Light source device of three-mode endoscope system and three-mode endoscope system

Abstract

The invention relates to the technical field of medical instruments, in particular to a light source device of a three-mode endoscope system and the three-mode endoscope system.The light source device comprises a first light source, a second light source, a third light source and a case; the third light source provides second near-infrared light with coherence; a first channel and a second channel are arranged in the case, the first light source and the second light source are both located in the first channel, and the third light source is located in the second channel. According to the light source device of the three-mode endoscope system, the incoherent light is arranged in the first channel, the coherent light is arranged in the second channel, transmission paths of the incoherent light and the coherent light are physically isolated, optical crosstalk between the coherent light and the incoherent light is avoided, the imaging quality is guaranteed, and the imaging quality is improved. Particularly, it is ensured that a clear blood flow image is obtained in a single blood flow mode or a white light blood flow fusion mode, an operator can accurately obtain the blood flow state of the target tissue according to the blood flow image, and the operation difficulty is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a light source device of a three-mode endoscope system and a three-mode endoscope system. Background Art

[0002] As the core imaging tool for minimally invasive surgery, the endoscope can achieve visual illumination of the surgical site during diagnosis and treatment. The performance of its light source device directly determines the visualization quality of the surgical field.

[0003] In related technologies, some endoscopes have a white light blood flow fusion mode, which provides white light and laser through a light source device. The white light and laser are output to the target tissue through an imaging handle. The imaging light beam returned by the target tissue is then processed by the image processing host and a corresponding visualization image is obtained, so that the operator can observe the blood flow status in the target tissue based on the visualization image.

[0004] However, the visualization image provided by the endoscope in the related art is blurred, which makes it impossible for the surgeon to accurately observe the blood flow status of the target tissue based on the visualization image, making the operation more difficult. Summary of the Invention

[0005] The embodiments of the present application provide a light source device and a three-mode endoscope system to solve the technical problem that when the surgeon uses the existing endoscope to perform minimally invasive surgery, he cannot accurately observe the blood flow status of the target tissue based on the visualized image, resulting in higher difficulty in the operation.

[0006] On one hand, the present application provides a light source device for a three-mode endoscope system, which is applied to the three-mode endoscope system. The three-mode endoscope system includes an imaging handle and an image processing host. The light source device of the three-mode endoscope system includes:

[0007] a first light source configured to provide visible light;

[0008] a second light source configured to provide a first near-infrared light;

[0009] a third light source configured to provide a second near-infrared light, wherein the second near-infrared light has coherence;

[0010] A chassis is provided with a first channel and a second channel therein, the first light source and the second light source are both located in the first channel, and the third light source is located in the second channel;

[0011] The first light source, the second light source and the third light source selectively provide corresponding light sources to the target tissue through the imaging handle, so that the image processing host processes the imaging light beam output by the imaging handle and returned through the target tissue, and obtains a corresponding visual image.

[0012] In some embodiments, the wavelength of the second near-infrared light is greater than the wavelength of the first near-infrared light.

[0013] In some embodiments, the first near-infrared light is used to excite a fluorescent dye in the target tissue, the fluorescent dye is indocyanine green, and the wavelength range of the first near-infrared light is 750 nm to 810 nm;

[0014] The wavelength of the second near-infrared light is in the range of 820 nm to 1100 nm or 900 nm to 1700 nm.

[0015] In some embodiments, the third light source includes at least:

[0016] a first sub-light source configured to output a second near-infrared light of a first wavelength;

[0017] The second sub-light source is configured to output second near-infrared light of a second wavelength, and the wavelength range of the first wavelength and the wavelength range of the second wavelength do not overlap with each other.

[0018] In some embodiments, the wavelength range of the second near-infrared light of the first wavelength is 845 nm to 855 nm, and the wavelength range of the second near-infrared light of the second wavelength is 1059 nm to 1069 nm.

[0019] In some embodiments, the light source device of the three-mode endoscope system further includes:

[0020] a first light focusing unit, disposed in the first channel, the first light focusing unit being optically connected to both the light output end of the first light source and the light output end of the second light source;

[0021] The second light focusing unit is disposed in the second channel, and the second light focusing unit is optically connected to the light output end of the third light source.

[0022] In some embodiments, the first light focusing unit includes:

[0023] a semi-transparent and semi-reflective mirror having a reflective area and a transmissive area, wherein the visible light output by the first light source is directed toward the reflective area, and the first near-infrared light output by the second light source is directed toward the transmissive area, or the visible light output by the first light source is directed toward the transmissive area, and the first near-infrared light output by the second light source is directed toward the reflective area, and the semi-transparent and semi-reflective mirror is configured to combine the visible light output by the first light source and the first near-infrared light output by the second light source;

[0024] The first condensing lens is connected to the visible light and / or the first near-infrared light transmitted or reflected by the semi-transparent and semi-reflective mirror to focus the visible light output by the first light source and the first near-infrared light output by the second light source.

[0025] In some embodiments, the first light focusing unit further comprises:

[0026] The first optical connection structure has an optical input end optically connected to the optical output end of the first condensing lens, and the first optical connection structure is configured to couple the focused visible light and the first near-infrared light to the optical output interface of the chassis.

[0027] In some embodiments, the second focusing unit includes:

[0028] The second condensing lens is optically connected to the second near-infrared light output by the third light source to focus the second near-infrared light output by the third light source.

[0029] In some embodiments, the second focusing unit further comprises:

[0030] The second optical connection structure has an optical input end optically connected to the optical output end of the second condensing lens, and the second optical connection structure is configured to couple the focused second near-infrared light to the optical output interface of the chassis.

[0031] In some embodiments, the light source device of the three-mode endoscope system further includes:

[0032] a control unit, signal-connected to the first light source, the second light source, and the third light source, the control unit being configured to control the on / off states of the first light source, the second light source, and the third light source based on a current observation mode of the three-mode endoscope system;

[0033] a refrigeration unit, signal-connected to the first light source, the second light source, and the third light source, the refrigeration unit being configured to dissipate heat for the first light source, the second light source, and the third light source;

[0034] A power supply unit is signal-connected to the control unit, the refrigeration unit, the first light source, the second light source, and the third light source, and the power supply unit is configured to provide power to the control unit, the refrigeration unit, the first light source, the second light source, and the third light source.

[0035] Another aspect of the present application provides a three-mode endoscope system, comprising:

[0036] A light source device of the above-mentioned three-mode endoscope system;

[0037] an imaging handle optically connected to the light output end of the light source device of the tri-mode endoscope system, the imaging handle being configured to transmit the light output by the light source device of the tri-mode endoscope system to the target tissue, and the imaging handle being further configured to collect the imaging light beam returned by the target tissue and output a corresponding electrical signal;

[0038] An image processing host is signal-connected to the imaging handle, and is configured to receive the electrical signal output by the imaging handle and generate a corresponding visual image.

[0039] The technical solution provided by this application can achieve the following beneficial effects:

[0040] The light source device of the three-mode endoscope system provided in the present application physically isolates the transmission paths of incoherent light and coherent light by setting incoherent light (visible light and first near-infrared light) in the first channel and coherent light (second near-infrared light) in the second channel, thereby avoiding optical crosstalk between coherent light and incoherent light, ensuring imaging quality, and especially ensuring that a clear blood flow image is obtained in a single blood flow mode or a white light blood flow fusion mode, so that the surgeon can accurately obtain the blood flow status of the target tissue based on the blood flow image, thereby reducing the difficulty of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram showing the composition of a three-mode endoscope system according to an exemplary embodiment of the present application is shown;

[0042] Figure 2 A functional schematic diagram of a three-mode endoscope system according to an exemplary embodiment of the present application is shown;

[0043] Figure 3 A control logic diagram of a three-mode endoscope system according to an exemplary embodiment of the present application is shown;

[0044] Figure 4 A schematic structural diagram of a first channel and a second channel in a light source device of a three-mode endoscope system according to an exemplary embodiment of the present application is shown;

[0045] Figure 5 A schematic diagram showing the composition of a light source device of a three-mode endoscope system according to an exemplary embodiment of the present application is shown;

[0046] Figure 6 A schematic structural diagram of a light guide channel of a three-mode endoscope system according to an exemplary embodiment of the present application is shown;

[0047] Figure 7 shows a schematic structural diagram of a third light source of an exemplary embodiment of the present application;

[0048] Figure 8A longitudinal cross-sectional schematic diagram of a light output end of a light source device according to an exemplary embodiment of the present application is shown;

[0049] Figure 9 A schematic structural diagram of a chassis of a light source device according to an exemplary embodiment of the present application is shown;

[0050] Figure 10 A schematic structural diagram of a third light guide path of an exemplary embodiment of the present application is shown;

[0051] Figure 11 shows a radial cross-sectional schematic diagram of a third light guide path of an exemplary embodiment of the present application;

[0052] Figure 12 A schematic radial cross-sectional view of the distal end of an imaging handle according to an exemplary embodiment of the present application is shown;

[0053] Figure 13 A schematic axial cross-sectional view of an imaging handle according to an exemplary embodiment of the present application is shown;

[0054] Figure 14 A schematic radial cross-sectional view of the proximal end of an imaging handle according to an exemplary embodiment of the present application is shown.

