Fluorescent color developing image processing system under endoscope and processing method thereof

Abstract

The present invention relates to a system and method for processing a fluorescence developing image under an endoscope, the system for processing the fluorescence developing image under the endoscope being suitable for processing a tumor tissue dyed by a dyeing agent, the system comprising a light source emitter, an image collector and an image processor, the image processor is used for processing image data collected by the image collector under alternating light supplement of the light source emitter, so that the tumor tissue displays fluorescent light under the natural light condition, a doctor can clearly see fluorescent color development of the tumor tissue under the natural state ambient light, the environment position of the doctor can be accurately judged, and the doctor can accurately see the fluorescent color development of the tumor tissue. The accuracy of tumor positioning is greatly improved, meanwhile, tedious manual operation in the fluorescent diagnosis and surgical treatment process is avoided, and visual fatigue and working intensity of doctors are effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of medical image processing, and in particular to an endoscopic fluorescence color image processing system and a processing method thereof. Background Art

[0002] In the field of modern medicine, accurate diagnosis and treatment have always been the goal to be pursued, and the emergence of fluorescence imaging technology has brought new breakthroughs in the detection and treatment of tumors. The basic principle of fluorescence imaging technology is to cleverly use the unique fluorescence properties of chemical substances to achieve the visualization of target tissues. In practical applications, specially designed dyes are introduced into the human body. These dyes are highly specific and can be efficiently absorbed by tumor cells. When light of a specific wavelength is irradiated to tumor cells containing dyes, the dye molecules absorb photon energy and transition from the ground state to the excited state. However, the dye molecules in the excited state are not stable and will quickly return to the ground state. In the process, they release excess energy in the form of light, emitting fluorescence with a specific wavelength.

[0003] With the help of professional detection equipment, doctors can accurately capture the fluorescent signals emitted by tumor tissue. By analyzing and processing these fluorescent signals, key information such as the location, size, and shape of the tumor can be determined more accurately. This is extremely important during surgery. Doctors can use this information to better navigate the surgery and accurately locate the surgical operation area, greatly improving the accuracy and success rate of the surgery, minimizing damage to normal tissues, reducing surgical risks, and providing stronger guarantees for the patient's recovery.

[0004] At present, the main products using fluorescence imaging technology on the market mostly use monochromatic wavelength LED or laser as the excitation light source to excite the dye. When the excitation light acts on the dye, the dye will produce stimulated light with a wavelength that is quite different from the excitation light. Based on this characteristic, doctors can observe the fluorescence emitted by the target tumor tissue in a relatively dark environment, thereby preliminarily judging the location of the tumor. However, such products have obvious limitations. On the one hand, they can only rely on weaker excitation light for fill light, resulting in very weak background light in the entire observation environment. Under such dim conditions, it is difficult for doctors to clearly determine the specific environmental location of the tumor tissue and to fully understand the relationship between the tumor and the surrounding normal tissue, which is extremely unfavorable for accurately assessing the condition and formulating surgical plans. On the other hand, in order to obtain a clear image of the environment around the tumor, doctors have to manually switch to the natural light fill light mode. However, frequent manual switching of the fill light mode is not only cumbersome to operate, but also distracts the doctor's attention and affects the consistency of diagnosis and surgery. In addition, there may be time delays during the switching process, resulting in the inability to track the dynamic changes of the tumor in real time. This inconvenience in operation and the untimely acquisition of information make it difficult for doctors to accurately treat tumors, which to some extent limits the application effect of fluorescence imaging technology in clinical practice. Therefore, developing a new type of fluorescence imaging technology-related product that can overcome the above-mentioned defects has become an important issue that needs to be solved in the current medical field. Summary of the invention

[0005] One advantage of the present invention is that it provides an endoscopic fluorescence colorimetric image processing system and a processing method thereof. The endoscopic fluorescence colorimetric image processing system enables doctors to clearly see the fluorescence colorimetric of tumor tissue under natural ambient light and accurately determine its environmental location, thereby greatly improving the accuracy of tumor positioning.

[0006] Another advantage of the present invention is that it provides an endoscopic fluorescence colorimetric image processing system and a processing method thereof. The endoscopic fluorescence colorimetric image processing system does not require the doctor to manually switch the fill light system, thereby avoiding tedious manual operations during fluorescence diagnosis and surgical treatment, reducing operating steps, improving work efficiency, and allowing doctors to focus more on the diagnosis and treatment itself.

