An ultra-wide spectrum endoscopic imaging device for short-wave infrared fluorescence imaging

Abstract

This invention discloses an ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging, used for minimally invasive in vivo imaging. It includes an illumination module, a broadband image transmission module, an imaging module, and an image processing module. The illumination module consists of a light source and a light-guiding fiber, used to generate illumination light in the ultraviolet to short-wave infrared band and transmit the illumination light to the broadband image transmission module. The broadband image transmission module consists of a low-interface optical imaging channel and a light-guiding illumination channel, used to illuminate the imaging target and excite the target fluorescence, and to acquire image signals in the ultraviolet to short-wave infrared band. The imaging module consists of a filter and an imaging camera. The imaging camera can be a broadband response image sensor or a combination of cameras operating in different bands, used to convert optical images of different bands into image data. The image processing module is used for real-time registration and fusion of image data from different bands and for display.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an ultra-wideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging. Background Technology

[0002] Rigid endoscopic imaging devices can penetrate deep into the body through natural cavities or small incisions. Utilizing their rigid endoscopes and high-definition imaging systems, they provide a clear and stable field of view, assisting doctors in observing and diagnosing internal tissues and organs, as well as performing minimally invasive procedures such as surgical resection. The imaging channel of the endoscope typically consists of multiple lenses with uniform refractive index. Each lens surface is coated with an anti-reflection film specific to the operating wavelength to effectively improve light transmittance, reduce reflection loss and stray light, and ensure image clarity and brightness. Standard endoscopic imaging technology is white light endoscopic imaging, which uses white light illumination and a color camera for imaging. Its operating wavelength is typically designed in the visible light band (around 400-700 nm). In recent years, near-infrared fluorescence endoscopic imaging technology has developed rapidly, extending its operating wavelength to the visible-near-infrared band (around 400-900 nm). This technology can support both standard white light endoscopic imaging and simultaneous near-infrared fluorescence endoscopic imaging using fluorescent agents with fluorescence emission peaks in the near-infrared band (such as indocyanine green). Near-infrared fluorescence endoscopic imaging technology, which integrates white light and near-infrared fluorescence, provides excellent imaging contrast and depth, enabling clear visualization of key anatomical structures and tumors that are difficult to observe under white light during surgery, thus improving surgical safety and precision. However, biological tissues exhibit strong scattering and autofluorescence interference in the near-infrared light band, leading to blurred imaging of deep targets and hindering the identification of subtle anatomical structures and tumor boundaries deep within the tissue, thereby limiting the precision and efficiency of minimally invasive surgery.

[0003] Because biological tissues exhibit weak scattering and low autofluorescence interference in the short-wave infrared band (900-1700 nm), also known as the near-infrared II band, short-wave infrared fluorescence imaging can achieve better imaging depth and contrast than near-infrared fluorescence imaging if the imaging system has sufficient sensitivity and resolution. It can also visualize tissue structures and functions that are difficult to distinguish under near-infrared fluorescence. Therefore, the fusion of white light and short-wave infrared fluorescence imaging is highly promising and valuable in minimally invasive surgical navigation. However, most existing rigid medical endoscopes use a Hopkins lens group-based design as their image transmission system. This system has at least dozens of optical interfaces, all of which reflect light, causing attenuation. The attenuation increases exponentially with the number of interfaces. Antireflection coatings in the visible light band (around 400-700 nm) or the visible-near infrared band (around 400-900 nm) are required to reduce attenuation. At the same time, because the current ultra-wideband antireflection coating technology spanning the visible-near infrared-shortwave infrared band is still immature, has low antireflection efficiency, and high design and manufacturing costs, ultra-wideband light suffers severe attenuation during transmission, making it difficult to apply to ultra-wideband imaging and shortwave infrared fluorescence imaging, which requires extremely high system sensitivity. Therefore, existing rigid medical endoscopes can only support imaging at the initial end of the short-wave infrared band (around 900 nm) at most, which cannot fully utilize the imaging depth and contrast advantages of this short-wave infrared fluorescence imaging in minimally invasive surgery and biomedical research (NIR-II Fluorescence Endoscopy for Targeted Imaging of Colorectal Cancer. Adv. Healthc Mater. 8, e1900974(2019)).

