting the narrow-band light of at least one band. Exemplarily, the narrow-band light of at least one band includes narrow-band light of bands near 415nm and 540nm. Referring to Table 1, in the narrow-band light imaging mode, the binary paddle 2 is moved to the front of the optical path of the visible light source, and the binary paddle 2 is a movable filter device including 415nm and 540nm filters, that is, the binary paddle 2 is a dual-bandpass filter, which can simultaneously obtain narrow-band blue light and green light.

[0099] In summary, the endoscopic imaging method 200 of the embodiment of the present invention can image multiple fluorescent dyes in time-sharing or simultaneously, and configure the light source according to the combination of the target imaging mode and the target display mode selected by the user during the imaging process, thereby improving the imaging effect.

[0100] Re-reference Figure 1 The embodiment of the present invention further provides an endoscopic imaging system 100, comprising a light source 110, an endoscope 120, a camera host 130 and a display 140, wherein the light source 110 comprises a laser light source and a visible light source, the laser light source can output at least two lasers of different wavelengths through the same light outlet in a time-sharing or simultaneous manner, the lasers of different wavelengths are used to excite different fluorescent dyes, and the visible light source is used to output visible light; the endoscope 120 comprises an insertion portion and an operation portion, the insertion portion is used to be inserted into a patient's part to be observed, the endoscope is used to transmit laser and / or visible light to a target object containing at least one fluorescent dye, receive reflected light and fluorescence from the target object, and generate an electrical signal; the camera host 130 is connected to the endoscope 120, and is used to execute the method described above; the display 140 is used to output an interactive interface.

[0101] In one embodiment, the endoscopic imaging system 100 further includes a driving device and at least one movable filter device. The driving device is configured to drive the movable filter device to move. For example, it can drive the movable filter device in front of the optical path of the visible light source to filter out the light other than the target band in the visible light, or move the movable filter device away from in front of the optical path of the visible light source.

[0102] In one embodiment, the endoscopic imaging system 100 includes at least two movable filter devices. Different movable filter devices have different filtering ranges. The at least two movable filter devices at least include a first movable filter device and a second movable filter device. In the sodium fluorescein imaging mode, the driving device drives the first movable filter device in front of the optical path of the visible light source. In the narrow-band light imaging mode, the driving device drives the second movable filter device in front of the optical path of the visible light source.

[0103] Exemplarily, the laser light source can be a single light-emitting device. The single light-emitting device includes a single substrate and at least two laser chips disposed on the single substrate. The at least two laser chips are configured to emit lasers of different bands. According to the power requirements of the sensitivity of the contrast agent, the number of laser chips corresponding to different bands can be different. The single light-emitting device further includes a single light output port. The lasers emitted by the at least two laser chips are all output from the same light output port. The imaging host 130 can send a control signal to the laser light source to control the spectrum of the light emitted by the laser light source. Each laser chip can be controlled individually. Specifically, the individual control includes individually turning on, individually turning off, and individually adjusting the power. When the laser light source emits laser light, it can be emitted by one of the laser chips, or can be emitted by a combination of multiple laser chips.

[0104] In one embodiment, the light source 110 further includes a light combiner. The light combiner is configured to combine the laser light and the visible light into a combined light beam and output it to the endoscope 120. Exemplarily, the laser light source can simultaneously or individually output multiple narrow-band spectra of different wavelengths for the excitation of different fluorescent dyes. The visible light source can specifically be a white light source providing a broadband spectrum, such as a white light LED. The visible light provided by the light source can be used for visible light reflection imaging. The light combiner is configured to combine the laser light and the visible light into a combined light beam, so that the light source 110 can simultaneously output multiple narrow-band spectra and a broadband spectrum.

[0105] In one embodiment, the light combiner can be a filter device, such as a filter, a dichroic mirror, or an optical prism. The band of the laser is outside the transmission range of the filter device. The filter device transmits visible light and reflects laser light to combine the laser light and the visible light into a combined light beam.

[0106] In some embodiments, the light source 110 further includes a beam expander, which is disposed between the laser light source and the light combiner, and is used to expand the laser light output by the laser light source, and transmit the expanded laser light to the light combiner. In some embodiments, the light source 110 further includes a collimator, which is disposed between the visible light source and the light combiner, and is used to collimate the visible light output by the visible light source, and transmit the collimated visible light to the light combiner to improve the beam combining effect.