[0007] Another advantage of the present invention is that it provides an endoscopic fluorescent colorimetric image processing system and a processing method thereof. The endoscopic fluorescent colorimetric image processing system integrates the light source emitter, the image collector and the image processor, effectively solving the problem of poor compatibility of equipment from different manufacturers, ensuring stable operation of the entire system, and avoiding data transmission errors or equipment failures caused by equipment incompatibility.

[0008] Another advantage of the present invention is that it provides an endoscopic fluorescent colorimetric image processing system and a processing method thereof. The endoscopic fluorescent colorimetric image processing system observes tumor tissue under natural ambient light, which is in line with the doctor's daily visual habits. Compared with observation under darker background light, it can effectively reduce the doctor's visual fatigue and reduce the probability of errors caused by visual problems during long operations or diagnostic processes.

[0009] Another advantage of the present invention is that it provides an endoscopic fluorescent colorimetric image processing system and a processing method thereof. The endoscopic fluorescent colorimetric image processing system can realize real-time acquisition and processing of images, so that doctors can obtain dynamic information of tumor tissue in a timely manner and adjust operation strategies in real time during surgery.

[0010] Another advantage of the present invention is that it provides an endoscopic fluorescent colorimetric image processing system and a processing method thereof. The endoscopic fluorescent colorimetric image processing system has the function of recording the surgical process. The complete image record provides rich data for postoperative case analysis, teaching research, and medical quality assessment, which is helpful for knowledge accumulation and technology improvement in the medical field.

[0011] According to another aspect of the present invention, the present invention further provides an endoscopic fluorescence colorimetric image processing system, which is suitable for processing a tumor tissue stained with a dye, and the endoscopic fluorescence colorimetric image processing system comprises:

[0012] a light source emitter, the light source emitter comprising an excitation light module and a natural light module, the excitation light module and the natural light module emit light alternately at a predetermined frequency to illuminate the tumor tissue, and the tumor tissue emits fluorescence when the excitation light module emits light;

[0013] An image collector, which collects images of the tumor tissue when the excitation light module emits light and images of the tumor tissue when the natural light module emits light alternately at a predetermined frequency; and

[0014] An image processor is used to process the image data alternately collected by the image collector to synthesize the fluorescence image emitted by the tumor tissue when the excitation light module is emitting light onto the image data of the tumor tissue when the natural light module is emitting light, thereby forming a synthetic image so that the tumor tissue displays fluorescence under natural light conditions.

[0015] According to an embodiment of the present invention, the excitation light module and the natural light module perform alternate lighting at a frequency equal to that of the image collector.

[0016] According to an embodiment of the present invention, the excitation light module is a fluorescent color development excitation light source.

[0017] According to an embodiment of the present invention, the natural light module is a natural white light source.

[0018] According to one embodiment of the present invention, the image collector is an endoscopic camera.

[0019] According to one embodiment of the present invention, the image processor also includes an image fusion processing module and an image display module, the image fusion processing module is used to process the image data collected by the endoscope camera, form the composite image, and output the composite image to the image display module for display.

[0020] According to one embodiment of the present invention, when the excitation light module emits light, the image collector acquires a tumor tissue fluorescence image and transmits it to the image processor; when the natural light module emits light, the image collector acquires a tumor tissue natural image and transmits it to the image processor; the image processor selects the fluorescent image portion of the tumor tissue fluorescence image and synthesizes it onto the adjacent acquired natural image of the tumor tissue to form the synthesized image, so that the tumor tissue fluorescence appears on the natural light image.

[0021] According to another embodiment of the present invention, when the excitation light module emits light, the image collector acquires a tumor tissue fluorescence image and transmits it to the image fusion processing module; when the natural light module emits light, the image collector acquires a tumor tissue natural image and transmits it to the image fusion processing module; the image fusion processing module selects the fluorescent image part in the tumor tissue fluorescence image and synthesizes it onto the adjacent collected natural image of the tumor tissue to form the synthesized image, so that the tumor tissue fluorescence appears on the natural light image, and outputs it to the image display module for display.

[0022] According to another embodiment of the present invention, when the excitation light module emits light at a predetermined frequency, the image collector acquires a first tumor tissue fluorescence image to an nth tumor tissue fluorescence image at the same frequency, and when the natural light module emits light at a predetermined frequency, the image collector acquires a first tumor tissue natural image to an nth tumor tissue natural image at the same frequency, the excitation light module and the natural light module emit light alternately, and the image collector acquires image data in the order of the first tumor tissue fluorescence image-the first tumor tissue natural image-the second tumor tissue fluorescence image-the second tumor tissue natural image-…-the nth tumor tissue fluorescence image-the nth tumor tissue natural image, and the image collector transmits the acquired image data to the image processor, and the image processor selects the fluorescence image part in the tumor tissue fluorescence image and synthesizes it onto the adjacent acquired tumor tissue natural image, so that the tumor tissue fluorescence appears on the natural light image.