[0055] Description of reference numerals:

[0056] 1- Light source device; 101- First light source; 102- Second light source; 103- Third light source; 104- Chassis; 105- First output interface; 106- First channel; 107- Second channel; 108- First semi-transparent and semi-reflective mirror; 109- First condensing lens; 110- First optical connection structure; 111- Second semi-transparent and semi-reflective mirror; 112- Second condensing lens; 113- Second optical connection structure; 114- Control unit; 115- Refrigeration unit; 116- Power supply unit; 117- Semiconductor laser; 118- Fiber laser;

[0057] 2-mode switching component;

[0058] 3-imaging handle; 301-lens barrel; 302-first image sensor; 303-second image sensor; 304-handheld unit; 305-objective lens; 306-light outlet; 307-second output interface; 308-spectroscopy device;

[0059] 4-image processing host; 401-main control unit; 402-image processing unit; 403-image rendering unit; 404-image output unit;

[0060] 5 - second light guide path; 501 - second single-mode optical fiber; 502 - light collimating lens; 503 - third optical fiber flange; 504 - second multimode optical fiber;

[0061] 6 - third light guide path; 601 - first connection portion; 602 - second connection portion; 603 - outer sheath; 604 - tight cladding; 605 - filler; 606 - third single-mode optical fiber; 607 - third multimode optical fiber;

[0062] 7-first light guide path; 701-first multimode optical fiber; 702-first single-mode optical fiber;

[0063] 8-first connecting assembly; 801-first optical fiber flange; 802-first coupling portion; 803-first multimode optical fiber coupling surface; 804-first single-mode optical fiber connector;

[0064] 9-second connecting component; 901-second optical fiber flange; 902-second coupling portion; 903-second multimode optical fiber coupling surface; 904-second single-mode optical fiber connector. DETAILED DESCRIPTION

[0065] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0066] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific implementation methods disclosed below.

[0067] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting this application. In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0068] In this application, unless otherwise expressly specified or limited, the terms "connected," "connected," "fixed," and the like should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two elements or an interaction between two elements. However, the phrase "directly connected" indicates that the two connected entities are not connected through an intermediate structure, but are connected to form a whole through a connecting structure. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0069] In this application, references to "first," "second," and the like are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0070] In recent years, laparoscopic surgical robots have become an indispensable and valuable intelligent tool in minimally invasive clinical surgery. Working in tandem with robotic arms and imaging technology, they provide precise and effective support for complex laparoscopic procedures, including urological tumor resection, gynecological disease treatment, thoracic and abdominal organ surgery, and digestive system interventions. These robots are widely used across multiple specialized fields.

[0071] Laparoscopic surgical robots typically consist of a surgeon's control platform, a patient operating platform, and an imaging platform. The surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body. The surgeon then controls the robotic arm on the patient operating platform and the movements of the surgical instruments or laparoscope attached to it. The robotic arm simulates the human arm, and the surgical instruments simulate the human hand. Together, they provide the surgeon with a range of movements that mimic the human wrist while filtering out inherent hand tremors.

[0072] The patient surgical platform includes a chassis, a column, a robotic arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the relevant surgical instrument around a center of motion on the surgical instrument that remains stationary relative to the patient. The center of motion is typically located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point."

[0073] The imaging platform typically includes one or more video displays with video image capture capabilities and for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes optics that transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope. The video images are then transmitted to the imaging platform's host computer through steps such as photoelectric conversion. Subsequently, image processing is performed and the processed images are displayed on the video display for observation by assistants.

[0074] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset degree of control. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0075] Typically, the force generated by the remote motor is transmitted through a transmission system, transferring the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device controlling the manipulator may be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresence surgery will be familiar with such systems and their components.

[0076] An endoscope is a medical imaging system that integrates computer software, optics, precision mechanics, ergonomics, and modern electronics. It provides images of the human body's internal anatomy, making it an indispensable component of laparoscopic surgery. Rigid endoscopes are primarily used in laparoscopic surgery. Through minimally invasive channel construction technology and tiny surgical incisions, doctors use minimally invasive surgical instruments and equipment outside the body to perform surgery on diseased tissues.

[0077] In minimally invasive surgery, in the initial stage after establishing the laparoscopic channel (such as the first 3 minutes), the surgeon's core need is to obtain a clear "vascular map" that can penetrate the capsule and fat layer (depth of about 3 to 4 mm) to reveal the direction of large blood vessels that are invisible to the naked eye during the dissection process, thereby avoiding the risk of accidental vascular injury.

[0078] Partial nephrectomy, for example, has become the preferred approach for preserving the nephron and reducing the risk of chronic kidney disease. However, initial vascular positioning and denudation remain one of the most challenging steps in this procedure. The renal artery and vein are tightly encased by renal fascia, perirenal fat, and even pseudocapsule. Furthermore, the laparoscopic field of view is limited, forcing the surgeon to rely on experience and tactile sensation to determine the general course of the vessels. Accidental entry into the vessel wall during deep dissection can easily cause instantaneous massive bleeding, obstructing the field of view and forcing the surgeon to rapidly clip or suture, prolonging renal ischemia and directly impacting surgical outcomes. Data from a national multicenter urology department show that among over 50,000 partial nephrectomies performed annually in my country, the incidence of significant intraoperative bleeding due to accidental vascular injury is as high as 6.8%. Approximately one-third of these cases require conversion to open surgery or additional repair, resulting in an average additional operative time exceeding 28 minutes and a 7–12% greater perioperative decline in renal function compared to patients without bleeding. This not only increases the risks of anesthesia and blood transfusions but also significantly drives up hospitalization costs.

[0079] Currently, vascular imaging relies primarily on fluorescence endoscopy. Indocyanine green (ICG), a fluorescent imaging agent approved by the US Food and Drug Administration, produces 810-nm fluorescence when excited by near-infrared light between 750 nm and 810 nm. It is widely used in fluorescence endoscopy.

[0080] However, this technology has significant limitations: First, due to the upper limit of the safe dose and half-life of fluorescent contrast agents (such as ICG), a single operation can usually only be safely injected 2 to 3 times. If the surgeon needs to repeatedly evaluate the blood perfusion at key nodes such as freeing, clamping, and suturing, the frequency of use is close to the safety upper limit. Second, contrast agents such as ICG will quickly bind to serum proteins in the blood and be retained in the tumor area due to their abnormal metabolic characteristics in tumor tissue, which makes it more suitable for marking the target tumor area rather than as a specific vascular marker for vascular detection. Third, ICG can only provide rough information on the presence or absence of blood in the blood vessels, and cannot sensitively detect the tiny remnants of arterial flow velocity during the clamping process. Therefore, existing technical solutions have failed to effectively achieve vascular imaging at this depth.

[0081] In response to the need for vascular visualization, the present application provides a three-mode endoscope system, which can provide the surgeon with a "vascular map" that is clear enough to penetrate the capsule and fat within the first three minutes after establishing the laparoscopic channel, thereby providing the surgeon with the shape of large blood vessels that are invisible to the naked eye during the dissection stage, avoiding accidental injury to the blood vessels.

[0082] Reference Figures 1 to 5 In some embodiments, the three-mode endoscope system may include a light source device 1 , an imaging handle 3 and an image processing host 4 .

[0083] Light source device 1 includes a first light source 101, a second light source 102, and a third light source 103. First light source 101 is configured to provide visible light for white light illumination, where visible light refers to white light and is typically a white light LED light source. Second light source 102 is configured to provide first near-infrared light for fluorescence excitation, where the first near-infrared light refers to fluorescence excitation light and is typically a near-infrared LED light source. Third light source 103 is configured to provide second near-infrared light for blood flow detection, where the second near-infrared light is coherent and is typically a laser. Each of first light source 101, second light source 102, and third light source 103 is typically equipped with a heat sink for heat dissipation.

[0084] The light source device 1 may further include a chassis 104. A first channel 106 and a second channel 107 are provided within the chassis 104. The first light source 101 and the second light source 102 are both located within the first channel 106, and the third light source 103 is located within the second channel 107. In other words, incoherent light (visible light and first near-infrared light) is located within the first channel 106, and coherent light (second near-infrared light) is located within the second channel 107.

[0085] The first light source 101 , the second light source 102 and the third light source 103 selectively provide corresponding light sources to the target tissue via the imaging handle 3 , so that the image processing host 4 processes the imaging light beam output by the imaging handle 3 and returned through the target tissue, and obtains a corresponding visual image.

[0086] In this arrangement, by setting the incoherent light in the first channel 106 and the coherent light in the second channel 107, the transmission paths of the incoherent light and the coherent light are physically isolated, thereby avoiding optical crosstalk between the coherent light and the incoherent light, ensuring the imaging quality, and especially ensuring that a clear blood flow image is obtained in the single blood flow mode or the white light blood flow fusion mode, so that the surgeon can accurately obtain the blood flow status of the target tissue based on the blood flow image, thereby reducing the difficulty of the operation.