[0107] In some embodiments, in one embodiment, the endoscope 120 includes a spectrometer, a first filter, a second filter, a first image sensor, and a second image sensor, wherein the spectrometer is used to separate the reflected light and the fluorescence into a first light path and a second light path, the first light path includes the visible light component in the reflected light and the fluorescence, and the second light path includes the non-visible light component in the fluorescence; the first filter is used to filter the first light path to obtain the visible light to be processed; the second filter is used to filter the second light path to obtain the non-visible light to be processed; the first image sensor is used to output a visible light signal based on the visible light to be processed; the second image sensor is used to output a non-visible light signal based on the non-visible light to be processed. That is, the first image sensor is a visible light image sensor, such as a white light image sensor (white sensor), and the second image sensor is a non-visible light image sensor, such as an infrared image sensor (IR sensor).

[0108] The specific structure of the endoscopic imaging system 100 and the specific steps of the endoscopic imaging method 200 have been described above and will not be repeated here. The endoscopic imaging system 100 of the embodiment of the present invention can image multiple fluorescent dyes in a time-sharing or simultaneous manner, and configures the light source according to the combination of the target imaging mode and the target display mode selected by the user during the imaging process, thereby improving the imaging effect.

[0109] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0110] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0111] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0112] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies have not been shown in detail so as not to obscure the understanding of this specification.

[0113] Similarly, it should be understood that, in order to streamline the present invention and assist in understanding one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the methods of the present invention should not be construed as reflecting the intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected by the corresponding claims, the inventive point lies in that the corresponding technical problems can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, where each claim itself serves as a separate embodiment of the present invention.

[0114] Those skilled in the art can understand that, except for features that are mutually exclusive, any combination can be used for all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0115] In addition, those skilled in the art can understand that, although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present invention and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0116] Each component embodiment of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention. The present invention may also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, or provided on a carrier signal, or in any other form.

[0117] It should be noted that the above embodiments illustrate rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words may be interpreted as names.

[0118] As described above, the above is only a specific embodiment or an illustration of the specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An endoscopic imaging method, characterized in that: The method is used in an endoscope imaging system, which includes a laser light source and a visible light source, wherein the laser light source can output at least two lasers of different wavelengths in a time-sharing or simultaneous manner, and the lasers of different wavelengths are used to excite different fluorescent dyes, and the visible light source is used to output visible light; The method comprises: Displaying an interactive interface, wherein an option window including at least three imaging modes and at least two display modes is displayed in the interactive interface, wherein the imaging modes include at least two fluorescence imaging modes and a visible light imaging mode, and different fluorescence imaging modes correspond to different fluorescent dyes, and the display modes include a visible light image display mode and a fluorescence image display mode; Acquire a selection instruction, determine a target imaging mode from the at least three imaging modes according to the selection instruction, and determine a target display mode from the at least two display modes; According to the target imaging mode and the target display mode, controlling the visible light source to output visible light, and / or controlling the laser light source to output laser light of at least one wavelength band; Wherein, when the target display mode is the visible light image display mode, and the target imaging mode is the visible light imaging mode, the visible light source is controlled to output visible light, a visible light signal obtained by reflection of the visible light by tissue is obtained, and visible light image data is generated based on the visible light signal; when the target display mode is the fluorescent image display mode, and the target imaging mode is one of the at least two fluorescent imaging modes, the visible light source is controlled to output corresponding visible light, and / or the laser light source is controlled to output laser light of a wavelength band corresponding to the one fluorescent imaging mode, at least one fluorescent signal generated by the fluorescent dye being excited by the visible light or the laser is obtained, and fluorescent image data is generated based on the fluorescent signal; A visible light image is displayed in the interactive interface based on the visible light image data, and / or a fluorescent image is displayed in the interactive interface based on the fluorescent image data.