[0023] According to another embodiment of the present invention, the excitation light module is a fluorescent color development excitation light source.

[0024] According to another embodiment of the present invention, the natural light module is a natural white light source.

[0025] According to another embodiment of the present invention, the image collector is an endoscopic camera.

[0026] According to another embodiment of the present invention, the image processor also includes an image fusion processing module and an image display module, and the image fusion processing module is used to process the image data of the tumor tissue fluorescence image and the tumor tissue natural image collected by the endoscopic camera, and output the processed image to the image display module for display.

[0027] According to another aspect of the present invention, the present invention further provides an endoscopic fluorescence color image processing system, which is suitable for processing a tumor tissue stained with a dye, and is characterized in that it includes:

[0028] a light source emitter, the light source emitter comprising a fluorescent color development excitation light source and a natural white light source, the fluorescent color development excitation light source and the natural white light source emit light alternately at a predetermined frequency to illuminate the tumor tissue, and the tumor tissue emits fluorescence when the fluorescent color development excitation light source emits light;

[0029] An endoscopic camera head, wherein when the fluorescent color developing excitation light source emits light at a predetermined frequency, the endoscopic camera head collects a first tumor tissue fluorescent image to an nth tumor tissue fluorescent image at the same frequency, and when the natural white light source emits light at a predetermined frequency, the endoscopic camera head collects a first tumor tissue natural image to an nth tumor tissue natural image at the same frequency, the fluorescent color developing excitation light source and the natural white light source emit light alternately, and the endoscopic camera head collects image data in the order of the first tumor tissue fluorescent image - the first tumor tissue natural image - the second tumor tissue fluorescent image - the second tumor tissue natural image - ... - the nth tumor tissue fluorescent image - the nth tumor tissue natural image; and

[0030] An image processor, the image processor also includes an image fusion processing module and an image display module, the endoscopic camera transmits the collected image data to the image fusion processing module, the image fusion processing module selects the fluorescent image part in the tumor tissue fluorescence image and synthesizes it onto the adjacent collected natural image of the tumor tissue, so that the tumor tissue fluorescence appears on the natural light image, and outputs it to the image display module for display.

[0031] According to another aspect of the present invention, the present invention further provides an endoscopic fluorescence color image processing method, which is suitable for processing a tumor tissue stained with a dye, comprising the following steps:

[0032] (S01): using an image collector to collect the tumor tissue image under a fluorescent color development excitation light source to obtain a first frame image;

[0033] (S02): using the image collector to collect the tumor tissue image under a natural white light source to obtain a second frame of image;

[0034] (S03): transmitting the first frame image and the second frame image to an image fusion processing module, wherein the image fusion processing module extracts the portion of the tumor tissue fluorescence in the first frame image, performs fluorescence color enhancement processing, and then synthesizes the portion onto the tumor tissue in the second frame image to form a synthesized image; and

[0035] (S04): Outputting the synthesized image to an image display module.

[0036] According to one of the embodiments of the present invention, the acquisition frequency of the image collector is consistent with the fill light frequency of the fluorescent color development excitation light source and the natural white light source.

[0037] According to another aspect of the present invention, the present invention further provides an endoscopic fluorescence color image processing method, which is suitable for processing a tumor tissue stained with a dye, comprising the following steps:

[0038] (S001): using an image collector to collect the tumor tissue image under the light of an excitation light module to obtain a first frame image;

[0039] (S002): using the image collector to collect the tumor tissue image under the illumination of a natural light module to obtain a second frame of image;

[0040] (S003): repeating step (S001) and step (S002) to obtain an n-th frame image and an (n+1)-th frame image;

[0041] (S004): transmitting the first frame image to the n+1th frame image to an image fusion processing module, wherein the image fusion processing module extracts the frame image with the fluorescent portion of the tumor tissue, performs fluorescence color enhancement processing, and then synthesizes it onto the tumor tissue in the adjacent frame image to form a synthesized image; and

[0042] (S005): Continuously outputting the synthesized image to an image display module to form a dynamic image.

[0043] According to one of the embodiments of the present invention, the acquisition frequency of the image collector is consistent with the fill light frequency of the excitation light module and the natural light module.