[0004] To address the above problems, this invention provides an ultrawideband endoscopic imaging device with an operating wavelength range of 300-2700nm covering the ultraviolet, visible, near-infrared, and short-wave infrared bands. It can be used for real-time, dynamic short-wave infrared fluorescence imaging and supports the fusion of white light and short-wave infrared fluorescence images. Summary of the Invention

[0005] The purpose of this invention is to provide an ultra-wideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging to meet the needs of high-quality in vivo minimally invasive intraoperative imaging and disease detection. This device can solve the problems of insufficient depth and contrast in current optical endoscopic imaging, help to achieve accurate imaging of multiple targets deep in tissues, and further improve the diagnostic and treatment quality and safety of minimally invasive surgery.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: An ultra-wideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging, the device comprising: an illumination module, a broadband image transmission module, an imaging module and an image processing module;

[0007] The illumination module consists of a light source and a flexible beam guide. The light source module is used to generate illumination light and fluorescence excitation light, which are transmitted to the external end of the broadband image transmission module through the beam guide.

[0008] The broadband image transmission module includes a light-guiding illumination channel and a low-interface optical imaging channel. The light-guiding illumination channel guides the illumination light and fluorescence excitation light from the external end of the module to the internal end of the module and has a low optical interface. The optical imaging channel uses a gradient refractive index lens as an endoscope to image the internal scene and transmit the optical image to the external end of the imaging module, and also has a low optical interface.

[0009] The imaging module consists of a filter and an imaging camera, used to convert optical images of different bands into image data; the image processing module is used for real-time registration and fusion of image data of different bands and display.

[0010] Furthermore, the illumination module is composed of a white light source and one or more invisible light sources of different wavelengths bundled together to generate light of several different wavelengths. The light provided by the light source is transmitted to the broadband image transmission module through a multi-integrated optical fiber.

[0011] Furthermore, the light generated by the illumination module includes several different wavelengths of light, including illumination light and fluorescence excitation light in the ultraviolet, visible, near-infrared and short-wave infrared bands.

[0012] Furthermore, the two ends of the few-interface optical imaging channel are encapsulated with optical protective windows, and the interior is composed of uncoated glass gradient refractive index lenses, with optical adhesive filling the spaces between the lenses. The configuration includes:

[0013] It consists of an uncoated gradient refractive index lens or a cemented gradient refractive index lens group as the endoscope objective, relay lens, and eyepiece;

[0014] An uncoated gradient refractive index lens or a cemented gradient refractive index lens group is used as the endoscope objective, and an uncoated rigid fiber optic image guide tube is used as the relay mirror.

[0015] The endoscope consists of an uncoated gradient refractive index lens or a cemented gradient refractive index lens group, and a rigid fiber optic image guide tube as part of the endoscope objective, relay lens, and eyepiece, while the remaining parts are composed of a uniform refractive index lens or lens group.

[0016] Furthermore, the gradient refractive index lens uses optical materials with low absorption over a wide operating wavelength range, including glass and calcium fluoride.

[0017] Furthermore, the light-guiding illumination channel consists of a light cone and an illumination fiber bundle. The light cone inputs the external light source into the illumination fiber bundle, and the illumination fiber bundle guides the light source to the front end of the at least interface optical imaging channel mirror body. The at least interface optical imaging channel, the illumination fiber bundle, and the light cone are fixed in the same metal tube.

[0018] Furthermore, the imaging module includes: a dichroic mirror, a cemented doublet lens, a filter, and an imaging camera;

[0019] The imaging camera is a combination of a broadband response image sensor or cameras operating in different bands; light signals of different bands are separated by a dichroic mirror, and then passed through anti-reflective coatings of different bands and filters of different cutoff bands before being acquired by the camera of the corresponding band.