2. The method according to claim 1, characterized in that The at least two fluorescence imaging modes include a first fluorescence imaging mode and a second fluorescence imaging mode, and the controlling the visible light source to output corresponding visible light and / or controlling the laser light source to output laser light of a wavelength band corresponding to the one fluorescence imaging mode according to the target imaging mode and the target display mode includes: When the target imaging mode is the first fluorescence imaging mode, the visible light source is controlled to output visible light to obtain a visible light signal obtained by reflection of the visible light by tissue, and the laser light source is controlled to output laser light of at least one wavelength band to obtain at least one fluorescence signal generated by the fluorescent dye excited by the laser light; When the target imaging mode is the second fluorescence imaging mode, the visible light source is controlled to output visible light to obtain a visible light signal obtained by reflection of the visible light by tissue, and to obtain at least one fluorescence signal generated by the fluorescent dye excited by the visible light.

3. The method according to claim 2, characterized in that The first fluorescence imaging mode includes at least one of the following: ICG single dye imaging mode, MB single dye imaging mode, ICG and MB dual dye imaging mode; The second fluorescence imaging mode includes at least one of the following: sodium fluorescein dye imaging mode and PPIX dye imaging mode.

4. The method according to claim 3, characterized in that The step of controlling the laser light source to output laser light of at least one wavelength band comprises: When the target imaging mode is the ICG single-dye imaging mode, the laser light source is controlled to output laser light of the first band; when the target imaging mode is the MB single-dye imaging mode, the laser light source is controlled to output laser light of the second band; when the target imaging mode is the ICG and MB dual-dye imaging mode, the laser light source is controlled to output laser light of the first band and laser light of the second band simultaneously or in time-sharing.

5. The method according to claim 1, characterized in that The visible light image display mode also includes a narrow-band light image display mode, and the visible light imaging mode also includes a narrow-band light imaging mode. According to the target imaging mode and the target display mode, controlling the visible light source to output visible light and / or controlling the laser light source to output laser light of at least one wavelength band includes: When the target display mode is the narrow-band light image display mode and the target imaging mode is the narrow-band light imaging mode, the visible light source is controlled to output corresponding narrow-band visible light.

6. The method according to claim 1, characterized in that The endoscopic imaging system further comprises at least two image sensors, and the method further comprises: According to the target imaging mode and the target display mode, a target image sensor is selected from the at least two image sensors, and the visible light signal and / or the fluorescence signal is acquired based on the target image sensor.

7. The method according to claim 6, characterized in that The at least two image sensors include a visible light image sensor and an infrared image sensor; When the target display mode is the visible light image display mode, and the target imaging mode is the visible light imaging mode, the target image sensor is the visible light image sensor; When the target display mode is the fluorescent image display mode, and the target imaging mode is one of the at least two fluorescent imaging modes, the target image sensor includes the infrared image sensor and / or the visible light image sensor, and preferably the target image sensor includes the infrared image sensor and the visible light image sensor.

8. The method according to claim 7, characterized in that When the target display mode is the fluorescent image display mode, if the target imaging mode is the following imaging mode, the target image sensor at least includes the infrared image sensor: ICG single dye imaging mode, MB single dye imaging mode, ICG and MB dual dye imaging mode, PPIX dye imaging mode; When the target display mode is the fluorescent image display mode, if the target imaging mode is the sodium fluorescein dye imaging mode, the target image sensor is the visible light image sensor.

9. The method according to claim 7, characterized in that: The visible light image display mode also includes a narrow-band light image display mode, and the visible light imaging mode also includes a narrow-band light imaging mode. When the target display mode is the narrow-band light image display mode and the target imaging mode is the narrow-band light imaging mode, the target image sensor is the visible light image sensor.

10. The method according to claim 1, characterized in that The endoscope imaging system further comprises a driving device and at least one movable optical filter device, wherein the driving device is used to drive the movable optical filter device to move; The method also includes: controlling the driving device to drive the movable filter device to the front of the light path of the visible light source to filter out light outside the target band in the visible light, or controlling the driving device to move the movable filter device away from the front of the light path of the visible light source.

11. The method according to claim 10, characterized in that The at least one movable optical filter device includes at least two movable optical filter devices, different movable optical filter devices have different filtering ranges, and the at least two movable optical filter devices include at least a first movable optical filter device and a second movable optical filter device; the imaging mode includes a first imaging mode and a second imaging mode, and the target band includes a first target band and a second target band; The method further includes: when the target imaging mode is the first imaging mode, controlling the driving device to drive the first movable filter device to the front of the optical path of the visible light source to filter out light other than the first target wavelength band in the visible light; When the target imaging mode is the second imaging mode, the driving device is controlled to drive the second movable filter device to the front of the optical path of the visible light source to filter out light other than the second target wavelength band in the visible light.