[0044] Further objects and advantages of the present invention will be fully apparent from an understanding of the following description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a system structure block diagram of the endoscopic fluorescence color image processing system according to the present invention.

[0046] Figure 2 It is a schematic diagram of the principle of the endoscopic fluorescence color image processing system according to the present invention.

[0047] Figure 3 It is a schematic diagram of image acquisition of the endoscopic fluorescent colorimetric image processing system according to the present invention.

[0048] Figure 4 It is a step diagram of the endoscopic fluorescence color image processing method according to the present invention.

[0049] Figure 5 2 is another implementation step diagram of the endoscopic fluorescence color image processing method according to the present invention. DETAILED DESCRIPTION

[0050] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0051] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0052] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0053] Reference Figure 1 To Attachment Figure 3 As shown, the endoscopic fluorescence colorimetric image processing system 1 of the present invention is schematically illustrated, and the endoscopic fluorescence colorimetric image processing system 1 includes a light source emitter 10, an image collector 20 and an image processor 30. The endoscopic fluorescence colorimetric image processing system 1 is used to process a tumor tissue 2 stained with a dye, and the image processor 30 is used to process the image data collected by the image collector 20 under the alternating light of the light source emitter 10, so that the tumor tissue 2 shows fluorescence under natural light conditions.

[0054] It can be understood that the endoscopic fluorescence colorimetric image processing system 1 enables the doctor to clearly see the fluorescence colorimetric of tumor tissue under natural ambient light and accurately determine its environmental position, which greatly improves the accuracy of tumor positioning; the endoscopic fluorescence colorimetric image processing system 1 does not require the doctor to manually switch the fill light system, avoiding tedious manual operations during fluorescence diagnosis and surgical treatment, reducing operating steps, improving work efficiency, and allowing doctors to focus more on diagnosis and treatment itself; the endoscopic fluorescence colorimetric image processing system 1 also integrates the light source emitter 10, the image collector 20 and the image processor 30, effectively solving the problem of poor compatibility of equipment from different manufacturers, ensuring the stable operation of the entire system, and avoiding data transmission errors or equipment failures caused by equipment incompatibility.

[0055] The endoscopic fluorescent color image processing system 1 observes tumor tissue under natural ambient light, which is in line with the doctor's daily visual habits. Compared with observation under darker background light, it can effectively reduce the doctor's visual fatigue and reduce the probability of errors caused by visual problems during long-term surgery or diagnosis. The endoscopic fluorescent color image processing system 1 can also realize real-time acquisition and processing of images. Doctors can obtain dynamic information of tumor tissue in time and adjust the operation strategy in real time during surgery. In addition, the endoscopic fluorescent color image processing system 1 has the function of recording the surgical process. The complete image record provides rich data for postoperative case analysis, teaching research and medical quality evaluation, which is helpful for knowledge accumulation and technology improvement in the medical field.

[0056] For details, refer to the attached Figure 1 and attached Figure 2In the illustrated endoscopic fluorescence color image processing system 1, the light source emitter 10 further includes an excitation light module 11 and a natural light module 12. The excitation light module can excite the fluorescent dye in the tumor tissue 2, so that the tumor tissue 2 can emit fluorescence when the excitation light module 11 emits light, and when the natural light module 12 emits light, the tumor tissue 2 presents a normal visual form under natural light. The excitation light module 11 and the natural light module 12 are integrated and installed at the head end of the image collector 20, and preferably maintained in parallel. In particular, the fill light frequency of the excitation light module 11 and the natural light module 12 is synchronized with the acquisition frequency of the image collector 20. In other words, the excitation light module 11 fills in light once, and the image collector 20 synchronously collects an image of the tumor tissue 2 when the excitation light module 11 fills in light once. Similarly, the natural light module 12 fills in light once, and the image collector 20 synchronously collects an image of the tumor tissue 2 when the natural light module 12 fills in light once. This ensures that each time the excitation light module 11 and the natural light module 12 emit light, the image collector 20 can synchronously capture the corresponding image data.

[0057] Furthermore, the excitation light module 11 is preferably implemented as a fluorescent color development excitation light source in this embodiment, and the fluorescent color development excitation light source can be set according to the color development requirements of different dyes, and has strong adaptability. There are various dyes in medical scenarios, and the fluorescent color development excitation light source can be configured into different excitation light sources so that the system can flexibly cooperate with various dyes to meet different tumor detection needs and expand the application range of the system. The fluorescent color development excitation light source can excite the dye absorbed by tumor cells to emit fluorescence, so that the doctor can accurately determine the position and size of the tumor tissue 2, provide a key basis for surgical navigation, improve surgical accuracy, and reduce damage to normal tissues.