[0087] Reference Figure 1 、 Figure 5 and Figure 6 Some embodiments provide a three-mode endoscope system, which may include a light guide channel, a light source device 1 and an imaging handle 3.

[0088] The light source device 1 includes a first light source 101 that outputs visible light, a second light source 102 that outputs first near-infrared light, and a third light source 103 that outputs second near-infrared light.

[0089] The light guiding channel includes a second light guiding path 5 , a third light guiding path 6 and a first light guiding path 7 .

[0090] The second light guiding path 5 is placed in the light source device 1, and the light input end of the second light guiding path 5 is optically connected to the light output ends of the first light source 101, the second light source 102 and the third light source 103 to transmit the visible light, the first near-infrared light and the second near-infrared light to the light output end of the light source device 1.

[0091] The light input end of the third light guiding pathway 6 is optically connected to the light output end of the light source device 1 to transmit the visible light, the first near-infrared light and the second near-infrared light output by the second light guiding pathway 5 to the imaging handle 3 .

[0092] The light input end of the first light guiding pathway 7 is optically connected to the light output end of the third light guiding pathway 6. The first light guiding pathway 7 is configured to transmit the visible light, the first near-infrared light and the second near-infrared light output by the third light guiding pathway 6 to the proximal end of the imaging handle 3 to selectively provide visible light, the first near-infrared light and the second near-infrared light to the target tissue; the proximal end of the imaging handle 3 refers to the end close to the target tissue.

[0093] In this arrangement, the first light source 101 (visible light), the second light source 102 (first near-infrared light) and the third light source 103 (second near-infrared light) are transmitted together through the second light guiding path 5, the third light guiding path 6 and the first light guiding path 7. On the basis of maintaining the original outer diameter of the imaging handle 3, the three light sources can be coaxially transmitted to the proximal end of the imaging handle 3, thereby avoiding the technical problem of increasing the outer diameter of the imaging handle 3 due to the separation of the light source transmission path in the prior art, reducing the sense of invasion and the risk of tissue damage caused by the imaging handle 3 when it is inserted into the human body through a minimally invasive incision, meeting the demand for miniaturization of the incision, and facilitating adaptation to various existing robotic devices (such as puncture devices).

[0094] Reference Figures 1 to 3 Some embodiments provide a three-mode endoscope system, which may include a light source device 1, a mode switching component 2, an imaging handle 3, and an image processing host 4.

[0095] The light source device 1 is configured to provide light to the target tissue to meet the imaging requirements under various observation modes. The light source device 1 includes a first light source 101, a second light source 102, and a third light source 103. The first light source 101 is configured to provide visible light to illuminate the target tissue through visible light, so as to obtain the morphological structure of the target tissue in the white light mode; the second light source 102 is configured to provide a first near-infrared light to excite the fluorescent developer in the target tissue, so that the fluorescent developer forms fluorescent emission light, thereby realizing imaging of a specific part of the target tissue in the fluorescence mode; the third light source 103 is configured to provide a second near-infrared light, and the second near-infrared light has coherence. The coherence of the second near-infrared light allows the second near-infrared light to interact with the scattering particles in the target tissue to form scattered light at the target tissue, thereby obtaining the blood flow situation at the target tissue through the scattered light in the blood flow mode.

[0096] The mode switching component 2 is configured to generate an observation mode switching signal based on an input signal. The observation modes may include at least a single white light mode, a single fluorescence mode, and a single blood flow mode. The light source device 1 is signal-connected to the mode switching component 2. The light source device 1 is configured to selectively output at least one of visible light, first near-infrared light, and second near-infrared light based on the observation mode switching signal, wherein:

[0097] In the single white light mode, the light source device 1 outputs only visible light, where visible light refers to white light.

[0098] In the single fluorescence mode, the light source device 1 only outputs the first near-infrared light, which refers to the fluorescence excitation light.

[0099] In single-flow mode, light source device 1 only outputs the second near-infrared light, which is laser light. In single-flow mode, the coherence of the second near-infrared light interacts with scattering particles in the target tissue, generating scattered light within the target tissue. This scattered light then provides information about blood flow in the target tissue. This method avoids the safety dose limit and half-life limitations of fluorescent contrast agents in existing technologies and can sensitively detect minute residual arterial flow velocity during the clamping process, providing the operator with accurate vascular information.

[0100] The imaging handle 3 is configured to transmit the visible light, first near-infrared light, and second near-infrared light output by the light source device 1 based on the observation mode switching signal to the target tissue. The imaging handle 3 is also configured to collect the imaging light beam returned by the target tissue and output a corresponding electrical signal. The visible light is reflected upon contact with the target tissue, and the imaging handle 3 collects the reflected visible light. The operator injects a fluorescent contrast agent into a specific area of ​​the target tissue, and the first near-infrared light generates fluorescent emission light upon contact with the fluorescent contrast agent, and the imaging handle 3 collects the fluorescent emission light. The second near-infrared light is scattered upon contact with the target tissue, and the imaging handle 3 collects the scattered light.

[0101] The image processing host 4 is connected to the imaging handle 3 by signal. The image processing host 4 is configured to receive the electrical signal output by the imaging handle 3 and generate a visual image corresponding to the current observation mode. In the single white light mode, the image processing host 4 generates a white light image; in the single fluorescence mode, the image processing host 4 generates a fluorescence image; and in the single blood flow mode, the image processing host 4 generates a blood flow image. In this way, the white light mode, the fluorescence mode, and the blood flow mode are integrated into a single endoscope system. In the initial stage after establishing the laparoscopic channel (such as the first 3 minutes), the surgeon can obtain a clear "vascular map" that penetrates the capsule and the fat layer at the target tissue through the blood flow mode of the three-mode endoscope system, thereby revealing the direction of large blood vessels that are invisible to the naked eye during the dissection process, avoiding the risk of accidental injury to blood vessels, and improving the safety of the operation. In addition, the mode switching component 2 facilitates the rapid switching of different observation modes, avoiding the technical problem in the prior art that the time interval between the injection of fluorescent contrast agent and observation affects the surgical process.

[0102] Reference Figure 1 and Figure 3 In some embodiments, the observation mode may further include a white light fluorescence fusion mode. In this mode, the light source device 1 is configured to output visible light and a first near-infrared light according to an observation mode switching signal. In this mode, the image processing host 4 generates a white light fluorescence fusion image, allowing the operator to simultaneously obtain the morphological structure of the target tissue and images of specific locations within the target tissue.

[0103] With this setting, by turning on the white light fluorescence fusion mode, the surgeon can simultaneously obtain ultra-high-definition anatomical detail images of the target tissue and the boundaries of the surgical site, further improving the safety of the operation.

[0104] Reference Figure 1 and Figure 3In some embodiments, the observation mode may further include a white-light blood flow fusion mode. In this mode, the light source device 1 is configured to output visible light and a second near-infrared light according to an observation mode switching signal. In this mode, the image processing host 4 generates a white-light blood flow fusion image, allowing the operator to simultaneously obtain the morphological structure and blood flow conditions of the target tissue.

[0105] With this setting, by turning on the white light blood flow fusion mode, the surgeon can simultaneously obtain ultra-high-definition anatomical detail images and real-time blood flow images of the target tissue, further improving the safety of the operation.

[0106] Reference Figure 1 and Figure 3 In some embodiments, the observation mode may also include: white light fluorescence fusion mode and white light blood flow fusion mode, so that the surgeon can switch the three-mode endoscope system to the appropriate observation mode according to different needs during the operation, thereby expanding the scope of application of the three-mode endoscope system.

[0107] Illumination of target tissue: After establishing a minimally invasive channel, insufficient light inside the channel makes it difficult for the surgeon to clearly observe the target tissue. In this case, by illuminating the target tissue with a single white light mode, the surgeon can obtain ultra-high-definition anatomical details of the target tissue.

[0108] Precisely locate the surgical site and blood vessels before surgery: After injecting the fluorescent dye, the surgeon needs to precisely locate the surgical site and blood vessels. At this point, either single fluorescence mode or white light fluorescence fusion mode can be activated. By stimulating the fluorescent signal emitted by the fluorescent developer, the surgeon can clearly identify the boundaries of the surgical site, providing important guidance for intraoperative resection.

[0109] Detection of major blood vessels in the early stages of surgery: After establishing the laparoscopic channel, the surgeon needs to dissect the target tissue. At this point, the white light blood flow fusion mode can be activated. Using ultra-high-definition anatomical detail images and real-time blood flow images, the surgeon can clearly observe large blood vessels that are invisible to the naked eye due to their capsule or fat coverage, allowing for smoother clipping of these vessels and reducing the risk of accidental injury.

[0110] Monitoring of vascular clamping throughout the surgery: During the vascular occlusion phase, the surgeon must constantly confirm whether the artery and vein are completely occluded, and whether there is residual perfusion within the target tissue parenchyma during occlusion. At this point, through the real-time blood flow monitoring function in single blood flow mode or white light blood flow fusion mode, the surgeon can continuously monitor the vascular clamping status, automatically recording the blood flow index at the moment of clamping as the baseline, and updating the residual flow rate in real time as a percentage. Once the flow rate returns to the threshold, the surgeon can promptly detect and address incomplete vascular clamping, improving the safety of the surgery.

