Medical imaging device and method for medical imaging

Abstract

The invention relates to a medical imaging device (410), comprising: an illumination unit (412) having at least one light source (414), which is designed to provide illuminating light (416) for illuminating an object (418) to be imaged; an image capturing unit (420), which is designed to take at least one calibration image (422, 423) of the object (418) to be imaged and to take at least one object image (424) of the object (418) to be imaged; and an image correction unit (426). The image correction unit (426) is designed: to determine depth information from the calibration image (422, 423); to determine a correction for the object image (424), wherein the correction includes taking into account a location dependency, in particular a distance dependency, a light intensity of illumination light (416) and / or a distance dependency of a light intensity of object light (428) according to the depth information; and to generate a corrected object image (430) according to the correction. The invention also relates to a method for medical imaging, to program code, and to a computer program product (438).

Description

[0001] Medical imaging device and method for medical imaging

[0002] The invention relates to a medical imaging device, in particular an endoscope device, exoscope device and / or microscope device, a method for medical imaging, program code for carrying out such a method, and a computer program product comprising such a program code.

[0003] Imaging devices for performing fluorescence imaging are known from the prior art; they can acquire both fluorescence images and white-light images. Suitable excitation light is used to specifically excite fluorescent dyes or, where appropriate, natively occurring fluorescent substances, and to detect the emitted light and use it for imaging. To simultaneously display anatomical structures in the image area, a white-light image is often acquired in parallel or sequentially. Based on the white-light image, the user can assess whether the anatomical structure is being imaged. Fluorescence images and white-light images can also be superimposed, allowing the user to simultaneously perceive and analyze anatomical and fluorescence information.

[0004] Imaging devices such as endoscopic or exoscopic devices that generate multispectral or hyperspectral images are also known from the prior art. Multispectral or hyperspectral images have, in addition to two spatial dimensions, such as a conventional camera image, a spectral dimension. The spectral dimension encompasses several spectral bands (wavelength bands). Multispectral and hyperspectral images differ essentially in the number and width of their spectral bands. Such systems can, in principle, also be suitable for fluorescence imaging.

[0005] Several imaging devices for generating such multispectral or hyperspectral images are known, particularly in the context of medical applications. For example, DE 20 2014 010 558 U1 describes a device for capturing a hyperspectral image of an examination area of ​​a body. The device includes an input lens for generating an image in an image plane and a slit-shaped aperture in the image plane for masking out a slit-shaped region of the image. The light passing through the aperture is spread out by a dispersive element and recorded by a camera sensor. As a result, the camera sensor can record a plurality of spectra, each with an associated spatial coordinate, along the longitudinal direction of the slit-shaped aperture.The described device is further configured to record additional spectra along the longitudinal direction of the slit-shaped aperture in a direction different from the longitudinal direction of the slit-shaped aperture. The method underlying this disclosure for generating multispectral or hyperspectral images is also known as the so-called pushbroom method.

[0006] In addition to the pushbroom method, there are other methods for generating multispectral or hyperspectral images. In the so-called whiskbroom method, the examination area or object is scanned point by point, and a spectrum is obtained for each point. In contrast, the staring method acquires multiple images with the same spatial coordinates. Different spectral filters and / or illumination sources are used from image to image to resolve spectral information. Furthermore, there are methods in which a two-dimensional multicolor image is decomposed into several individual spectral images using suitable optical elements such as optical slicers, lenses, and prisms. These individual images are simultaneously acquired on different detectors or detector areas. This is sometimes referred to as the snapshot approach.

[0007] As described in DE 10 2020 105 458 A1, multispectral and hyperspectral imaging devices are particularly suitable as endoscopic imaging devices. In this context, multispectral and / or hyperspectral imaging is a fundamental field of application, for example, for diagnostics and for assessing the success or quality of a procedure.

[0008] Multimodal imaging devices allow for selective acquisition of white light images, multispectral images, fluorescence images, and / or hyperspectral images. Examples of such imaging devices include multimodal endoscopes and multimodal exoscopes.

[0009] In general, these imaging techniques involve shining light of a specific spectrum onto the object to be observed, which is then reflected, absorbed, transmitted, or emitted as a result of fluorescence excitation. Ultimately, the light reaches an image sensor, possibly passing through one or more suitable observation filters. The image sensor captures image data, which can be used to generate a display for a user. There is no qualification as to which light interaction the detected light is due to.

[0010] Based on the state of the art, the invention is based on the object of improving the interpretability of image data.

[0011] This object is achieved according to the invention by an imaging device, a method for medical imaging, program code and a computer program product as described herein and defined in the claims.

[0012] According to the invention, a medical imaging device, in particular an endoscope device, exoscope device, and / or microscope device, comprises an illumination unit with at least one light source configured to provide illumination light for illuminating an object to be imaged, and an image acquisition unit configured to record at least one calibration image of the object to be imaged and at least one object image of the object to be imaged. Furthermore, the imaging device comprises an image correction unit. The image correction unit is configured to determine depth information from the calibration image.Furthermore, the image correction unit is configured to determine a correction for the object image, wherein the correction includes taking into account a spatial dependency, in particular a distance dependency, of a light intensity of illumination light and / or a distance dependency of a light intensity of object light in accordance with the depth information. Furthermore, the image correction unit is configured to generate a corrected object image in accordance with the correction.

[0013] Furthermore, the invention provides a method for medical imaging. In some embodiments, the method can be carried out using a medical imaging device according to the invention. The method comprises providing illumination light for illuminating an object to be imaged. Furthermore, the method comprises recording at least one calibration image of the object to be imaged. The method also comprises recording at least one object image of the object to be imaged. The method further comprises determining depth information from the calibration image. Furthermore, the method comprises determining a correction for the object image, wherein the correction comprises taking into account a distance dependence of a light intensity of illumination light and / or a distance dependence of a light intensity of object light in accordance with the depth information.The method further comprises generating a corrected object image in accordance with the correction.