[0058] In this embodiment, the natural light module 12 is preferably implemented as a natural white light source, which can provide a clear background environment and enhance visual recognition. The human eye has higher adaptability and recognition to natural white light. In a natural white light environment, doctors can rely on their daily visual experience and habits to observe, and it is easier to distinguish the morphology, color, texture and other characteristics of different tissues. Combined with the fluorescent coloration of the tumor part, the doctor can have a more comprehensive understanding of the lesion area and improve the accuracy and reliability of the diagnosis. At the same time, the natural white light source can illuminate the tissue and environment around the tumor tissue 2, providing the doctor with a clear background image under normal vision. Unlike the darker background that relies only on fluorescent coloration excitation light, the doctor can clearly see the location of the tumor and the spatial relationship with the surrounding tissues under natural white light, such as the proximity of the tumor to important structures such as blood vessels and nerves. This is crucial for surgical planning and operation, and helps doctors avoid accidental damage to surrounding normal tissues and reduce surgical risks.

[0059] In particular, when the excitation light module 11 and the natural light module 12 alternately provide fill-in light, the doctor can see the fluorescently colored tumor tissue under natural ambient light, and can not only observe the tumor itself, but also determine its environmental location, solving the problem of weak background light and difficulty in determining the environmental location of the tumor in traditional technologies. After image acquisition and processing, the fluorescence signal generated by the excitation light of the excitation light module 11 is synthesized with the image under fill-in light of the natural light module 12, enriching the image information. The tumor tissue 2 is presented in fluorescent color in the synthesized image, with clearer contours and boundaries, making it easier for doctors to observe the detailed features of the tumor, and providing a more reliable image basis for diagnosis and treatment.

[0060] In this embodiment, the image collector 20 is preferably implemented as an endoscopic camera 21, and the endoscopic camera 21 is integrated with the excitation light module 11 and the natural light module 12. Preferably, the endoscopic camera 21, the excitation light module 11 and the natural light module 12 are in the same plane, so as to simultaneously collect the image of the tumor tissue 2 when the excitation light module 11 and the natural light module 12 are emitting light.

[0061] The endoscope camera 21 is small and flexible, and can penetrate into the body through natural cavities or tiny incisions, reaching areas that are difficult to reach with traditional inspection methods. During fluorescence imaging, tumor images can be captured at close range and accurately, without missing any tiny lesions, allowing doctors to clearly observe the morphology, boundaries and subtle features of the tumor, providing a strong basis for accurate diagnosis.

[0062] The endoscope camera 21 can also perform real-time dynamic monitoring and high-resolution imaging to clearly present detailed information of the tumor tissue 2. Whether it is the internal structure and texture of the tumor or the slight difference from the surrounding normal tissue, it can be clearly displayed, helping doctors to more accurately judge the nature and development of the tumor and formulate more targeted treatment plans.

[0063] It should be understood by those skilled in the art that the endoscopic camera 21, as a key image acquisition component, has a high degree of diversity and flexibility in its form, and is not limited to the common electronic mirror form. In addition to the electronic mirror, the combination of the camera handle and the optical hard mirror also has unique advantages and broad application prospects. The combination of the camera handle and the optical hard mirror opens up a new path for the application of the endoscopic camera 21. As the core component of control and operation, the camera handle is designed in accordance with ergonomic principles, which enables doctors to control the angle and position of the lens more comfortably and flexibly during operation. Doctors can easily adjust the direction of the optical hard mirror according to the surgical site and observation needs, and realize all-round and multi-angle observation of the target area, which greatly improves the convenience and accuracy of operation.

[0064] The optical transmission technology used by the optical hard mirror can clearly transmit the light of the target area to the image sensor in the camera handle through a series of precise optical lens groups. The optical hard mirror has excellent optical performance and can provide high-resolution, high-contrast images, allowing doctors to more clearly distinguish the boundaries and textures of the tumor and the subtle differences from the surrounding normal tissue when observing tumor tissue. This is of great significance for the early diagnosis and precise treatment of tumors, and can help doctors more accurately judge the condition and formulate more reasonable treatment plans.

[0065] In addition, the combination of the camera handle and the optical hard mirror performs better in some special surgical environments. For example, in some surgeries that require deep operations, the rigid structure of the optical hard mirror can better maintain its shape and stability, ensuring that the lens can accurately reach the target position without affecting the accuracy of image acquisition due to bending or deformation. Moreover, the optical hard mirror has a natural advantage in resisting electromagnetic interference. Even in a strong electromagnetic environment, such as in magnetic resonance-guided surgery, it can stably transmit image signals, providing reliable protection for the smooth progress of the operation.