[0111] Monitoring the effectiveness of anastomosis at the end of surgery: After the resection and repair steps are completed, the surgeon must quickly assess whether blood flow is uniform in the suture area and reconstruction site to prevent postoperative leakage or delayed bleeding. At this time, monitoring perfusion using the single blood flow mode helps the surgeon accurately assess the effectiveness of the suture.

[0112] Reference Figure 2 In some embodiments, the mode switching component 2 may include: a first switching component, a second switching component, and a third switching component.

[0113] The first switching element is configured to switch the observation mode between single white light mode, single fluorescence mode and single blood flow mode; the second switching element is configured to switch the observation mode to white light fluorescence fusion mode; the third switching element is configured to switch the observation mode to white light blood flow fusion mode.

[0114] Such an arrangement enables the operator to quickly select the desired observation mode through the independent first switching member, the second switching member and the third switching member, which is easy to operate.

[0115] Reference Figure 2 In some embodiments, the mode switching component 2 may be provided by a button on the imaging handle 3 or the image processing host 4; the button may be a mechanical button or a touch screen button. That is, the observation mode of the three-mode endoscope system can be switched by pressing the button.

[0116] Reference Figure 2 In some embodiments, the mode switching component 2 may include a voice control module provided on the image processing host 4. That is, the observation mode of the three-mode endoscope system can be switched through the voice control module on the image processing host 4.

[0117] Reference Figure 2 In some embodiments, the mode switching component 2 may include a button provided on the imaging handle 3 or the image processing host 4 and a voice control module provided on the image processing host 4. This configuration allows the surgeon to switch the observation mode of the three-mode endoscope system through the button and the voice control module, which is convenient and timely to operate, thereby improving surgical efficiency.

[0118] In some embodiments, the wavelength of the second near-infrared light can be greater than the wavelength of the first near-infrared light. In this case, the second near-infrared light has stronger penetration ability in the target tissue, so as to achieve imaging of deep blood vessels and improve the accuracy of intraoperative judgment of the blood flow status of deep blood vessels.

[0119] In some embodiments, the first near-infrared light is used to excite a fluorescent developer in the target tissue. The fluorescent developer can be indocyanine green. The wavelength range of the first near-infrared light is 750nm to 810nm. The wavelength of the first near-infrared light can be 750nm, 760nm, 770nm, 780nm, 790nm, 800nm, and 810nm, which are not listed one by one in this application.

[0120] The second near-infrared light has a wavelength range of 820 nm to 1100 nm or 900 nm to 1700 nm. The wavelength range of the second near-infrared light does not overlap with the wavelength range of the first near-infrared light to prevent the second near-infrared light from acting as fluorescence excitation light to excite the fluorescent developer, thereby affecting the accuracy and clarity of the fluorescence imaging. The wavelength of the second near-infrared light can be 820 nm, 900 nm, 1100 nm, 1300 nm, or 1700 nm, which are not listed here.

[0121] When the image sensor that receives the scattered light formed by the second near-infrared light after contact with the target tissue is a CMOS sensor, the wavelength range of the second near-infrared light is 820nm to 1100nm. When the image sensor that receives the scattered light formed by the second near-infrared light after contact with the target tissue is an InGaAs sensor, the wavelength range of the second near-infrared light is 900nm to 1700nm. This wavelength range ensures quantum efficiency while improving tissue penetration, facilitating the identification of deep blood vessels.

[0122] Reference Figure 4 In some embodiments, the third light source 103 includes at least a first sub-light source and a second sub-light source. The first sub-light source is configured to output second near-infrared light of a first wavelength. The second sub-light source is configured to output second near-infrared light of a second wavelength, where the wavelength range of the first wavelength and the wavelength range of the second wavelength do not overlap.

[0123] With this arrangement, the blood flow conditions at different depths in the target tissue can be obtained through the first wavelength second near-infrared light and the second wavelength second near-infrared light with non-overlapping wavelength ranges, thereby adapting to different surgical needs. In particular, when the deep blood vessels are covered by the target tissue or other tissues, the second near-infrared light with a longer wavelength can provide the surgeon with the blood flow conditions of the deep blood vessels, reducing the risk of damaging tissue or blood vessels during surgery.

[0124] In some embodiments, the wavelength range of the second near-infrared light of the first wavelength is 845nm-855nm, and the wavelength of the second near-infrared light of the first wavelength can be 845nm, 850nm, and 855nm, which are not listed here in this application; the wavelength range of the second near-infrared light of the second wavelength is 1059nm-1069nm, and the wavelength of the second near-infrared light of the second wavelength can be 1059nm, 1064nm, and 1069nm, which are not listed here in this application. For example, the wavelength of the first near-infrared light is 785nm, the wavelength of the second near-infrared light of the first wavelength is 850nm, and the wavelength of the second near-infrared light of the second wavelength is 1064nm.

[0125] Reference Figure 1 and Figure 4 In some embodiments, the light source device 1 may further include: a first focusing unit and a second focusing unit. The first focusing unit is disposed within the first channel 106 and optically connected to the light output end of the first light source 101 and the light output end of the second light source 102 to focus the visible light output by the first light source 101 and the first near-infrared light output by the second light source 102, thereby improving light output efficiency. The second focusing unit is disposed within the second channel 107 and optically connected to the light output end of the third light source 103 to focus the second near-infrared light output by the third light source 103, thereby improving light output efficiency.

[0126] Reference Figure 4 In some embodiments, the first focusing unit may include: a first semi-transparent and semi-reflective mirror 108.

[0127] The reflector has a reflective area and a transmissive area. The visible light output by the first light source 101 is directed toward the reflective area, and the first near-infrared light output by the second light source 102 is directed toward the transmissive area. At this time, the visible light is reflected by the reflective area and propagates along the same optical path in space with the first near-infrared light, thereby achieving a combined beam output of the visible light and the first near-infrared light. Alternatively, the visible light output by the first light source 101 is directed toward the transmissive area, and the first near-infrared light output by the second light source 102 is directed toward the reflective area. The first semi-transparent and semi-reflective mirror 108 is configured to combine the visible light output by the first light source 101 and the first near-infrared light output by the second light source 102. At this time, the first near-infrared light is reflected by the reflective area and propagates along the same optical path in space with the visible light, thereby achieving a combined beam output of the visible light and the first near-infrared light.

[0128] With this arrangement, incoherent light sources of different wavelength bands (visible light and first near-infrared light) are integrated on the spatial path, so that the incoherent light sources of different wavelength bands share one light-guiding channel, thereby improving the system integration.

[0129] Reference Figure 4In some embodiments, the first focusing unit may further include: a first focusing lens 109. The first focusing lens is optically connected to the visible light and / or the first near-infrared light transmitted or reflected by the first semi-transparent and semi-reflective mirror 108 to focus the visible light output by the first light source 101 and the first near-infrared light output by the second light source 102. Specifically, in the single white light mode, the first focusing lens 109 is optically connected to the visible light transmitted or reflected by the first semi-transparent and semi-reflective mirror 108; in the single fluorescence mode, the first focusing lens 109 is optically connected to the first near-infrared light transmitted or reflected by the first semi-transparent and semi-reflective mirror 108; in the white light and fluorescence fusion mode, the first focusing lens 109 is optically connected to both the visible light and the first near-infrared light transmitted or reflected by the first semi-transparent and semi-reflective mirror 108.

[0130] With this arrangement, the first condensing lens 109 focuses and shapes the combined visible light and the first near-infrared light, thereby improving the transmission efficiency and illumination uniformity of the visible light and the first near-infrared light in the light guiding path.

[0131] Reference Figure 4 and Figure 5 In some embodiments, the first light focusing unit may further include a first optical connection structure 110. The optical input end of the first optical connection structure 110 is optically connected to the optical output end of the first focusing lens 109. The first optical connection structure 110 is configured to couple the focused visible light and the first near-infrared light to the optical output interface of the chassis 104 to avoid loss or divergence of light energy during transmission.

[0132] Reference Figure 4 In some embodiments, the second focusing unit may include a second focusing lens 112. The second focusing lens 112 is optically connected to the second near-infrared light output by the third light source 103 to focus the second near-infrared light output by the third light source 103. When the third light source 103 only provides second near-infrared light of one wavelength, the output end of the third light source 103 is optically connected to the second focusing lens 112.

[0133] Reference Figure 4 In some embodiments, the second focusing unit may include: a second focusing lens 112 and a plurality of second semi-transparent and semi-reflective mirrors 111 .

[0134] The second semi-transparent and semi-reflective mirror 111 is configured to merge the second near-infrared light of the first wavelength output by the first sub-light source and the second near-infrared light of the second wavelength output by the second sub-light source. At this time, the second near-infrared light of the first wavelength and the second near-infrared light of the second wavelength are finally propagated along the same optical path in space after the transmission paths are changed by multiple second semi-transparent and semi-reflective mirrors 111, thereby realizing the combined output of the second near-infrared light of the first wavelength and the second near-infrared light of the second wavelength.