[0014] The features according to the invention make it possible to improve the interpretability of image data. The inventors have recognized that in conventional fluorescence imaging, multispectral imaging, or hyperspectral imaging, signal intensity varies with distance, which may lead to image data being misinterpreted. The aforementioned distance dependence may mean that reflectance values ​​cannot be measured absolutely in multispectral imaging and / or hyperspectral imaging. The inventors have also recognized that the accuracy of the interpretation of image data may be compromised if fluorescence signals are attenuated by overlying tissue and / or if it is unknown how deep the observed fluorescent dye is located in the observed tissue or how great the distance is from an anatomical surface to the fluorescent dye.Furthermore, the inventors have identified another problem with conventional multispectral imaging and / or hyperspectral imaging: for certain applications, particularly for calculating physiological parameters such as tissue oxygen saturation (StO2 parameter), simple assumptions have been made regarding the penetration depth of light, which can lead to distorted measurement results. By determining depth information from a calibration image and using it to correct object images, these effects can be compensated for. The physical interaction of illuminating light, remitted light, and / or emitted light with the observed object can be taken into account, thus allowing the available information to be interpreted more accurately.

[0015] The imaging device can be designed as and / or comprise a microscope, macroscope, and / or exoscope. In some embodiments, the imaging device can be an endoscopic imaging device. It can comprise and / or be designed as an endoscope and / or an endoscope system and / or form at least a part and preferably at least a major part and / or a main component of an endoscope and / or an endoscope system. “At least a major part” can mean at least 55%, preferably at least 65%, more preferably at least 75%, particularly preferably at least 85%, and most preferably at least 95%, in particular with reference to a volume and / or a mass of an object.

[0016] In some embodiments, the imaging device is configured to be insertable into a cavity for examination and / or observation, for example into an artificial and / or natural cavity, such as into the interior of a body, into a body organ, into tissue, or the like.

[0017] In particular, if the imaging device is an exoscopic imaging device, it may be configured to acquire tissue parameters, images of wounds, images of body parts, etc. For example, the imaging device may be configured to image a surgical field.

[0018] The image capture unit comprises in particular an image capture sensor and / or at least one optical element, in particular a lens.

[0019] The image capture sensor system can be configured to detect light in both the visible and near-infrared ranges. In some embodiments, a smallest detectable wavelength can be at most 500 nm, at most 450 nm, or even at most 400 nm. In some embodiments, a largest detectable wavelength can be at least 800 nm, at least 900 nm, or even at least 1000 nm. The image capture sensor system can, for example, comprise at least one white-light image sensor and at least one near-infrared image sensor. In some embodiments, the imaging device comprises a white-light camera and / or sensors for white-light image capture. The imaging device can be configured for white-light imaging. The anatomical images can be recorded using the white-light camera and / or the sensors for white-light image capture.

[0020] The image acquisition unit can comprise a filter unit with optical observation filters. The filter unit can define multiple observation modes and / or fluorescence modes defined by different observation filters. For example, different edge filters can be used that absorb / block the respective spectrum of the associated light element used for excitation and at least substantially transmit only fluorescent light. In some embodiments, the observation filters can also be switchable between a multispectral mode and / or a hyperspectral mode and a fluorescence mode.

[0021] The imaging device, and in particular an optical system of the image acquisition unit and / or the image acquisition sensor system, can be configured for multispectral and / or hyperspectral imaging, specifically for capturing and / or generating multispectral and / or hyperspectral image data. Multispectral imaging or multispectral image data can refer in particular to imaging in which at least two, in particular at least three, and in some cases at least five spectral bands can be and / or are captured independently of one another. Hyperspectral imaging or hyperspectral image data can refer in particular to imaging in which at least 20, at least 50, or even at least 100 spectral bands can be and / or are captured independently of one another.The imaging device may operate according to the pushbroom method and / or the whiskbroom method and / or the staring method and / or a snapshot principle.

[0022] For some applications, it can be advantageous to be able to use a high spectral resolution. In this case, hyperspectral imaging is a good option. This can be combined with white light imaging. This enables real-time observation via a white light image, even if the acquisition of spectrally resolved image data only takes place essentially in real time, i.e., several seconds are needed to create a spectrally resolved image. For some applications, it can be advantageous to generate spectral image data in real time. This includes, for example, generating a spectrally resolved image in less than a second or even several times per second. In this case, it can be useful to use multispectral imaging. A possibly lower spectral resolution is then offset by a higher frame rate.Depending on the application, it may be sufficient to consider only a few different spectral ranges and / or wavelengths, for example two or three or four or generally fewer than ten. In this case, additional white light imaging can optionally be dispensed with. Spectrally resolved image data that is acquired in real time or delivers several images per second can also be used for monitoring purposes, whereby it is not necessarily necessary to create an image for display for a user, but the image data can also be processed in the background. The medical imaging device can have at least a proximal section, a distal section and / or an intermediate section. The distal section is designed in particular to be introduced into and / or located in a cavity to be examined in an operating state, for example during the diagnostic and / or therapeutic action.The proximal section is particularly designed to be arranged outside the cavity to be examined in an operating state, for example during diagnostic and / or therapeutic action. The term “distal” should be understood to mean, in particular, facing towards a patient and / or away from a user during use. The term “proximal” should be understood to mean, in particular, facing away from a patient and / or away from a user during use. In particular, proximal is the opposite of distal. The medical imaging device has, in particular, at least one, preferably flexible, shaft. The shaft can be an elongated object. Furthermore, the shaft can form the distal section at least partially and preferably at least to a large extent.An "elongated object" is understood in particular to mean an object whose main extension is at least a factor of five, preferably at least a factor of ten, and particularly preferably at least a factor of twenty larger than a greatest extension of the object perpendicular to its main extension, i.e., in particular, a diameter of the object. A "main extension" of an object is understood in particular to mean its longest extension along its main extension direction. A "main extension direction" of a component is understood in particular to mean a direction that runs parallel to a longest edge of a smallest imaginary cuboid that just completely encloses the component.