[0066] This combination also has good scalability and compatibility. The camera handle can be easily used with optical hard lenses of different specifications and functions, and the most suitable lens configuration can be selected according to the specific needs of the surgery. At the same time, it can also be seamlessly connected with existing medical equipment and image processing systems, reducing the cost of medical equipment upgrades and improving the utilization efficiency of medical resources.

[0067] In particular, the frequency of the endoscope camera 21 is consistent with the fill light frequency of the excitation light module 11 and the natural light module 12, see the attached Figure 2 and 3 The figure is a schematic diagram of the principle of the image collector 20 collecting the image of the tumor tissue 2, that is, the schematic diagram of the principle of the endoscope camera 21 collecting the image of the tumor tissue 2. As shown in the figure, when the excitation light module 11 emits light, the endoscope camera 21 synchronously acquires a first tumor tissue fluorescence image 111, that is, a first frame image, and when the natural light module 12 emits light in sequence, the endoscope camera 21 synchronously acquires a first tumor tissue natural image, that is, a second frame image, and when the excitation light module 11 and the natural light module 12 emit light at a predetermined frequency, the endoscope camera 21 continuously acquires at a predetermined frequency to acquire the nth tumor tissue fluorescence image 1111 and the nth tumor tissue natural image 1211, and transmits the acquired impact data to the image processor 30.

[0068] Further, the image processor 30 includes an image fusion processing module 31 and an image display module 32. The image data collected by the image collector 20 is transmitted to the image fusion processing module 31. The image fusion processing module 31 selects the part of the tumor tissue 2 in the first frame image, that is, the first tumor tissue fluorescence image 111, and synthesizes it into the second frame image, that is, the first tumor tissue natural image 121, so that the fluorescence of the tumor tissue 2 appears on the natural light image, that is, the synthesized image 131. The image fusion processing module 31 transmits the synthesized synthesized image 131 to the image display module 32. It can be understood that the synthesized image 131 enables the doctor to clearly see the fluorescence color of the tumor tissue under the natural state ambient light and accurately judge its environmental position, which greatly improves the accuracy of tumor positioning; the synthesized image 131 can observe the tumor tissue under the natural state ambient light, which is in line with the doctor's daily visual habits. Compared with observing under darker background light, it can effectively reduce the doctor's visual fatigue and reduce the probability of errors caused by visual problems during long-term surgery or diagnosis.

[0069] Furthermore, the image collector 30 can continuously collect images, so that the first frame to the n+1th frame of the image can be continuously processed by the image fusion processing module 31 to continuously output the synthetic image 131, that is, to form a dynamic fluorescent image of the tumor tissue 2, that is, to achieve real-time acquisition and processing of images, so that the doctor can obtain the dynamic information of the tumor tissue 2 in time and adjust the operation strategy in real time during the operation. In addition, the image collector 30 has the function of recording the surgical process. The complete image record provides rich data for postoperative case analysis, teaching research and medical quality evaluation, which is helpful for knowledge accumulation and technology improvement in the medical field.

[0070] Reference Figure 4 , is a step diagram of the endoscopic fluorescence colorimetric image processing method according to the present invention.

[0071] The endoscopic fluorescence color image processing method is suitable for processing a tumor tissue stained with a dye, and comprises the following steps:

[0072] (S01): using an image collector to collect the tumor tissue image under a fluorescent color development excitation light source to obtain a first frame image;

[0073] (S02): using the image collector to collect the tumor tissue image under a natural white light source to obtain a second frame of image;

[0074] (S03): transmitting the first frame image and the second frame image to an image fusion processing module, wherein the image fusion processing module extracts the portion of the tumor tissue fluorescence in the first frame image, performs fluorescence color enhancement processing, and then synthesizes the portion onto the tumor tissue in the second frame image to form a synthesized image; and

[0075] (S04): Outputting the synthesized image to an image display module.

[0076] Particularly, the acquisition frequency of the image collector is consistent with the fill light frequency of the fluorescent color development excitation light source and the natural white light source.