[0135] The number of the second semi-transparent and semi-reflective mirrors 111 can be one, two or three, and can be selected and set according to actual needs. This application does not impose any specific restrictions on this.

[0136] Specifically, when the third light source 103 includes a first sub-light source and a second sub-light source, the number of second semi-transparent and semi-reflective mirrors 111 can be set to four; the second near-infrared light of the first wavelength output by the first sub-light source is directed toward the reflection area of ​​the first second semi-transparent and semi-reflective mirror 111, the first second semi-transparent and semi-reflective mirror 111 reflects the second near-infrared light of the first wavelength to the reflection area of ​​the second second semi-transparent and semi-reflective mirror 111, and the second second semi-transparent and semi-reflective mirror 111 reflects the second near-infrared light of the first wavelength to the transmission area of ​​the third second semi-transparent and semi-reflective mirror 111; the second near-infrared light of the second wavelength output by the second sub-light source is directed toward the reflection area of ​​the fourth second semi-transparent and semi-reflective mirror 111, and the fourth second semi-transparent and semi-reflective mirror 111 reflects the second near-infrared light of the second wavelength to the reflection area of ​​the third second semi-transparent and semi-reflective mirror 111; at this time, the second near-infrared light of the first wavelength and the second near-infrared light of the second wavelength propagate along the same optical path in space, realizing the combined output of the second near-infrared light of the first wavelength and the second near-infrared light of the second wavelength.

[0137] This arrangement allows the second semi-transparent and semi-reflective mirror 111 to spatially integrate coherent light sources (second near-infrared light) of different wavelengths, allowing them to share a single light-guiding channel, thereby improving system integration. The second condenser lens 112 focuses and shapes the combined coherent light sources, thereby improving the transmission efficiency and illumination uniformity of the coherent light sources within the light-guiding path.

[0138] Reference Figure 4 and Figure 5 In some embodiments, the second focusing unit may further include a second optical connection structure 113. The optical input end of the second optical connection structure 113 is optically connected to the optical output end of the second focusing lens 112. The second optical connection structure 113 is configured to couple the focused second near-infrared light to the optical output interface of the chassis 104 to avoid loss or divergence of light energy during transmission.

[0139] Reference Figure 1 and Figure 5 In some embodiments, the light source device 1 may further include a control unit 114. The control unit 114 is signal-connected to the first light source 101, the second light source 102, and the third light source 103. The control unit 114 is configured to control the on / off states of the first light source 101, the second light source 102, and the third light source 103.

[0140] Reference Figure 1 and Figure 5In some embodiments, the control unit 114 may include mode control, temperature monitoring, and power control. The first light source 101, the second light source 102, and the third light source 103 are all connected to the mode control signal, and the mode control signal controls the on / off status of the first light source 101, the second light source 102, and the third light source 103. The temperature monitoring is provided in the chassis 104 to monitor the temperature inside the chassis 104. The power control is connected to the first light source 101, the second light source 102, and the third light source 103 by signal, and is used to adjust the optical output power of the first light source 101, the second light source 102, and the third light source 103.

[0141] Reference Figure 1 and Figure 5 In some embodiments, the light source device 1 may further include a cooling unit 115 . The cooling unit 115 is signal-connected to the control unit 114 , and is configured to dissipate heat from the interior space of the chassis 104 of the light source device 1 .

[0142] Reference Figure 1 and Figure 5 In some embodiments, the light source device 1 may further include a power supply unit 116. The power supply unit 116 is signal-connected to the control unit 114, the cooling unit 115, the first light source 101, the second light source 102, and the third light source 103. The power supply unit 116 is configured to provide power to the control unit 114, the cooling unit 115, the first light source 101, the second light source 102, and the third light source 103.

[0143] Reference Figures 4 to 6 In some embodiments, the second light guiding path 5 may include a second multimode optical fiber group. The second multimode optical fiber group includes multiple second multimode optical fibers 504. The optical input end of each second multimode optical fiber 504 is optically connected to the optical output end of the first light source 101 and the second light source 102. The optical output end of each second multimode optical fiber 504 is optically connected to the optical input end of the third light guiding path 6.

[0144] This arrangement enables efficient transmission of white light and first near-infrared light through the second multimode optical fiber group, ensuring good light energy utilization and spatial uniformity of the incoherent light source within the light guide path. The parallel arrangement of multiple second multimode optical fibers 504 enhances the stability and redundancy of light transmission, preventing interruptions in light transmission caused by a single optical fiber breakage, thereby ensuring imaging quality.

[0145] Reference Figures 4 to 9In some embodiments, the second light guiding path 5 may further include: a second single-mode optical fiber group. The second single-mode optical fiber group includes one or two second single-mode optical fibers 501. The optical input end of each second single-mode optical fiber 501 is optically connected to the optical output end of the third light source 103, and the optical output end of each second single-mode optical fiber 501 is optically connected to the optical input end of the third light guiding path 6. When the third light source 103 is a fiber laser 118, the output light of the fiber laser 118 is directly coupled to the second single-mode optical fiber 501 without the need for an optical collimator. When the third light source 103 is a semiconductor laser 117, the output light of the semiconductor laser 117 is spatial light. The spatial light needs to be focused by an optical collimator before the output light of the semiconductor laser 117 can be coupled to the second single-mode optical fiber 501. Among them, when the third light source 103 outputs a second near-infrared light of one wavelength, the second single-mode optical fiber 501 group includes one second single-mode optical fiber 501; when the third light source 103 outputs a second near-infrared light of a first wavelength and a second near-infrared light of a second wavelength, the second single-mode optical fiber group includes two second single-mode optical fibers 501, and the second near-infrared light of the first wavelength and the second near-infrared light of the second wavelength respectively correspond to one second single-mode optical fiber 501.

[0146] This setup enables phase-preserving transmission of the coherent second near-infrared light through the second single-mode fiber assembly, ensuring both image quality for blood flow imaging and the accuracy of blood flow velocity calculations. Using single or multiple single-mode fibers to transmit the second near-infrared light at different wavelengths not only meets the intraoperative requirements for blood flow detection at varying depths, but also avoids optical crosstalk between different wavelengths of the second near-infrared light.

[0147] Reference Figure 7 In some embodiments, the second single-mode optical fiber group may further include one or two groups of optical collimating devices. Each group of optical collimating devices corresponds to one second single-mode optical fiber 501 . The optical input end of the optical collimating device is optically connected to the optical output end of the third light source 103 , and the optical output end of the optical collimating device is optically connected to the second single-mode optical fiber 501 , so as to couple the second near-infrared light output by the third light source 103 into the second single-mode optical fiber 501 .

[0148] With this arrangement, the spatial light from the semiconductor laser 117 is collimated and shaped by the optical collimator, and the second near-infrared light output by the third light source 103 is coupled into the second single-mode optical fiber 501, thereby improving the coupling efficiency between the second near-infrared light and the second single-mode optical fiber 501 and ensuring the stable transmission of the second near-infrared light.

[0149] Reference Figure 7 In some embodiments, the light collimating device may include: a light collimating lens 502 and a third optical fiber flange 503 .

[0150] The optical input end of the optical collimating lens 502 is optically connected to the optical output end of the third light source 103. The optical collimating lens 502 is configured to collimate the second near-infrared light output by the third light source 103 into parallel light. The optical input end of the third optical fiber flange 503 is optically connected to the optical output end of the optical collimating lens 502. The optical output end of the third optical fiber flange 503 is optically connected to the second single-mode optical fiber 501. The third optical fiber flange 503 is configured to fix the relative position of the optical collimating lens 502 and the second light guiding path 5.

[0151] This arrangement collimates the divergent second near-infrared light into parallel light through collimating lens 502, reducing energy loss and spot distortion during transmission, thereby improving the clarity of blood flow images and the accuracy of blood flow velocity calculations. Third fiber flange 503 enables precise alignment and fixation between collimating lens 502 and second single-mode fiber 501, ensuring stable transmission of the second near-infrared light.

[0152] Reference Figure 10 and Figure 11 In some embodiments, the third light guide 6 may include a protective layer. The protective layer defines a mounting cavity to accommodate and secure the third multimode optical fiber group and the third single-mode optical fiber group, thereby providing support and physical protection for the third multimode optical fiber group and the third single-mode optical fiber group, and preventing damage to the optical fibers caused by external stress.

[0153] Reference Figure 5 、 Figure 10 and Figure 11 In some embodiments, the third light guide 6 may further include a third multimode optical fiber assembly. The third multimode optical fiber assembly is disposed in the mounting cavity and includes a plurality of third multimode optical fibers 607 . The optical input end of each third multimode optical fiber 607 is optically connected to the optical output end of each second multimode optical fiber 504 .

[0154] Such an arrangement facilitates the transmission of the incoherent light source (visible light and the first near-infrared light) in the installation cavity through the third multimode optical fiber group.