[0023] The image acquisition unit can be arranged at least partially and preferably at least largely in the region of the proximal section and / or form this. In other embodiments, the image acquisition unit can be arranged at least partially and preferably at least largely in the distal section and / or form this. Furthermore, the image acquisition unit can be arranged at least partially distributed between the proximal section and the distal section. The image acquisition sensor system has, in particular, at least one image sensor. Furthermore, the image acquisition sensor system can also have at least two and preferably more image sensors, which can be arranged one behind the other.Furthermore, the two and preferably multiple image capture sensors can have spectral detection sensitivities that differ from one another, so that, for example, a first sensor is particularly sensitive or comparatively more sensitive than the other sensors in a red spectral range, a second sensor in a blue spectral range, and a third sensor in a green spectral range. The image sensor can be designed, for example, as a CCD sensor and / or a CMOS sensor.

[0024] An optics system of the image capture unit may include suitable optical elements such as lenses, mirrors, gratings, prisms, optical fibers, etc. The optics system may be configured to guide object light coming from an imaged object to the image capture sensor system, for example, to focus and / or project it.

[0025] The image acquisition unit is particularly configured to acquire spatially and spectrally resolved image data. The image acquisition unit can be configured to generate at least two-dimensional spatial image data. The image acquisition unit can be spatially resolved in such a way that it delivers a resolution of at least 100 pixels, preferably of at least 200 pixels, more preferably of at least 300 pixels, and advantageously of at least 400 pixels in at least two different spatial directions. The image data is preferably at least three-dimensional, with at least two dimensions being spatial dimensions and / or with at least one dimension being a spectral dimension. A plurality of spatially resolved images of the image area, each assigned to different spectral bands, can be obtained from the image data.The spatial and spectral information of the image data can be such that an associated spectrum can be obtained for several spatial pixels.

[0026] In some embodiments, the image acquisition unit is configured to generate continuously updated image data. For example, the image acquisition unit may be configured to generate the image data substantially in real time, which may include, for example, generating updated image data at least every 30 seconds, in some cases at least every 20 seconds, and in some cases even at least every 10 seconds or at least every 5 seconds. Preferably, the image acquisition unit is configured to generate at least the anatomical images and the fluorescence images, as well as the representation based thereon, in real time, for example, at a frame rate of at least 5 fps, at least 10 fps, at least 20 fps, or even at least 30 fps.The lighting unit can be multimodal and comprise a plurality of independently selectively activatable lighting elements which are configured to emit light according to different emission spectra in order to provide the illumination light.

[0027] The image acquisition unit can be operated in a calibration mode and in at least one imaging mode. In calibration mode, the at least one calibration image can be recorded. In imaging mode, the at least one object image can be recorded. The object image can be a white light image, a fluorescence image, a multispectral image and / or a hyperspectral image. An image section of the calibration image can correspond to an image section of the object image and / or at least overlap therewith. In particular, the calibration image can define an image section that is at least partially contained in an image section of the object image. The correction can be carried out in particular for regions of the object image that are also imaged in the calibration image. The image correction unit can be configured to compare image sections of the calibration image and the object image in order to identify image regions that can be corrected.This allows correction to be made even in cases where the calibration image and the object image do not coincide.

[0028] The image acquisition unit can be configured to acquire multiple calibration images with different image acquisition parameters and / or illumination parameters. The depth information can be based on multiple calibration images, in particular those acquired with different parameters.

[0029] The image capture unit can be configured to capture stereo images. For example, the image capture unit can comprise at least one pair of image sensors so that stereo pairs of images can be captured.

[0030] In the context of this disclosure, object light generally refers to light originating from an object to be observed. As mentioned, this can be remitted light or emitted light, depending on the nature of the object and / or the type of imaging. In some embodiments, the correction includes assigning spatial coordinates x, y, z to captured image points according to the depth information. Based on this, the correction for a specific image point can be based on a function f(x, y, z) that depends on the spatial coordinates x, y, z of the specific image point. If the correction takes a distance dependency into account, the said function can be derived from the sum x 2 + y 2 + z 2 and / or the square root of this sum, i.e. sqrt(x 2 + y 2 + z 2 ). The correction can be performed point-by-point and / or image-by-image and / or image-by-image.

[0031] The corrected object image can be corrected point-by-point and / or image-by-image and / or image-by-image. The corrected object image is based, in particular, on the object image and the calibration image.

[0032] The aforementioned process steps can be performed in the order in which they are listed. However, it is understood that a different order is also possible according to the invention, and the list of process steps does not necessarily define a predetermined order.

[0033] A comprehensive correction can be carried out in particular if the depth information comprises at least one depth map. A depth map is to be understood in particular as spatially resolved depth information which assigns at least one depth value, for example defined by a coordinate z, to a series of pixels, in particular to all pixels of the calibration image, which can be defined by coordinates x and y. In other words, a topography of the object to be imaged can be derived from the calibration image in order to obtain the depth information. This depth information can be specific to the image acquisition parameters and / or illumination parameters used. The depth information can comprise a plurality of depth maps which relate to different wavelength ranges and / or tissue types and / or anatomical structures.Different depth maps can also be determined alternatively or additionally from multiple calibration images. In particular, at least one calibration image can be acquired with specific parameters to obtain a specific depth map.

[0034] Acquiring the calibration image can include detecting remitted light. This allows depth information to be easily obtained by exploiting the fact that light in certain spectral ranges has a very shallow penetration depth into tissue. In this case, the calibration image is preferably acquired using stereo imaging or 3D imaging. The calibration image can be a 3D image. A depth map can then be obtained using a stereo reconstruction algorithm. For example, a semi-global matching algorithm can be used for this purpose, as described, for example, in the article "Accurate and efficient stereo processing by semi-global matching and mutual information" by Hirschmüller, 2005, IEEE Conference on Computer Vision and Pattern Recognition, pp. 807-814. Alternatively, a 3D image or a topographical surface can be calculated from two-dimensional image data.For this purpose, for example, an artificial intelligence algorithm can be trained in advance with suitable 2D and 3D image data. The acquisition and / or evaluation of 3D images can include a calibration of the image acquisition unit aimed at determining distortion parameters and / or a relative spatial position of image sensors. Light used to capture such calibration images is essentially remitted directly from the surface of the object to be imaged, which is why the calibration image primarily, or at least essentially exclusively, comprises image information relating to the surface of the object to be imaged. A depth map can be determined, for example, from a white-light calibration image. White light typically has a very shallow penetration depth into tissue, so remitted light approximately originates from an anatomical surface.Alternatively or additionally, a depth map can be obtained from a single-color calibration image or a false-color calibration image using illumination light that lies only in one or more sub-ranges of visible light. For example, only blue light, green light, yellow light, and / or red light can be used to obtain depth information based on remitted light. A mixture of specific colors and / or spectral ranges that deviates from white light can also be used. Preferably, wavelength ranges are used for which light has the lowest possible penetration depth into the object to be imaged, thus ensuring that the remitted light originates from the surface of the object. Alternatively or additionally, different calibration images can be acquired for different wavelength ranges, and depth maps can be calculated for each of them.These can then be used for correction in different wavelengths, which allows wavelength-dependent penetration depths in particular to be taken into account.