[0020] Furthermore, the registration of the image processing module includes:

[0021] Using a black and white checkerboard pattern as the target, images are simultaneously acquired under white light and short-wave infrared light of different bands. The white light image is selected as the reference, and the corner coordinates of the checkerboard pattern in the two images are extracted by a corner detection algorithm to form a set of matching point pairs.

[0022] Furthermore, the image fusion process of the image processing module includes: constructing an overdetermined system of equations based on matching point pairs, solving the 3×3 projection transformation matrix T using the least squares method, and performing an inverse transformation T on each pixel position (u, v) of the registered image. -1 Solve its position in the original figure I swir The coordinates (x, y) in the image are then used to assemble the registered shortwave infrared image I. registered With white light image I vis Superposition is performed using linear weighting.

[0023] Compared with the prior art, the advantages and beneficial effects of the present invention are:

[0024] By using slender optical elements such as gradient refractive index lenses and fiber optic image guides, as well as refractive index matching media, to replace the traditional lens group structure, the number of reflective interfaces in the endoscope is reduced, thereby significantly improving the transmittance of the endoscope in short-wave infrared and other bands, breaking through the limitations of existing endoscope imaging bands.

[0025] Traditional medical endoscopes are limited to the visible and near-infrared I bands in terms of imaging wavelength. This invention significantly expands the imaging wavelength range of endoscopes to the ultraviolet to short-wave infrared bands. By supporting short-wave infrared fluorescence imaging, it reduces the interference of autofluorescence from biological components and the effects of absorption and scattering during imaging, thus significantly improving imaging depth and contrast.

[0026] It achieves ultra-wideband endoscopic imaging in the ultraviolet-visible-near-infrared-shortwave infrared range, with imaging bands spanning 300-2800nm. This enables the imaging device to achieve multi-band imaging, which helps to avoid intraoperative damage and improve the quality of surgical prognosis.

[0027] The device has a simple optical path design, low lens assembly difficulty and cost, and high potential for clinical translation. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the hardware support required for an ultrawideband endoscopic imaging device that can be used for shortwave infrared fluorescence imaging according to an embodiment of the present invention.

[0029] Figure 2 This is a checkerboard broadband imaging pattern of an ultra-wideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging according to an embodiment of the present invention.

[0030] Figure 3 This is a brightness comparison diagram of the fluorescent phantom imaging of an ultra-wideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging and the fluorescent phantom imaging of a rigid medical endoscope, according to an embodiment of the present invention.

[0031] Figure 4 This is a white light and short-wave infrared fluorescence image of an ultrawideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging according to an embodiment of the present invention.

[0032] Figure 5 This is a comparison image of fluorescence imaging of mouse microlymphatic vessels in the same area using an ultrawideband endoscopic imaging device that can be used for shortwave infrared fluorescence imaging and a rigid medical endoscope.

[0033] 1-Illumination module, 11-White LED cold light source, 12-Infrared narrowband laser group, 13-Two-in-one light guide fiber, 21-Illumination fiber bundle, 22-Light cone, 23-Gradient refractive index objective lens, 24-Gradient refractive index repeater lens, 25-Optical protection window, 26-Metal tube, 3-Imaging module, 31-Diachromic mirror, 32-Cemented doublet lens, 33-Filter, 34-Shortwave infrared camera, 35-Visible / near-infrared camera, 4-Image processing module. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0035] This embodiment relates to an ultra-wideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging, such as... Figure 1 As shown, it includes: illumination module 1, broadband image transmission module 2, imaging module 3, and image processing module 4.

[0036] The illumination module 1 can generate visible light and near-infrared fluorescence excitation; the broadband image transmission module 2 can guide light to the observed object and form an optical image; the imaging module 3 can convert the optical image formed by the broadband image transmission module into image data; finally, the image data is transmitted to the image processing module 4 to realize the registration and fusion of visible and short-wave infrared fluorescence images of different bands.