[0077] refer to Figure 5 FIG. 2 is another implementation step diagram of the endoscopic fluorescence color image processing method according to the present invention. The endoscopic fluorescence color image processing method is suitable for processing a tumor tissue stained with a dye, and includes the following steps:

[0078] (S001): using an image collector to collect the tumor tissue image under the light of an excitation light module to obtain a first frame image;

[0079] (S002): using the image collector to collect the tumor tissue image under the illumination of a natural light module to obtain a second frame of image;

[0080] (S003): repeating step (S001) and step (S002) to obtain an n-th frame image and an (n+1)-th frame image;

[0081] (S004): transmitting the first frame image to the n+1th frame image to an image fusion processing module, wherein the image fusion processing module extracts the frame image with the fluorescent portion of the tumor tissue, performs fluorescence color enhancement processing, and then synthesizes it onto the tumor tissue in the adjacent frame image to form a synthesized image; and

[0082] (S005): Continuously outputting the synthesized image to an image display module to form a dynamic image.

[0083] In particular, the acquisition frequency of the image collector is consistent with the fill light frequency of the excitation light module and the natural light module. The excitation light module is a fluorescent color excitation light source. The natural light module is a natural white light source.

[0084] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. An endoscopic fluorescence color image processing system, suitable for processing a tumor tissue stained with a dye, characterized in that: include: a light source emitter, the light source emitter comprising an excitation light module and a natural light module, the excitation light module and the natural light module emit light alternately at a predetermined frequency to illuminate the tumor tissue, and the tumor tissue emits fluorescence when the excitation light module emits light; An image collector, which collects images of the tumor tissue when the excitation light module emits light and images of the tumor tissue when the natural light module emits light alternately at a predetermined frequency; and An image processor is used to process the image data alternately collected by the image collector to synthesize the fluorescence image emitted by the tumor tissue when the excitation light module is emitting light onto the image data of the tumor tissue when the natural light module is emitting light, thereby forming a synthetic image so that the tumor tissue displays fluorescence under natural light conditions.

2. The endoscopic fluorescence colorimetric image processing system according to claim 1, wherein the excitation light module and the natural light module perform alternate lighting at a frequency equivalent to that of the image collector.

3. The endoscopic fluorescence colorimetric image processing system according to claim 2, wherein the excitation light module is a fluorescence colorimetric excitation light source.

4. The endoscopic fluorescence colorimetric image processing system according to claim 2, wherein the natural light module is a natural white light source.

5. The endoscopic fluorescence colorimetric image processing system according to any one of claims 3 or 4, wherein the image collector is an endoscopic camera.

6. The endoscopic fluorescent colorimetric image processing system according to claim 5, wherein the image processor further comprises an image fusion processing module and an image display module, the image fusion processing module being used to process the image data collected by the endoscopic camera, and form the composite image, and output the composite image to the image display module for display.

7. The endoscopic fluorescence colorimetric image processing system according to claim 2, wherein when the excitation light module emits light, the image collector acquires a tumor tissue fluorescence image and transmits it to the image processor, and when the natural light module emits light, the image collector acquires a tumor tissue natural image and transmits it to the image processor, and the image processor selects the fluorescent image portion in the tumor tissue fluorescence image and synthesizes it onto the adjacent collected natural image of the tumor tissue to form the synthesized image, so that the tumor tissue fluorescence appears on the natural light image.

8. The endoscopic fluorescence colorimetric image processing system according to claim 6, wherein when the excitation light module emits light, the image collector acquires a tumor tissue fluorescence image and transmits it to the image fusion processing module; when the natural light module emits light, the image collector acquires a tumor tissue natural image and transmits it to the image fusion processing module; the image fusion processing module selects the fluorescent image portion in the tumor tissue fluorescence image and synthesizes it onto the adjacent collected tumor tissue natural image to form the synthesized image, so that the tumor tissue fluorescence appears on the natural light image, and outputs it to the image display module for display.

9. The endoscopic fluorescence colorimetric image processing system according to claim 2, wherein when the excitation light module emits light at a predetermined frequency, the image collector acquires a first tumor tissue fluorescence image to an nth tumor tissue fluorescence image at the same frequency, and when the natural light module emits light at a predetermined frequency, the image collector acquires a first tumor tissue natural image to an nth tumor tissue natural image at the same frequency, the excitation light module and the natural light module emit light alternately, and the image collector acquires image data in the order of the first tumor tissue fluorescence image-the first tumor tissue natural image-the second tumor tissue fluorescence image-the second tumor tissue natural image-…-the nth tumor tissue fluorescence image-the nth tumor tissue natural image, and the image collector transmits the acquired image data to the image processor, and the image processor selects the fluorescence image portion in the tumor tissue fluorescence image and synthesizes it onto the adjacent acquired tumor tissue natural image, so that the tumor tissue fluorescence appears on the natural light image. 10 . The endoscopic fluorescence colorimetric image processing system according to claim 9 , wherein the excitation light module is a fluorescence colorimetric excitation light source.