[0035] In some embodiments, capturing the calibration image may include detecting fluorescent light. This can provide a basis for comprehensive and accurate evaluation of fluorescent images. Preferably, at least one 3D fluorescent image is captured. As described above, light with a suitable wavelength can be irradiated as excitation light, and light emitted by the object to be imaged can be detected through a suitable observation filter. Depth information, in particular a depth map, can be obtained by means of stereo reconstruction. Alternatively, analogous to the case described above, a 2D image can be used as a basis, and depth information can be obtained using an artificial intelligence algorithm.In particular, a depth map can be obtained from the calibration image, which refers to areas of the object to be imaged that lie within the object and / or beneath a surface of the object. Specifically, the depth map can be based on stained areas covered by unstained tissue. Fluorescent light then reaches the image sensor and / or a lens of the image acquisition unit from a position that is farther away from the image sensor and / or the lens of the image acquisition unit than a surface of the object to be imaged.

[0036] A comprehensive correction that allows for the correct interpretation of image data in different imaging modes can be achieved, in particular, if the illumination unit is configured to operate in different illumination modes in which illumination light can be provided in different spectral ranges, and the image acquisition unit is configured to acquire multiple calibration images whose image acquisition is based on different illumination modes of the illumination unit. For example, a first illumination mode can be used to obtain a calibration image based on remitted light, and a second illumination mode can be used to obtain a calibration image based on emitted light, in particular fluorescent light.From this, at least a first depth map and at least a second depth map can be obtained, wherein the first depth map relates to a surface of the object to be imaged and wherein the second depth map relates to regions of the object to be imaged that are colored by means of at least one fluorescent dye and are located below the surface of the object to be imaged.

[0037] The image acquisition unit can be configured to acquire multiple calibration images in different spectral ranges simultaneously and / or sequentially, in particular using different optical filters. Multiple calibration images can, for example, be based on different spectral ranges in multispectral imaging and / or hyperspectral imaging.

[0038] In some embodiments, the correction comprises a distance correction based on an inverse of a power of a length of a light path, in particular a length of a light path between the image capture unit, in particular an image sensor and / or a lens of the image capture unit, and the object to be imaged and / or a light path within the object to be imaged. The distance correction can be based, for example, on a distance square law. In particular, in this case, the illumination unit can be approximately considered a point light source. Deviations from a point light source can be taken into account by using an exponent other than 2.

[0039] Furthermore, the correction may comprise an absorption correction based on a, particularly exponential, attenuation of light along a light path with a length, particularly a length of a light path within the object to be imaged. Alternatively or additionally, the absorption correction may take into account an attenuation of illumination light and / or an attenuation of object light.

[0040] Generally speaking, a distance correction for fluorescence imaging, in which light with a wavelength Ao is irradiated and light with a wavelength Ai is emitted, can be based on the following attenuation due to a distance from an objective of the image acquisition unit to the object to be imaged as well as a positioning of a region colored with fluorescent dye in the object to be imaged:

[0041] Idetected = l(A0) / (do + di) a■ exp(-p(A0)-di) ■ exp(-p(Ai)-di)-R where Idetected denotes the detected light intensity, l(A0) the intensity of the incident light with the wavelength A o , do is a distance between the lens and the surface of the object to be imaged, di is a distance between the surface of the object to be imaged and the area in the object to be imaged that is colored with fluorescent dye, a is an exponent that defines the inverse distance law and can be chosen, for example, as 2 to calculate according to the inverse square law, p(A0) is an attenuation factor for the attenuation of light of wavelength A o when passing through the object to be imaged, p(Ai) denotes an attenuation factor for the attenuation of light of wavelength Ai when passing through the object to be imaged.

[0042] A particularly high degree of accuracy can be achieved, in particular, if the image correction unit is configured to determine spatial and / or spectral properties, in particular inhomogeneities, of the illumination unit from the at least one calibration image and to consider the determined spatial and / or spectral properties during the correction. In other words, the acquisition of calibration images can be used to calibrate the illumination device or to consider real properties of the illumination device for calculating the corrected object image.

[0043] In some embodiments, it can be provided that in the corrected object image, at least one image region is enhanced and / or attenuated relative to at least one other image region with regard to at least one parameter, such as a hue, brightness and / or color saturation, in accordance with the correction. This makes it possible to generate a corrected object image that is intuitively understandable for a user. In general, this can be used to compensate for intensity differences that are due to different lighting situations but not to differences in the imaged tissue. The corrected object image can then be calculated in such a way that the intensity differences are not recognizable. For the user, for example, similar regions are then recognizable as such, even if they were not imaged in the same way.For example, a fluorescent area that is partially or completely covered by unstained tissue can be displayed as if it were not covered. Alternatively, distance information can be conveyed to the user through the use of false colors. For example, a fluorescent area covered by unstained tissue can be displayed with increased brightness so that it is clearly visible, but a color can be changed according to a distance of the fluorescent area from the surface of the object to be imaged, so that the user can see whether and how far the fluorescent area is located within the object to be imaged. This can support the user, for example, during free dissection.