[0155] Reference Figure 10 and Figure 11In some embodiments, the third light guide path 6 may further include: a third single-mode optical fiber group. The third single-mode optical fiber group is disposed in the mounting cavity and includes one or two third single-mode optical fibers 606. The optical input end of each third single-mode optical fiber 606 is optically connected to the optical output end of each second single-mode optical fiber 501. When the third light source 103 outputs second near-infrared light of a single wavelength, the third single-mode optical fiber group includes one third single-mode optical fiber 606. When the third light source 103 outputs second near-infrared light of a first wavelength and second near-infrared light of a second wavelength, the third single-mode optical fiber group includes two third single-mode optical fibers 606, with one third single-mode optical fiber 606 corresponding to each of the first and second wavelengths of the second near-infrared light.

[0156] With this arrangement, coherence-preserving transmission of the coherent light source (second near-infrared light) is achieved through the third single-mode optical fiber group, ensuring that second near-infrared lights of different wavelengths are transmitted independently in the installation cavity without interfering with each other, providing high-quality light source input for blood flow imaging, thereby improving the accuracy of blood flow imaging.

[0157] Reference Figure 11 In some embodiments, a plurality of third multimode optical fibers 607 may be wrapped around the periphery of one or two third single-mode optical fibers 606 .

[0158] In this configuration, by surrounding the third single-mode optical fiber 606 with multiple third multimode optical fibers 607, a buffer protection layer is formed on the outer periphery of the single-mode optical fiber, thereby reducing the risk of damage to the single-mode optical fiber caused by external bending, stretching or squeezing.

[0159] Reference Figure 11 In some embodiments, a gap may be provided between the plurality of third multimode optical fibers 607 and one or two third single-mode optical fibers 606, and the gap may be filled with a filler 605. The filler 605 may be a flexible buffer material or a low-refractive-index material, such as silicone, polyurethane foam, or a low-refractive-index epoxy resin.

[0160] With this arrangement, the filler 605 can achieve buffer isolation and optical isolation between adjacent optical fibers, thereby preventing the optical fibers from being displaced or broken due to external stress, thereby improving the service life of the optical fibers and the stability of light transmission.

[0161] Reference Figure 11 In some embodiments, the protective layer may include a tight covering layer 604. A mounting cavity is formed inside the tight covering layer 604.

[0162] Reference Figure 5 and Figure 11In some embodiments, the protective layer may further include an outer sheath 603. The outer sheath 603 is disposed on the outer periphery of the tight covering layer 604 to provide mechanical protection, waterproof and dustproof protection to the second light guide 5, thereby enhancing the durability and safety of the second light guide 5 in clinical use.

[0163] Reference Figure 6 、 Figure 12 and Figure 13 In some embodiments, the first light guiding path 7 may include a first multimode optical fiber group. The first multimode optical fiber group may include multiple first multimode optical fibers 701. The optical input end of each first multimode optical fiber 701 is optically connected to the optical output end of each third multimode optical fiber 607 to achieve transmission of visible light and first near-infrared light through the first multimode optical fiber group.

[0164] Reference Figure 4 、 Figure 6 and Figure 13 In some embodiments, the first light guiding path 7 may include: a first single-mode optical fiber group. The first single-mode optical fiber group may include one or two first single-mode optical fibers 702, with the optical input end of each first single-mode optical fiber 702 optically connected to the optical output end of each third single-mode optical fiber 606. When the third light source 103 outputs second near-infrared light of a single wavelength, the first single-mode optical fiber group includes one first single-mode optical fiber 702; when the third light source 103 outputs second near-infrared light of a first wavelength and second near-infrared light of a second wavelength, the third single-mode optical fiber group includes two first single-mode optical fibers 702, with the first wavelength of the second near-infrared light and the second wavelength of the second near-infrared light corresponding to one first single-mode optical fiber 702, respectively.

[0165] With this arrangement, the first single-mode optical fiber group is used to achieve phase-preserving transmission of the coherent light source (second near-infrared light), ensuring that the second near-infrared lights of different wavelengths are independently transmitted in the imaging handle 3 without interfering with each other, providing high-quality light source input for blood flow imaging, thereby improving the accuracy of blood flow imaging.

[0166] Reference Figure 5 、 Figure 6 and Figure 10 In some embodiments, the light guide channel may further include a first connecting component 8. The first connecting component 8 is located between the second light guide path 5 and the third light guide path 6. The first connecting component 8 is configured to connect the second light guide path 5 and the third light guide path 6 to ensure stable transmission of white light, the first near-infrared light, and the second near-infrared light between the second light guide path 5 and the third light guide path 6.

[0167] Reference Figure 6 、 Figure 9 and Figure 10In some embodiments, the light input end of the third light guide 6 has a first connecting portion 601. The first connecting assembly 8 may include one or two sets of first single-mode fiber connectors, which may include: a first single-mode fiber connector 804 and a first fiber flange 801.

[0168] The first single-mode fiber connector 804 is disposed at the first connection portion 601 . The optical output end of the chassis 104 has a first output interface 105 . The first fiber flange 801 is disposed at the first output interface 105 . The first fiber flange 801 is connected to the first single-mode fiber connector 804 .

[0169] With such arrangement, a stable connection of the first single-mode optical fiber 702 between the light source device 1 and the second light guiding passage 5 is achieved by docking the first single-mode optical fiber connector 804 with the first optical fiber flange 801 .

[0170] Reference Figure 6 and Figure 10 In some embodiments, the first connecting component 8 may further include a first multimode optical fiber connector, and the first multimode optical fiber connector may include: a first multimode optical fiber coupling surface 803 and a first coupling portion 802 .

[0171] A first multimode fiber coupling surface 803 is provided on the first connecting portion 601. The first multimode fiber coupling surface 803 is configured to provide a docking surface for the light output end of the second light guiding path 5. A first coupling portion 802 is provided on the first output interface 105. The first coupling portion 802 engages with the coupling surface of the first multimode fiber 701. The first coupling portion 802 can be configured as a groove that matches the shape of the first multimode fiber coupling surface 803.

[0172] With this arrangement, a stable connection between the first multimode optical fiber 701 and the second light guiding passage 5 and the light source device 1 is achieved through the docking of the first multimode optical fiber coupling surface 803 and the first coupling portion 802 .

[0173] Reference Figure 6 and Figure 10 In some embodiments, the light guiding channel may further include a second connecting component 9. The second connecting component 9 is located between the third light guiding path 6 and the first light guiding path 7. The second connecting component 9 is configured to connect the third light guiding path 6 and the first light guiding path 7 to ensure stable transmission of the white light, the first near-infrared light, and the second near-infrared light between the third light guiding path 6 and the first light guiding path 7.

[0174] Reference Figure 6 and Figure 12In some embodiments, the light output end of the third light guide 6 has a second connection portion 602. The second connection assembly 9 may include one or two sets of second single-mode fiber connectors, which may include: a second single-mode fiber connector 904 and a second fiber flange 901.

[0175] The second single-mode fiber connector is provided at the second connection portion 602 . The distal end of the imaging handle 3 has a second output interface 307 , a second fiber flange 901 is provided at the second output interface 307 , and the second fiber flange 901 is connected to the second single-mode fiber connector 904 .

[0176] With such arrangement, a stable connection of the second single-mode optical fiber 501 between the second light guiding passage 5 and the imaging handle 3 is achieved by docking the second single-mode optical fiber connector 904 with the second optical fiber flange 901 .

[0177] Reference Figure 6 、 Figure 10 and Figure 12 In some embodiments, the second connection component 9 may include a second multimode optical fiber connector, and the second multimode optical fiber connector may include: a second multimode optical fiber coupling surface 903 and a second coupling portion 902 .

[0178] A second multimode optical fiber coupling surface 903 is provided on the second connecting portion 602. The second multimode optical fiber coupling surface 903 is configured to provide a docking surface for the optical input end of the first light guiding path 7. The second coupling portion 902 is provided on the second output interface 307. The second coupling portion 902 engages with the second multimode optical fiber coupling surface 903. The second coupling portion 902 can be configured as a groove that matches the shape of the second multimode optical fiber coupling surface 903.

[0179] With this arrangement, a stable connection between the second multimode optical fiber 504 and the second light guiding passage 5 and the imaging handle 3 is achieved through the docking of the second multimode optical fiber coupling surface 903 and the second coupling portion 902 .

[0180] Reference Figure 1 and Figure 2 In some embodiments, the imaging handle 3 may include a lens barrel 301. The lens barrel 301 has a first light guide path 7. The light input end of the first light guide path 7 is optically connected to the light source device 1 to receive the visible light, the first near-infrared light, and the second near-infrared light output by the light source device 1. The lens barrel 301 also has an imaging channel to receive the imaging light beam returned by the target tissue.

[0181] The specific structure of the imaging handle 3 can be found in patent document CN117717306A.

[0182] Reference Figure 1 and Figure 13In some embodiments, the imaging handle 3 may further include a spectrometer 308. The spectrometer 308 is located in the imaging channel and is configured to split the imaging beam in the imaging channel into a first imaging beam and a second imaging beam, wherein the first imaging beam includes visible light, and the second imaging beam includes fluorescent emission light and scattered light. The visible light in the first imaging beam is formed by the visible light output by the light source device 1 and reflected after contact with the target tissue, the fluorescent emission light is formed by the first near-infrared light exciting the fluorescent developer in the target tissue, and the scattered light is formed by the second near-infrared light being scattered after contact with the target tissue.