12. The method according to claim 10 or 11, characterized in that: The imaging mode includes a sodium fluorescein imaging mode. When the target imaging mode is a sodium fluorescein dye imaging mode, the driving device drives the movable filter device to the front of the optical path of the visible light source to filter the visible light output by the visible light source to obtain excitation light corresponding to the sodium fluorescein dye; The obtaining of at least one fluorescent signal generated when the fluorescent dye is excited by the visible light or the laser includes: obtaining a fluorescent signal generated when the sodium fluorescein dye is excited by the excitation light corresponding to the sodium fluorescein dye.

13. The method according to claim 10 or 11, characterized in that: The imaging mode includes a narrow-band light imaging mode. When the target imaging mode is the narrow-band light imaging mode, the driving device drives the movable filter device to the front of the optical path of the visible light source to filter the visible light output by the visible light source to obtain narrow-band light of at least one band; The acquiring of the visible light signal obtained by the visible light being reflected by the tissue includes: acquiring the visible light signal obtained by the narrowband light of the at least one wavelength band being reflected by the tissue.

14. The method according to claim 1, characterized in that The option window at least includes a first option window and a second option window, the first option window is used to display the at least three imaging modes, and the second option window is used to display the at least two display modes; The acquiring of the selection instruction, determining the target imaging mode from the at least three imaging modes according to the selection instruction, and determining the target display mode from the at least two display modes, comprises: In response to a user's operation on the first option window, a first selection instruction is acquired, and the target imaging mode is determined according to the first selection instruction; In response to the user's operation on the second option window, a second selection instruction is obtained, and the target display mode is determined according to the second selection instruction.

15. An endoscopic imaging system, characterized in that: It includes a light source, an endoscope, a camera host and a display, wherein: The light source includes a laser light source and a visible light source, wherein the laser light source can output at least two lasers of different wavelengths through the same light outlet in a time-sharing or simultaneous manner, and the lasers of different wavelengths are used to excite different fluorescent dyes, and the visible light source is used to output visible light; The endoscope comprises an insertion portion and an operation portion, wherein the insertion portion is used to be inserted into a part of a patient to be observed, and the endoscope is used to transmit the laser and / or the visible light to a target object containing at least one of the fluorescent dyes, receive reflected light and fluorescence from the target object, and generate an electrical signal; The camera host is connected to the endoscope and is used to perform the method according to any one of claims 1 to 14; The display is used to output the interactive interface.

16. The endoscopic imaging system according to claim 15, characterized in that: It also includes a driving device and at least one movable optical filter element, wherein the driving device is used to drive the movable optical filter element to move.

17. The endoscopic imaging system according to claim 16, characterized in that: The system includes at least two movable filter devices, different movable filter devices have different filtering ranges, and the at least two movable filter devices include at least a first movable filter device and a second movable filter device.

18. The endoscopic imaging system according to claim 15, characterized in that: The laser light source is a single light-emitting device, which includes a single substrate and at least two laser chips arranged on the single substrate. The at least two laser chips are used to emit lasers of different bands. The single light-emitting device also includes a single light outlet and a single optical fiber. The lasers emitted by the at least two laser chips are output from the single light outlet to the single optical fiber.

19. The endoscopic imaging system according to claim 15, characterized in that: The light source also includes a light combiner, The light combiner is used to combine the laser light and the visible light into a combined light beam.

20. The endoscopic imaging system according to claim 19, characterized in that: Also includes a collimator and / or a beam expander, The collimator is disposed between the visible light source and the light combiner, and is used to collimate the visible light output by the visible light source and transmit the collimated visible light to the light combiner. The beam expander is arranged between the laser light source and the light combiner, and is used for expanding the laser light output by the laser light source and transmitting the expanded laser light to the light combiner.

21. The endoscopic imaging system according to claim 19, characterized in that: The light combiner includes a filter device, the wavelength band of the laser is outside the transmission range of the filter device, and the filter device transmits the visible light and reflects the laser to combine the laser and the visible light into a composite light beam.

Images