[0044] In some embodiments, the medical imaging device comprises a lighting device comprising the lighting unit. The lighting device can comprise an optical interface for optically connecting an imaging device. The lighting unit can be configured to supply illumination light to the optical interface. The lighting unit can be multimodal and comprise a plurality of independently selectably activatable lighting elements that are configured to emit light according to different emission spectra in order to supply the illumination light. The lighting unit can be operable in at least one multispectral mode in which a first group of the lighting elements is at least temporarily activated and in which the lighting unit supplies illumination light for multispectral imaging.Furthermore, the illumination unit can be operable in at least one fluorescence mode, in which a second group of the luminous elements is at least temporarily activated and in which the illumination unit provides illumination light for fluorescence imaging. The luminous elements can comprise at least one luminous element that is contained in both the first group and the second group.

[0045] In addition, a method for generating illumination light for an imaging device using an illumination device can be provided. The illumination device comprises an optical interface for optically connecting an imaging device and a illumination unit configured to supply illumination light to the optical interface, wherein the illumination unit comprises a plurality of independently selectably activatable luminous elements configured to emit light according to different emission spectra in order to supply the illumination light. The method comprises the step of at least temporarily activating a first group of the luminous elements in order to supply illumination light for multispectral imaging and the step of at least temporarily activating a second group of the luminous elements in order to supply illumination light for fluorescence imaging.At least one of the lighting elements is activated at least temporarily both when the first group of lighting elements is activated at least temporarily and when the second group of lighting elements is activated at least temporarily.

[0046] The optical interface can be either connectable or detachable. Furthermore, the optical interface can be combined with a mechanical interface, so that an optical connection is automatically established, for example, when the imaging device is mechanically coupled.

[0047] The lighting elements can comprise single-color LEDs (light-emitting diodes) and / or laser diodes. Furthermore, at least one of the lighting elements can be a white light LED or another white light source. In some embodiments, the lighting unit comprises at least one blue lighting element, at least one red lighting element, at least one far-red lighting element, and at least one near-IR (near-infrared) lighting element, in particular LEDs or laser diodes. Additionally, the lighting unit can comprise at least one white light LED or another white light source.

[0048] The first group can comprise at least two light elements that emit spectrally differently. A high degree of efficiency in multispectral imaging can be achieved if the multispectral mode comprises different states, in each of which a specific light element or a specific type of light element is activated at least temporarily. This allows targeted illumination in a specific spectral range, whereby different spectral images can be captured. Different light elements that are activated in different states can serve as different support points for the multispectral imaging. At least one of these support points can be selected such that it is adapted to characteristic points of absorption spectra of physiologically relevant components, for example, to an isosbestic point of the hemoglobin oxygenation curve.Multispectral imaging may additionally include the use of appropriate observation filters.

[0049] Furthermore, the second group can comprise at least two luminous elements that emit spectrally differently. The fluorescence mode can comprise different submodes and / or states, in each of which a specific luminous element or a specific luminous element type is activated at least temporarily. This allows for targeted excitation in a specific spectral range, so that fluorescence imaging can be performed, for example, for a specifically selected dye. In other words, the at least one luminous element that is contained in both the first group and the second group can be used for both the multispectral mode and the fluorescence mode.

[0050] In some embodiments, the first group comprises only some but not all of the luminous elements. Alternatively or additionally, in some embodiments, the second group comprises only some but not all of the luminous elements. In the multispectral mode, in particular, only luminous elements of the first group are activated at least temporarily, whereas luminous elements that do not belong to the first group are deactivated. In the fluorescence mode, in particular, only luminous elements of the second group are activated at least temporarily, whereas luminous elements that do not belong to the second group are deactivated. In general, it is understood that the luminous elements can comprise different luminous element types and that, in particular, exactly one luminous element of each of the different luminous element types can be present.It is understood that mixed operating modes can also occur according to the invention, in which the aforementioned modes are used sequentially. For example, multispectral imaging and fluorescence imaging can be performed sequentially.

[0051] Synergy with regard to the use of a luminous element for different modes and associated efficiency gains can be achieved in particular if at least one luminous element contained in both the first group and the second group emits light in the red spectral range, in particular in a spectral range between 600 nm and 680 nm, for example between 610 nm and 650 nm or between 620 and 660 nm or between 630 and 670 nm. The spectral range can be narrowband and include the wavelength 660 nm. “Narrowband” can include a spectral width of at most 80 nm, in particular of at most 40 nm or even of at most 20 nm. This at least one luminous element can be configured to excite dyes absorbing in the red spectral range and to contribute to the illumination in the red spectral range for multispectral imaging.

[0052] In some embodiments, the illumination unit can be operable in at least one white-light mode, in which the illumination unit provides illumination light for white-light imaging. The illumination light for white-light imaging can be broadband white light. Alternatively, the illumination light for white-light imaging can comprise several narrow wavelength bands that are separated from one another, for example, a blue, a red, and a far-red band. "Dark red" is to be understood in the sense of "longer wavelength than red" and refers to the spectral position, not the light intensity. The illumination light for white-light imaging can be mixed from light from different lighting elements.

[0053] In the white light mode, a third group of light elements can be activated at least temporarily to supply the illumination light for white light imaging. The light elements can comprise at least one light element that is contained in both the first group and / or the second group and the third group. In some cases, the third group can comprise only some but not all of the light elements. In the white light mode, in particular, only light elements of the third group are activated at least temporarily, whereas light elements that do not belong to the third group are deactivated. In other words, the illumination unit can comprise light elements that serve one, two, or all three of the aforementioned illumination modes. This allows multiple light elements to be used multiple times.

[0054] At least one luminous element contained in both the first group and / or the second group and the third group can emit light in the red spectral range, in particular in a spectral range between 600 nm and 680 nm, for example between 610 nm and 650 nm or between 620 and 660 nm or between 630 and 670 nm. The advantages of using luminous elements together are particularly evident when at least one red luminous element can be used for all three modes.

[0055] At least one luminous element contained in both the first group and / or the second group and the third group can emit light in the blue spectral range, in particular in a spectral range between 440 and 480 nm. At least one blue luminous element can expediently be used in both the fluorescence mode and the white light mode.