[0183] With this arrangement, the imaging light beam in the imaging channel is separated and processed by the spectrometer 308 to achieve independent collection of visible light, fluorescent emission light and scattered light, avoiding mutual interference between the light beams, thereby providing high-quality raw data for subsequent imaging.

[0184] Reference Figure 1 and Figure 13 In some embodiments, the imaging handle 3 may further include a photoelectric conversion device. The photoelectric conversion device is optically connected to the optical splitter 308 and signal-connected to the image processing host 4. The photoelectric conversion device is configured to convert the optical signals of the first imaging light beam and the second imaging light beam into electrical signals and transmit the electrical signals to the image processing host 4.

[0185] With such an arrangement, the optical signals of the first imaging light beam and the second imaging light beam are converted into electrical signals by the photoelectric conversion device, so as to facilitate processing and analysis by the image processing host 4 .

[0186] In some embodiments, the wavelength range of the first near-infrared light and the wavelength range of the scattered light do not overlap with each other. The first near-infrared light is the fluorescence excitation light, so as to avoid optical crosstalk between the fluorescence excitation light and the scattered light and improve the accuracy of blood flow imaging.

[0187] Reference Figure 6 、 Figure 13 and Figure 14 In some embodiments, at least one light outlet 306 and at least one objective lens 305 are provided at the distal end of the lens barrel 301. The number of light outlets 306 and objective lenses 305 can be set according to actual needs, and this application does not impose any specific restrictions on this.

[0188] The light outlet 306 is connected to the first light guiding path 7, and the objective lens 305 is located at the light input end of the imaging channel. The objective lens 305 is configured to guide the imaging light beam returned by the target tissue into the imaging channel; the spectrometer 308 is coaxially arranged or parallel to the objective lens 305 to improve the collection rate of the imaging light beam by the spectrometer 308.

[0189] Specifically, two objective lenses 305 can be provided to realize binocular stereoscopic imaging function, improve the spatial perception ability of imaging, and assist the operator in precise operation.

[0190] Specifically, two light outlets 306 can be provided, and the radial cross-sectional shape of the light outlet 306 can be set to a crescent shape to optimize the layout of the light outlet 306 and the objective lens 305, thereby improving the coverage of the target tissue by the light source. When two light outlets 306 are provided, the first multimode optical fiber 701 and the first single-mode optical fiber 702 in the first light guiding path 7 are evenly divided into two strands, and each strand of the first multimode optical fiber 701 and each strand of the first single-mode optical fiber 702 are respectively inserted into a corresponding light outlet 306 to achieve uniform distribution of the light source, thereby avoiding excessive local light intensity or shadow area at the target tissue due to the concentrated arrangement of the optical fibers. The light outlet 306 can also be set to three, four or five, and the first multimode optical fiber 701 and the first single-mode optical fiber 702 in the first light guiding path 7 are evenly divided into the same number of strands as the number of light outlets 306, so as to improve the uniformity of illumination.

[0191] Reference Figure 13 and Figure 14 In some embodiments, a plurality of objective lenses 305 are provided, and the plurality of objective lenses 305 are circumferentially spaced apart along the distal end of the lens barrel 301 .

[0192] This arrangement enables 3D imaging through the circumferential arrangement of multiple objective lenses 305, enhancing the spatial perception of imaging and assisting the surgeon in precise operation. The objective lens 305 is composed of multiple lenses along the longitudinal direction, enabling wide-angle or panoramic imaging, expanding the surgical field of view.

[0193] Reference Figure 2 and Figure 13 In some embodiments, multiple groups of light splitting devices 308 are provided, and the number of groups of light splitting devices 308 is the same as the number of objective lenses 305 , and each group of light splitting devices 308 is respectively coaxially arranged or parallel to one objective lens 305 .

[0194] In this way, by arranging the multiple components of the optical device 308 in a one-to-one correspondence with the multiple objective lenses 305, independent spectroscopic processing of the imaging light beam collected by each objective lens 305 is achieved, thereby improving the spectroscopic efficiency.

[0195] Reference Figure 2 In some embodiments, the photoelectric conversion device may include a first image sensor 302. The first image sensor 302 is signal-connected to the image processing host 4. The first image sensor 302 is located on an extended optical path of the first imaging light beam to receive and convert the first imaging light beam into an electrical signal.

[0196] Reference Figure 2In some embodiments, the photoelectric conversion device may further include a second image sensor 303. The second image sensor 303 is signal-connected to the image processing host 4. The second image sensor 303 is located on an extended optical path of the second imaging beam to receive and convert the first imaging beam and the second imaging beam into electrical signals.

[0197] With such configuration, the fluorescent emission light and the scattered light can be collected and processed only by the second image sensor 303 , thereby improving the integration and space utilization of the imaging handle 3 .

[0198] Reference Figure 2 In some embodiments, the imaging handle 3 further includes a handheld portion 304. The handheld portion 304 is connected to the lens barrel 301, and the mode switching component 2 is disposed on the handheld portion 304, so that the operator can quickly switch the observation mode during the operation, thereby improving the efficiency of the operation.

[0199] Reference Figure 2 In some embodiments, the image processing host 4 may include a main control unit 401. The main control unit 401 is signal-connected to the imaging handle 3. The main control unit 401 is configured to receive optical signals or electrical signals output by the imaging handle 3. The main control unit 401 is further configured to generate corresponding white light image processing instructions, fluorescence image processing instructions, and blood flow image processing instructions based on the optical signals or electrical signals.

[0200] Reference Figure 2 In some embodiments, the image processing host 4 may further include: an image processing unit 402. The image processing unit 402 is signal-connected to the main control unit 401, and the image processing unit 402 is configured to receive white light image processing instructions, fluorescence image processing instructions, and blood flow image processing instructions, and the image processing unit 402 is further configured to generate corresponding white light image data, fluorescence image data, and blood flow image data according to the white light image processing instructions, fluorescence image processing instructions, and blood flow image processing instructions;

[0201] Reference Figure 2 In some embodiments, the image processing host 4 may further include an image output unit 404. The image output unit 404 is signal-connected to the image processing unit 402. The image output unit 404 is configured to receive white light image data, fluorescence image data, and blood flow image data. The image output unit 404 is further configured to output corresponding white light image, fluorescence image, and blood flow image data according to the white light image data, fluorescence image data, and blood flow image data.

[0202] Reference Figure 2In some embodiments, the image processing host 4 may further include: an image rendering unit 403. The signal input end of the image rendering unit 403 is signal-connected to the image processing unit 402, and the signal output end of the image rendering unit 403 is signal-connected to the image output unit 404. The image rendering unit 403 is configured to receive white light image data, fluorescence image data, and blood flow image data. The image rendering unit 403 is further configured to fuse the white light image data with the fluorescence image data or the blood flow image data and render and output corresponding fused image data. The image output unit 404 is further configured to receive the fused image data and output a corresponding fused image based on the fused image data.

[0203] Reference Figures 1 to 3 The present application also provides a control method for a three-mode endoscope system, which is used for the above-mentioned three-mode endoscope system, comprising:

[0204] The mode switching component 2 receives an input signal and generates an observation mode switching signal based on the input signal;

[0205] The light source device 1 receives the observation mode switching signal and selectively outputs at least one of visible light, first near-infrared light, and second near-infrared light by turning on the corresponding first light source 101, second light source 102, and third light source 103;

[0206] The imaging handle 3 receives and transmits the visible light, the first near-infrared light and the second near-infrared light output by the light source device 1 to the target tissue;

[0207] The imaging handle 3 collects the imaging light beam returned by the target tissue and outputs the corresponding electrical signal;

[0208] The image processing host 4 receives the electrical signal output by the imaging handle 3 and generates a visual image corresponding to the current observation mode.

[0209] Reference Figures 1 to 3 In some embodiments, before the mode switching component 2 receives the input signal, the control method further includes:

[0210] Determine the current observation mode of mode switching component 2;

[0211] The mode switching component 2 receives the input signal and generates the observation mode switching signal based on the input signal, further comprising:

[0212] When the current observation mode is the single white light mode, the mode switching component 2 determines whether to keep the single white light mode turned on and whether to turn on the single fluorescence mode according to the input signal;

[0213] If the single white light mode is kept on and the single fluorescence mode is turned on, the mode switching component 2 generates a white light fluorescence fusion mode switching signal;

[0214] If the single white light mode is not kept on and the single fluorescence mode is turned on, the mode switching component 2 generates a single fluorescence mode switching signal.

[0215] Reference Figures 1 to 3 In some embodiments, the mode switching component 2 receives an input signal and generates an observation mode switching signal based on the input signal further comprising:

[0216] If the single fluorescence mode is not turned on, the mode switching component 2 determines whether to keep the single white light mode turned on and whether to turn on the single blood flow mode according to the input signal;

[0217] If the single white light mode is kept on and the single blood flow mode is turned on, the mode switching component 2 generates a white light blood flow fusion mode switching signal;

[0218] If the single white light mode is not kept on and the single blood flow mode is turned on, the mode switching component 2 generates a single blood flow mode switching signal.