[0037] The illumination module 1 consists of a white light source and one or more invisible light sources bundled together. A two-in-one or multi-in-one optical fiber bundle, liquid light guide, or similar means is used to uniformly transmit the illumination light generated by the light sources to the broadband image transmission module. The invisible light sources include illumination light and fluorescence excitation light in the ultraviolet, visible, near-infrared, and short-wave infrared bands.

[0038] In this embodiment, as Figure 1 As shown, the illumination module 1 consists of a light source and a two-in-one optical fiber 13. The light source can be composed of multiple light sources with different illumination bands. In this embodiment, a white LED cold light source 11 (spectral range: 400-700 nm) and an integrated infrared narrowband laser group 12 (excitation wavelength: 808 nm / 980 nm / 1064 nm) are used. The two-in-one optical fiber 13 is used to transmit the white light and laser light to the broadband image transmission module in a unified manner.

[0039] In this embodiment, as Figure 1 As shown, the broadband image transmission module includes a low-interface optical imaging channel and a light-guiding illumination channel. The interface is defined as the interface between materials with significant refractive index differences (such as the surface of an optical lens in air).

[0040] The few-interface optical imaging channel is encapsulated at both ends with optical protective windows 25, and internally consists of uncoated glass gradient refractive index lenses. The configuration may include:

[0041] It consists of an uncoated gradient refractive index lens or a cemented gradient refractive index lens group as the endoscope objective, relay lens, and eyepiece;

[0042] An uncoated gradient refractive index lens or a cemented gradient refractive index lens group is used as the endoscope objective, and an uncoated rigid fiber optic image guide tube is used as the relay mirror.

[0043] The endoscope consists of an uncoated gradient refractive index lens or a cemented gradient refractive index lens group and a rigid fiber optic image guide tube as part of the endoscope objective, relay lens, and eyepiece, while the remaining parts are composed of a uniform refractive index lens or lens group.

[0044] The gradient refractive index lens can be made of optical materials such as glass or calcium fluoride (CaF2) that have low absorption over a wide operating wavelength range.

[0045] Specifically, in this embodiment, the internal structure of the few-interface optical imaging channel adopts a gradient refractive index objective lens 23 with a central refractive index of 1.635 and a gradient refractive index relay lens 24 with a pitch length of 1.25 or 2.75. The air gaps between the lenses are filled with optical adhesive.

[0046] The air gaps between planar waveguides in the low-interface optical imaging channel, including the air gaps between gradient refractive index lenses, between gradient refractive index lenses and optical protective windows 25, between fiber optic image guide tubes and gradient refractive index lenses, and between fiber optic image guide tubes and optical protective windows 25, are filled with optical adhesive or refractive index matching media. By reducing the number of interfaces, light attenuation is reduced.

[0047] The few-interface optical imaging channel is encapsulated at both ends with optical protective windows 25. The optical protective windows 25 can be made of sapphire material, but are not limited to sapphire. The optical protective windows 25 may not be coated with anti-reflective coatings, or they may be coated with anti-reflective coatings only for the visible light and short-wave infrared bands.

[0048] The light-guiding illumination channel consists of a light cone 22 and an illumination fiber bundle 21, used to guide laser light in the visible, near-infrared, and short-wave infrared bands to the front end of the mirror. The light cone 22 and the illumination fiber bundle 21 can be made of optical materials with low absorption over a wide operating wavelength range, such as quartz or glass. The lens, illumination fiber bundle 21, and light cone 22 of the broadband image transmission module are fixed in the same metal tube 26.

[0049] The imaging module 3 includes a filter 33 and an imaging camera assembly. The imaging camera can be a broadband response image sensor used to simultaneously acquire diffuse reflection light signals in the ultraviolet to short-wave infrared bands; the imaging camera can also be composed of cameras operating in different bands, such as a CCD / CMOS camera and a cooled InGaAs / HgCdTe / quantum dot short-wave infrared camera. Light signals in different bands are separated by a dichroic mirror 31 and then acquired by the corresponding cameras after passing through filters with different cutoff bands.