[0056] Generally speaking, the luminous elements can, as mentioned, comprise at least one, in particular blue, luminous element that emits light in a spectral range between 440 and 480 nm. Furthermore, the luminous elements can, as mentioned, comprise at least one, in particular red, luminous element that emits light in a spectral range between 600 and 680 nm, for example between 610 nm and 650 nm or between 620 and 660 nm or between 630 and 670 nm. Alternatively or additionally, the luminous elements can comprise at least one, in particular dark-red, luminous element that emits light in a spectral range between 750 and 790 nm. Alternatively or additionally, the luminous elements can comprise at least one, in particular near-IR-emitting, luminous element that emits light in a spectral range between 920 and 960 nm. In addition, the luminous elements can comprise a white-light luminous element.A compact and versatile lighting unit can be provided in particular if at least one light element of each of the aforementioned light element types is present. For example, in fluorescence mode, the blue and red light elements can be used, and if suitable dyes are used, the far-red light element can also be used. In multispectral mode, the far-red and the near-IR emitting light element can be used. In white light mode, the white light light element can be used. In white light mode, this can be supplemented by the blue light element and, if necessary, the red light element. This allows wavelength ranges to be supplemented by colored light elements in which the white light light element provides a reduced intensity, for example due to its design, but in particular due to filters and optical elements of the lighting unit.In addition, the colored light elements can be used to set a color temperature for white light imaging.

[0057] In some embodiments, the second group comprises a single luminous element and / or a single type of luminous element. For example, a white-light luminous element, a red luminous element, and an IR-emitting luminous element can be provided, with particular reference to the above values ​​regarding possible spectral ranges. The first group can then, for example, comprise the red and the IR-emitting luminous element. The second group can comprise the IR-emitting luminous element, in particular as the only luminous element or as the only type of luminous element.

[0058] A favorable arrangement of lighting elements is particularly possible if the lighting unit comprises at least one crossed beam splitter, by means of which light can be deflected from opposite input sides to an output side, wherein at least one of the lighting elements is arranged on each of the opposite input sides of the crossed beam splitter. In some embodiments, two or more crossed beam splitters can be provided, which are arranged optically one behind the other. The at least one crossed beam splitter can comprise two beam splitter elements, the transmittance of which is adapted to the respectively assigned lighting element. The beam splitter elements each comprise, in particular, a notch filter, so that they each reflect in a narrow spectral band but otherwise transmit.The spectral position and / or width of the corresponding notch can be adapted to the spectral range of the respective associated luminous element, so that its light is redirected, but light from other luminous elements is at least largely transmitted.

[0059] In some embodiments, the lighting elements can comprise at least four narrowband-emitting single-color lighting elements, each with different spectral ranges, and at least one broadband-emitting white-light lighting element. In this regard, reference is also made to the above explanations regarding the colored lighting elements. A wide range of functions in combination with a compact design and the utilization of synergy effects when using lighting elements can be achieved in particular if the lighting unit is operable in at least one hyperspectral mode in which several lighting elements are activated, whose emission spectra together cover at least a spectral range from 450 nm to 850 nm, and in which the lighting unit supplies illumination light for hyperspectral imaging. This can in particular involve all of the lighting elements.

[0060] It is understood that, particularly when using laser diodes, suitable polarization filters can be used for the optical filters mentioned herein. Furthermore, particularly when using laser diodes, at least one crossed beam splitter can be used, the beam splitter elements of which are provided with polarization filters. Selective transmission can then be achieved by combining different polarizations.

[0061] The invention also relates to program code which, when executed in a processor, is designed to effect implementation of a method according to the invention.

[0062] Furthermore, the invention relates to a program code comprising a computer-readable medium on which the program code according to the invention is stored.

[0063] The devices and systems according to the invention, as well as the methods according to the invention, are not intended to be limited to the application and embodiment described above. In particular, to fulfill a functionality described herein, they may comprise a number of individual elements, components, units, and method steps that differs from the number stated herein. Furthermore, in the value ranges specified in this disclosure, values ​​within the stated limits are also to be considered disclosed and can be used arbitrarily.

[0064] It is particularly noted that all features and properties described with reference to a device, as well as procedures, are transferable to methods and applicable within the meaning of the invention and are considered to be included in the disclosure. The same applies in reverse. This means that structural features mentioned with reference to methods, i.e., features related to the device, can also be considered, claimed, and included in the disclosure within the scope of the device claims.

[0065] The present invention is described below by way of example with reference to the accompanying figures. The drawings, the description, and the claims contain numerous features in combination. Those skilled in the art will expediently consider the features individually and use them in meaningful combination within the scope of the claims.

[0066] If there is more than one instance of a particular object, only one of them may be provided with a reference symbol in the figures and in the description. The description of this instance can be transferred accordingly to the other instances of the object. If objects are named using numerical terms, such as first, second, third object, etc., these serve to name and / or assign objects. Accordingly, for example, a first object and a third object, but not a second object, may be included. However, a number and / or sequence of objects could also be derived using numerical terms.

[0067] They show:

[0068] Fig. 1 is a schematic representation of an imaging device with an illumination device;

[0069] Fig. 2 is a schematic representation of the lighting device;

[0070] Fig. 3 schematic transmission curves of beam splitter elements of the lighting device;

[0071] Fig. 4 is a schematic representation of the imaging device;

[0072] Fig. 5 is a schematic representation of another embodiment of the

[0073] imaging device;

[0074] Fig. 6 is a schematic representation of yet another embodiment of the imaging device; Fig. 7 is a schematic perspective representation of another embodiment of the imaging device;

[0075] Fig. 8 is a schematic flow diagram of a method for generating illumination light for an imaging device by means of an illumination device;

[0076] Fig. 9 is a schematic flow diagram of a method for operating an imaging device;

[0077] Fig. 10 is a schematic flow diagram of a method for operating an imaging device;

[0078] Fig. 11 is a schematic representation of a medical imaging device;

[0079] Fig. 12 is a schematic representation of an imaging situation;

[0080] Fig. 13 is a schematic representation of a first calibration image;

[0081] Fig. 14 is a schematic representation of a second calibration image;

[0082] Fig. 15 is a schematic representation of a first depth map;

[0083] Fig. 16 is a schematic representation of a second depth map;

[0084] Fig. 17 is a schematic representation of an object image;

[0085] Fig. 18 is a schematic representation of a corrected object image;

[0086] Fig. 19 is a schematic representation of another corrected object image;

[0087] Fig. 20 is a schematic representation of several calibration images and associated depth maps;

[0088] Fig. 21 is a schematic flow diagram of a method for medical imaging; and Fig. 22 is a schematic representation of a computer program product.