[0219] Reference Figures 1 to 3 In some embodiments, the mode switching component 2 receives an input signal and generates an observation mode switching signal based on the input signal further comprising:

[0220] If the single fluorescence mode and the single blood flow mode are both turned off, the mode switching component 2 generates a single white light mode switching signal.

[0221] The present application also provides a laparoscopic surgical robot, which can be used in laparoscopic surgeries such as urinary system tumor resection, gynecological disease treatment, thoracic and abdominal organ surgery, and digestive system intervention, but is not limited to this. The laparoscopic surgical robot can also be used in vascular interventional treatment, orthopedic minimally invasive surgery and other fields to meet the precise operation requirements of different clinical scenarios. It can be selected and set according to actual needs, and the present application does not impose specific restrictions on this.

[0222] In some embodiments, a laparoscopic surgical robot may include a tri-mode endoscope system and a robotic arm. The distal end of the robotic arm may be fixed to a chassis within the patient's surgical platform via a column, while the proximal end of the robotic arm may be detachably connected to the imaging handle 3 within the tri-mode endoscope system. This allows the robotic arm to manipulate the imaging handle 3 within the tri-mode endoscope system, thereby suppressing manual manipulation vibrations that interfere with delicate movements during surgery and improving surgical safety. The proximal end of the robotic arm refers to the end closest to the target tissue, while the distal end of the robotic arm refers to the end further from the target tissue.

[0223] The tri-mode endoscope system can be used independently or in conjunction with a laparoscopic surgical robot. When used in conjunction with a laparoscopic surgical robot, an endoscope adapter structure similar to that of conventional technology is used to connect the tri-mode endoscope system and the laparoscopic surgical robot. The image processing host 4 in the tri-mode endoscope system communicates with the laparoscopic surgical robot's image platform to display images of the target tissue obtained by the tri-mode endoscope system on the image platform.

[0224] The three-mode endoscope system is a rigid endoscope. It realizes the visualization of the intracavitary environment by integrating white light images, fluorescence images and blood flow images. Among them, through the white light image displayed on the image platform, the surgeon can obtain ultra-high-definition anatomical detail images of the target tissue; through the fluorescence image displayed on the image platform, the surgeon can clearly identify the boundary of the surgical site; through the blood flow image displayed on the image platform, the surgeon can obtain real-time blood flow images of the target tissue.

[0225] In some embodiments, the mode switching component 2 in the tri-mode endoscope system can include a foot switch located at the surgeon's end. The surgeon's end, or the surgeon's control platform, switches the observation mode of the tri-mode endoscope system by stepping on the foot switch. This configuration facilitates the surgeon's ability to switch the observation mode of the tri-mode endoscope system in a timely manner based on the surgical situation, thereby improving surgical efficiency.

[0226] In some embodiments, the mode switching component 2 in the tri-mode endoscope system can also include a voice control module provided on the doctor's side. The doctor's side is the doctor's control platform, where the surgeon switches the observation mode of the tri-mode endoscope system using voice switching commands. This configuration facilitates the surgeon to switch the observation mode of the tri-mode endoscope system in a timely manner according to the surgical situation, thereby improving surgical efficiency.

[0227] In some embodiments, the mode switching component 2 in the tri-mode endoscope system includes a foot switch and a voice control module provided at the surgeon's end. The surgeon switches the observation mode of the tri-mode endoscope system using the foot switch or the voice control module, which is convenient and timely, thereby improving surgical efficiency.

[0228] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A light source device for a three-mode endoscope system, applied to the three-mode endoscope system, wherein the three-mode endoscope system comprises an imaging handle (3) and an image processing host (4), and is characterized in that: The light source device of the three-mode endoscope system includes: A first light source (101) configured to provide visible light; a second light source (102) configured to provide a first near-infrared light; a third light source (103) configured to provide a second near-infrared light, wherein the second near-infrared light has coherence; A chassis (104) is provided with a first channel (106) and a second channel (107) therein, the first light source (101) and the second light source (102) are both located in the first channel (106), and the third light source (103) is located in the second channel (107); The first light source (101), the second light source (102) and the third light source (103) selectively provide corresponding light sources to the target tissue via the imaging handle (3), so that the image processing host (4) processes the imaging light beam output by the imaging handle (3) and returned via the target tissue, and obtains a corresponding visual image.

2. The light source device of the three-mode endoscope system according to claim 1, characterized in that: The wavelength of the second near-infrared light is greater than the wavelength of the first near-infrared light.

3. The light source device of the three-mode endoscope system according to claim 1, characterized in that: The first near-infrared light is used to excite a fluorescent dye in the target tissue, the fluorescent dye is indocyanine green, and the wavelength range of the first near-infrared light is 750 nm to 810 nm; The wavelength of the second near-infrared light is in the range of 820 nm to 1100 nm or 900 nm to 1700 nm.

4. The light source device of the three-mode endoscope system according to claim 1, characterized in that The third light source (103) comprises at least: a first sub-light source configured to output a second near-infrared light of a first wavelength; The second sub-light source is configured to output second near-infrared light of a second wavelength, and the wavelength range of the first wavelength and the wavelength range of the second wavelength do not overlap with each other.

5. The light source device of the three-mode endoscope system according to claim 4, characterized in that: The wavelength range of the second near-infrared light of the first wavelength is 845 nm to 855 nm, and the wavelength range of the second near-infrared light of the second wavelength is 1059 nm to 1069 nm.

6. The light source device of the three-mode endoscope system according to any one of claims 1 to 5, characterized in that: The light source device of the three-mode endoscope system further includes: a first light-concentrating unit, disposed in the first channel (106), the first light-concentrating unit being optically connected to both the light output end of the first light source (101) and the light output end of the second light source (102); A second light-concentrating unit is provided in the second channel (107), and the second light-concentrating unit is optically connected to the light output end of the third light source (103).

7. The light source device of the three-mode endoscope system according to claim 6, characterized in that: The first focusing unit includes: A semi-transparent and semi-reflective mirror having a reflection area and a transmission area, wherein the visible light output by the first light source (101) is directed toward the reflection area, and the first near-infrared light output by the second light source (102) is directed toward the transmission area, or the visible light output by the first light source (101) is directed toward the transmission area, and the first near-infrared light output by the second light source (102) is directed toward the reflection area, and the semi-transparent and semi-reflective mirror is configured to combine the visible light output by the first light source (101) and the first near-infrared light output by the second light source (102); A first condensing lens (109) is connected to the visible light and / or the first near-infrared light transmitted or reflected by the semi-transparent and semi-reflective mirror to focus the visible light output by the first light source (101) and the first near-infrared light output by the second light source (102).

8. The light source device of the three-mode endoscope system according to claim 7, characterized in that: The first focusing unit further includes: A first optical connection structure (110) has an optical input end optically connected to the optical output end of the first condensing lens (109), and the first optical connection structure (110) is configured to couple the focused visible light and the first near-infrared light to the optical output interface of the chassis (104).

9. The light source device of the three-mode endoscope system according to claim 6, characterized in that: The second focusing unit includes: The second condensing lens (112) is optically connected to the second near-infrared light output by the third light source (103) to focus the second near-infrared light output by the third light source (103).

10. The light source device of the three-mode endoscope system according to claim 9, characterized in that: The second focusing unit further includes: A second optical connection structure (113) has an optical input end optically connected to the optical output end of the second condensing lens (112), and the second optical connection structure (113) is configured to couple the focused second near-infrared light to the optical output interface of the chassis (104).

11. The light source device of the three-mode endoscope system according to claim 1, characterized in that: The light source device (1) of the three-mode endoscope system further includes: a control unit (114) connected to the first light source (101), the second light source (102), and the third light source (103) via signals, wherein the control unit (114) is configured to control the on / off states of the first light source (101), the second light source (102), and the third light source (103) based on a current observation mode of the three-mode endoscope system; a refrigeration unit (115), signal-connected to the first light source (101), the second light source (102), and the third light source (103); the refrigeration unit (115) is configured to dissipate heat for the first light source (101), the second light source (102), and the third light source (103); A power supply unit (116) is signal-connected to the control unit (114), the refrigeration unit (115), the first light source (101), the second light source (102), and the third light source (103); the power supply unit (116) is configured to provide power to the control unit (114), the refrigeration unit (115), the first light source (101), the second light source (102), and the third light source (103).

12. A three-mode endoscope system, characterized in that: include: The light source device of the three-mode endoscope system according to any one of claims 1 to 11; An imaging handle (3) is optically connected to the light output end of the light source device of the three-mode endoscope system, and the imaging handle (3) is configured to transmit the light output by the light source device of the three-mode endoscope system to the target tissue, and the imaging handle (3) is also configured to collect the imaging light beam returned by the target tissue and output a corresponding electrical signal; An image processing host (4) is connected to the imaging handle (3) by signal, and the image processing host (4) is configured to receive the electrical signal output by the imaging handle (3) and generate a corresponding visual image.

Images