[0050] In this embodiment, as Figure 1As shown, the imaging module 3 consists of a filter 33 and an imaging camera. The imaging camera includes a visible / near-infrared camera 35 and a short-wave infrared camera 34. The visible / near-infrared camera 35 is a CCD camera for visible / near-infrared I-zone fluorescence imaging, and the short-wave infrared camera 34 is an InGaAs or HgCdTe short-wave infrared camera for short-wave infrared fluorescence imaging. The visible / near-infrared I-zone fluorescence and short-wave infrared fluorescence signals are separated by a long-pass dichroic mirror 31 and then acquired by different cameras. The short-wave infrared camera 34 is located in the axial direction of the imaging channel, and a cemented doublet lens 32 (short-wave infrared or mid-wave infrared anti-reflection coating) and a long-pass filter 33 with a cutoff wavelength between 900 and 2700 nm are placed sequentially at the front end of the camera. The CCD camera is installed perpendicular to the imaging channel, and a cemented doublet lens 32 (visible or near-infrared band anti-reflection coating) and a bandpass filter 33 (400-700 nm or 850 nm) are placed sequentially at the front end of the camera.

[0051] The image processing module 4 is used to register and fuse images of different bands.

[0052] In this embodiment, as Figure 1 As shown, the registration of the image processing module 4 uses a black and white checkerboard as the target. It simultaneously acquires images under white light and short-wave infrared light of different bands. The white light image is selected as the reference, and the corner coordinates of the checkerboard in the two images are extracted by corner detection algorithms (such as Harris, SIFT, etc.) to form a set of matching point pairs.

[0053] Next, an overdetermined system of equations is constructed based on matching point pairs, and the 3×3 projection transformation matrix T (degrees of freedom = 8) is solved using the least squares method. Its mathematical form is as follows:

[0054]

[0055] Where a, b, c, and d represent rotation and scaling, and t x and t y For the translation component, g and h control perspective distortion.

[0056] For each pixel position (u, v) of the registered image, the inverse transform T is performed. -1 Solve its position in the original figure I swir The coordinates (x, y) in the equation.

[0057] In this embodiment, the registered shortwave infrared image I registered With white light image I vis Superposition via linear weighting:

[0058]

[0059] in It is an adjustable transparency parameter, and can also be extended to a spatial gradient mask to achieve local adaptive overlay.

[0060] In this embodiment, as Figure 2 The image shown is a checkerboard broadband image of an ultra-wideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging. The checkerboard was illuminated by a light source covering the illumination band of 300-2700 nm (ultraviolet to short-wave infrared band) before imaging. The results show that the device can obtain clear checkerboard images in all test bands, and the image distortion in all test bands is within a reasonable range.

[0061] In this embodiment, as Figure 3 The image shows a brightness comparison between the fluorescence phantom imaging of an ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging and that of a rigid medical endoscope. The results indicate that, under the same imaging conditions, this device can effectively achieve fluorescence imaging in the short-wave infrared band, while the rigid medical endoscope can only image fluorescence signals in the 900-1100 nm range.

[0062] In this embodiment, as Figure 4 The image shows white light and short-wave infrared fluorescence images of an ultra-wideband endoscopic imaging device that can be used for short-wave infrared fluorescence imaging. This demonstrates that after injection of fluorescent molecules into mice, simultaneous white light and short-wave infrared fluorescence imaging of the peritoneal cavity can be achieved.

[0063] In this embodiment, as Figure 5 The image shows a comparison of fluorescence imaging of mouse microlymphatic vessels in the same region using an ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging and a rigid medical endoscope. The results indicate that, compared to a rigid medical endoscope, this device, utilizing higher short-wave infrared imaging efficiency, can achieve more refined and higher-contrast in vivo vascular imaging through a longer short-wave infrared imaging wavelength.