[0089] Fig. 1 shows a schematic representation of an imaging device 10. In the exemplary case shown, the imaging device 10 is an endoscopic imaging device, specifically an endoscope device. Alternatively, the imaging device 10 could be an exoscopic, a microscopic, or a macroscopic imaging device. The imaging device 10 is shown as an example of a medical imaging device. The imaging device 10 is intended, for example, for examining a cavity.

[0090] The imaging device 10 comprises a medical imaging device 14. In the illustrated case, this is an endoscope.

[0091] The imaging device 10 further comprises an illumination device 12 with an optical interface 16 and an illumination unit 18. The imaging device 14 can be optically connected to the optical interface 16. The optical interface 16 can be part of an optical-mechanical interface that can be selectively connected and detachable. The illumination device 14 can be selectively decoupled from the illumination device 12. The illumination unit 18 is configured to supply illumination light to the optical interface 16. During imaging using the imaging device 14, the illumination unit 18 can accordingly provide the required illumination light, which is guided to the illumination device 14 and from there coupled out onto an object to be imaged, such as a site.

[0092] In the illustrated case, the imaging device 10 further comprises a display unit on which images based on image data acquired by the imaging device 14 can be displayed. These may be video images, still images, overlays of different images, partial images, image sequences, etc.

[0093] The imaging device 10 is multimodal. By way of example, the imaging device can be operated in three basic modes: a multispectral mode, a fluorescence mode, and a white light mode. Furthermore, it can be provided that the imaging device 10 can be operated in a hyperspectral mode in addition to or alternatively to the multispectral mode. The illumination device 12 is multimodal. The illumination device 12 can be operated in different illumination modes, in which it provides light for different imaging modes. In the present case, the illumination device 12 can be operated in three basic modes: a multispectral mode, a fluorescence mode, and a white light mode. Likewise, the imaging device 14 can be operated in different operating modes, specifically also in at least one multispectral mode, one fluorescence mode, and one white light mode.In the corresponding operating mode of the imaging device 10, the modes of the illumination device 12 are coordinated with one another.

[0094] Fig. 2 shows a schematic representation of the lighting device 12. The lighting unit 18 comprises a plurality of independently activatable lighting elements 20, 22, 24, 26, 28. These are designed to emit light according to different emission spectra in order to provide illumination light, ie the respective emission spectrum differs from lighting element to lighting element.

[0095] For example, the light elements 20, 22, 24, 26, 28 are embodied as LEDs. Specifically, a first light element 20 is embodied as a red LED, a second light element 22 as a dark-red LED, a third light element 24 as a blue LED, and a fourth light element 26 as a near-IR LED. The colored light elements 20, 22, 24, 26 each emit in a narrowband, for example, with emission peaks at wavelengths of approximately 660 nm (first light element 20), 770 nm (second light element 22), 460 nm (third light element 24), and 940 nm (fourth light element 26).

[0096] Furthermore, a fifth luminous element 28 is provided, which in this case is a white light luminous element, such as a white light LED. The fifth luminous element 28 emits, for example, in a spectral range of approximately 400 to 700 nm. In other embodiments, laser diodes can also be used, in particular as colored luminous elements.

[0097] Depending on the lighting mode, some of the lighting elements 20, 22, 24, 26, 28 are activated at least temporarily, whereas other lighting elements 20, 22, 24, 26, 28 may not be used in the lighting mode in question.

[0098] In the present case, a first group comprises first lighting element 20 and the fourth

[0099] Light element 26. The first group can additionally comprise the light element 22 and / or the light element 24. The first group is used for multispectral imaging, wherein the included light elements 20, 26 and optionally 22 and 24 each serve as a support point. In multispectral mode, for example, the first light element 20 is used first to illuminate and an image is recorded. Subsequently, the fourth light element 26 is used to illuminate and an image is recorded. The images are each based on remission, i.e. the light scattered back from the object to be imaged is observed. Using the two different support points, spectral information about the object to be imaged can be obtained. For example, this can be used to assess certain types of tissue, a perfusion state, a tissue texture or the like.

[0100] Furthermore, a second group comprises the first light-emitting element 20, the second light-emitting element 22, and the third light-emitting element 24. The second group is used for illumination in fluorescence imaging. For example, objects colored with suitably selected dyes can be specifically viewed here. Different dyes can also be introduced into different types of tissue or the like, which are then viewed simultaneously. By specifically exciting a specific dye, it is excited to fluoresce. The fluorescent light is then imaged. The first light-emitting element 20 is suitable, for example, for exciting the dye cyanine 5.5 (Cy 5.5). The second light-emitting element 22 is suitable for exciting the dye indocyanine green (ICG). The third light-emitting element 24 is suitable for exciting the dye fluorescein.

[0101] Furthermore, a third group comprises the fifth luminous element 28. In the present embodiment, the third group also comprises the first luminous element 20 and the third luminous element 24. The third group serves to provide illumination light for white light imaging. For this purpose, white light from the fifth luminous element 28 can be mixed with light from certain colored luminous elements, thereby compensating for spectral losses and / or allowing a color temperature to be specifically adjusted.

[0102] As can be seen, some of the light elements 20, 22, 24, 26, 28 are assigned to multiple groups, for example the first light element 20 to all three groups, and the third light element 24 and possibly also the second light element 22 to the second and third groups. Alternatively or additionally, it can also be provided that some or all of the light elements 20, 22, 24, 26, 28 are used in a hyperspectral mode. A broad excitation spectrum is then generated. In combination with a suitable hyperspectral detector, spectral information relating to the object to be imaged can then be acquired across the entire visible and near-IR spectrum. For this purpose, the imaging device 14 can comprise a pushbroom arrangement as a hyperspectral detector. In other embodiments, a whiskbroom arrangement, a staring arrangement, and / or a snapshot arrangement are used. The imaging device 14 can be a hyperspectral imaging device.For information on different hyperspectral imaging methods and the components required for them, please refer to the article "Review of spectral imaging technology in biomedical engineering: achievements and challenges" by Quingli Li et al., published in Journal of Biomedical Optics 18(10), 100901 , October 2013, and to the article "Medical hyperspectral imaging: a review" by Guolan Lu and Baowei Fei, published in Journal of Biomedical Optics 19(1 ), 010901 , January 2014.