11. The endoscopic fluorescence colorimetric image processing system according to claim 9, wherein the natural light module is a natural white light source.

12. The endoscopic fluorescence colorimetric image processing system according to any one of claims 10 or 11, wherein the image collector is an endoscopic camera.

13. According to the endoscopic fluorescence colorimetric image processing system of claim 12, the image processor also includes an image fusion processing module and an image display module, the image fusion processing module is used to process the image data of the tumor tissue fluorescence image and the tumor tissue natural image collected by the endoscopic camera, and output the processed image to the image display module for display.

14. An endoscopic fluorescence color image processing system, suitable for processing a tumor tissue stained with a dye, characterized in that: include: a light source emitter, the light source emitter comprising a fluorescent color development excitation light source and a natural white light source, the fluorescent color development excitation light source and the natural white light source emit light alternately at a predetermined frequency to illuminate the tumor tissue, and the tumor tissue emits fluorescence when the fluorescent color development excitation light source emits light; An endoscopic camera head, wherein when the fluorescent color developing excitation light source emits light at a predetermined frequency, the endoscopic camera head collects a first tumor tissue fluorescent image to an nth tumor tissue fluorescent image at the same frequency, and when the natural white light source emits light at a predetermined frequency, the endoscopic camera head collects a first tumor tissue natural image to an nth tumor tissue natural image at the same frequency, the fluorescent color developing excitation light source and the natural white light source emit light alternately, and the endoscopic camera head collects image data in the order of the first tumor tissue fluorescent image - the first tumor tissue natural image - the second tumor tissue fluorescent image - the second tumor tissue natural image - ... - the nth tumor tissue fluorescent image - the nth tumor tissue natural image; and An image processor, the image processor also includes an image fusion processing module and an image display module, the endoscopic camera transmits the collected image data to the image fusion processing module, the image fusion processing module selects the fluorescent image part in the tumor tissue fluorescence image and synthesizes it onto the adjacent collected natural image of the tumor tissue, so that the tumor tissue fluorescence appears on the natural light image, and outputs it to the image display module for display.

15. A method for processing fluorescent colorimetric images under endoscope, suitable for processing a tumor tissue stained with a dye, characterized in that: The following steps are involved: (S01): using an image collector to collect the tumor tissue image under a fluorescent color development excitation light source to obtain a first frame image; (S02): using the image collector to collect the tumor tissue image under a natural white light source to obtain a second frame of image; (S03): transmitting the first frame image and the second frame image to an image fusion processing module, wherein the image fusion processing module extracts the part of the tumor tissue fluorescence in the first frame image, performs fluorescence color enhancement processing, and then synthesizes the part onto the tumor tissue in the second frame image to form a synthesized image; as well as (S04): Outputting the synthesized image to an image display module.

16. The method for processing fluorescent colorimetric images under an endoscope according to claim 15, wherein the acquisition frequency of the image collector is consistent with the fill light frequency of the fluorescent colorimetric excitation light source and the natural white light source.

17. A method for processing fluorescent colorimetric images under endoscope, suitable for processing a tumor tissue stained with a dye, characterized in that: The following steps are involved: (S001): using an image collector to collect the tumor tissue image under the light of an excitation light module to obtain a first frame image; (S002): using the image collector to collect the tumor tissue image under the illumination of a natural light module to obtain a second frame of image; (S003): repeating step (S001) and step (S002) to obtain an n-th frame image and an (n+1)-th frame image; (S004): transmitting the first frame image to the n+1th frame image to an image fusion processing module, wherein the image fusion processing module extracts the frame image with the fluorescent portion of the tumor tissue, performs fluorescence color enhancement processing, and then synthesizes it onto the tumor tissue in the adjacent frame image to form a synthesized image; and (S005): Continuously outputting the synthesized image to an image display module to form a dynamic image.

18. The method for processing fluorescent colorimetric images under an endoscope according to claim 17, wherein the acquisition frequency of the image collector is consistent with the fill light frequency of the excitation light module and the natural light module.

19. The method for processing fluorescence colorimetric images under an endoscope according to claim 17, wherein the excitation light module is a fluorescence colorimetric excitation light source.

20. The method for processing endoscopic fluorescence colorimetric images according to claim 17, wherein the natural light module is a natural white light source.

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