[0064] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0065] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. This application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging, characterized in that, The device includes: an illumination module, a broadband image transmission module, an imaging module, and an image processing module; The illumination module consists of a light source and a flexible beam guide. The light source module is used to generate illumination light and fluorescence excitation light, which are transmitted to the external end of the broadband image transmission module through the beam guide. The broadband image transmission module includes a light-guiding illumination channel and a low-interface optical imaging channel. The light-guiding illumination channel guides the illumination light and fluorescence excitation light from the external end of the module to the internal end of the module and has a low optical interface. The optical imaging channel images the internal scene and transmits the optical image to the external imaging module and has a low optical interface. The few-interface optical imaging channel is encapsulated with optical protective windows at both ends, and its interior is composed of uncoated gradient refractive index lenses. The configuration includes: It consists of an uncoated gradient refractive index lens or a cemented gradient refractive index lens group as the endoscope objective, relay lens, and eyepiece; Alternatively, an uncoated gradient refractive index lens or a cemented gradient refractive index lens group can be used as the endoscope, and an uncoated rigid fiber optic image guide tube can be used as a relay lens. Alternatively, an uncoated gradient refractive index lens or a cemented gradient refractive index lens group, or a rigid fiber optic image guide tube may be used as part of the endoscope objective, relay lens, or eyepiece, while the remaining parts are composed of a uniform refractive index lens or lens group. The air gaps between planar optical waveguides in the few-interface optical imaging channel, including the air gaps between gradient refractive index lenses, between gradient refractive index lenses and optical protective windows, between fiber optic image guide tubes and gradient refractive index lenses, and between fiber optic image guide tubes and optical protective windows, are filled with optical adhesive or refractive index matching medium. The imaging module consists of a filter and an imaging camera, used to convert optical images of different bands into image data; the image processing module is used for real-time registration and fusion of image data of different bands and display.

2. The ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging according to claim 1, characterized in that, The illumination module consists of a white light source and one or more invisible light sources of different wavelengths bundled together to generate light of several different wavelengths. The light provided by the light source is transmitted to the broadband image transmission module through a multi-integrated optical fiber.

3. The ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging according to claim 2, characterized in that, The illumination module generates light in several different wavelength bands, including illumination light and fluorescence excitation light in the ultraviolet, visible, near-infrared, and short-wave infrared bands.

4. The ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging according to claim 1, characterized in that, The gradient refractive index lens uses optical materials with low absorption over a wide operating wavelength range, including glass and calcium fluoride.

5. The ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging according to claim 1, characterized in that, The light guiding and illumination channel consists of a light cone and an illumination fiber bundle. The light cone inputs the external light source into the illumination fiber bundle, and the illumination fiber bundle guides the light source to at least the front end of the interface optical imaging channel mirror. The few-interface optical imaging channel, the illumination fiber bundle, and the light cone are fixed in the same metal tube.

6. The ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging according to claim 1, characterized in that, The imaging module includes: a dichroic mirror, a cemented doublet lens, a filter, and an imaging camera; The imaging camera is a combination of a broadband response image sensor or cameras operating in different bands; light signals of different bands are separated by a dichroic mirror, and then passed through anti-reflective coatings of different bands and filters of different cutoff bands before being acquired by the camera of the corresponding band.

7. The ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging according to claim 1, characterized in that, The registration of the image processing module includes: Using a black and white checkerboard pattern as the target, images are simultaneously acquired under white light and short-wave infrared light of different bands. The white light image is selected as the reference, and the corner coordinates of the checkerboard pattern in the two images are extracted by a corner detection algorithm to form a set of matching point pairs.

8. The ultra-wideband endoscopic imaging device for short-wave infrared fluorescence imaging according to claim 7, characterized in that, The image fusion process of the image processing module includes: constructing an overdetermined system of equations based on matching point pairs, and solving the 3×3 projection transformation matrix using the least squares method. T， For each pixel position (u, v) of the registered image, the inverse transform T is performed. -1 Solve its position in the original figure I swir The coordinates (x, y) in the image are then used to assemble the registered shortwave infrared image. I registered With white light image I vis Superposition is performed using linear weighting.

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