[0103] The illumination unit 18 comprises two crossed beam splitters 30, 32. Each of these comprises an output side 42, 44, an input side 37, 41 opposite the output side 42, 44, and two opposite input sides 34, 36, 38, 40. All input sides 34, 36, 37, 38, 40, 41 guide incident light to the corresponding output side 42, 44. The output side 42 of a first crossed beam splitter 30 faces an input side 41 of the second crossed beam splitter 32. The output side 44 of the second crossed beam splitter 32 faces the optical interface 16. The two crossed beam splitters 30, 32 are preferably arranged coaxially to one another and / or to the optical interface.

[0104] The lighting unit 18 can comprise suitable optical elements such as lenses and / or mirrors (not shown). Several lenses 78, 80, 82, 84, 86, 88 are shown as examples in Fig. 2. A lens 78 is assigned, for example, to the optical interface 16 and couples light coming from the output side 44 of the second crossed beam splitter 32 into the optical interface 16. Furthermore, a lens 80, 82, 84, 86, 88 can be assigned to each of the lighting elements 20, 22, 24, 26, 28. A particularly high degree of compactness can be achieved in particular if the lighting elements 20, 22, 24, 26, 28 are each arranged on the input sides 34, 36, 37, 38, 40 of the at least one crossed beam splitter 30, 32 without an intermediate mirror. The lighting elements 20, 22, 24, 26, 28 can then be moved very close to at least one crossed beam splitter 30, 32.

[0105] The crossed beam splitters 30, 32 each comprise two beam splitter elements 90, 92, 94, 96. These can generally be partially transparent, so that light from all input sides 34, 36, 37, 38, 40, 41 is redirected to the respective output side 42, 44. In the present embodiment, the beam splitter elements 90, 92, 94, 96 are selectively transparent. This is illustrated with further reference to Fig. 3. The beam splitter elements 90, 92, 94, 96 can be filters that reflect only in a defined area but otherwise have high transmission. Fig. 3 shows transmission curves 98, 100, 102, 104 of the beam splitter elements 90, 92, 94, 96 of the two crossed beam splitters 30, 32. Each of the colored light elements 20, 22, 24, 26 or each of the opposite input sides 34, 36, 38, 40 is assigned one of the beam splitter elements 90, 92, 94, 96.The beam splitter elements 90, 92, 94, 96 are selected such that they each reflect in the wavelength range in which the associated light element 20, 22, 24, 26 emits, but also largely transmit. For this purpose, notch filters can be used in the mid-wavelength range, which can, for example, have the transmission spectra 100 and 102. At spectral edges, high-pass or low-pass filters can also be used instead of notch filters, see transmission spectra 98 and 104.

[0106] Due to the specific transmission spectra 98, 100, 102, 104 of the crossed beam splitters 30, 32, light from the fifth luminous element 28 is spectrally clipped. It may therefore be expedient, as already mentioned, to supplement the light blocked by the beam splitters 30, 32 in a targeted manner using the luminous elements 20 and 24, optionally also 22 and / or 26. This allows supplementation specifically in those spectral ranges in which the beam splitters 30, 32 absorb and / or reflect light from the fifth luminous element 28, but in any case does not transmit it to the optical interface 16. The additionally used luminous elements 20, 24 and optionally 22 are preferably operated at reduced power or with adjusted power. The aim here can be to at least largely restore the original spectrum of the fifth luminous element 28.

[0107] In some embodiments, the fifth light-emitting element 28 can alternatively be a green light-emitting element, or more generally, a colored light-emitting element that emits primarily in the spectral range transmitted by the at least one beam splitter 30, 32. For example, in such embodiments, the fifth light-emitting element 26 can be an LED with an emission peak at approximately 530 nm. A green laser diode is also suitable for this purpose. It can be provided that color mixing occurs in white light mode and, in particular, that no individual white light source such as a white light LED is used, but rather that white light from separate light-emitting elements is specifically mixed.

[0108] It is understood that, with suitable dyes, such a green luminescent element can also be used in fluorescence mode. Alternatively or additionally, it could be used in multispectral mode.

[0109] The illumination unit 18 defines a common optical path 54 into which the emitted light from the lighting elements 20, 22, 24, 26, 28 can be coupled. The common optical path 54 extends from the output side 44 of the second crossed beam splitter 32 to the optical interface. In this case, the common optical path 54 is arranged coaxially with the fifth lighting element 26.

[0110] In the embodiment shown, the lighting elements 20, 26 of the first group are arranged such that light emitted by the lighting elements 20, 26, starting from the respective lighting element 20, 26, each travels a light path of at least substantially equal length to the optical interface 16. The lighting elements 20, 26 of the first group each have a light-emitting surface 56, 58. The light-emitting surfaces 56, 62 are arranged equidistantly with respect to the common optical path 54. This is achieved in the present case by arranging the two lighting elements 20, 26 at the same distance from their associated beam splitter 32 (here, by way of example, the second beam splitter 32), specifically from its opposite input sides 38, 40. The light is coupled into the common optical path 54 by the crossed beam splitter 32.

[0111] The beam splitters 30, 32 are arranged in particular such that light-emitting surfaces 56, 58, 60, 62, 64 of the lighting elements 20, 22, 24, 26, 28 are each arranged equidistantly with respect to their associated crossed beam splitter 30, 32.

[0112] By using crossed beam splitters 30, 32 and lighting elements 20, 22, 24, 26, 28 that can be used jointly for different modes, the illumination unit 18 or the illumination device 12 has a high degree of compactness. Furthermore, the equidistant arrangement ensures that no spectral shifts occur when the imaging device 14 or its light guide is rotated relative to the optical interface 16.

[0113] It is understood that a different number of light-emitting elements 20, 22, 24, 26, 28 and / or a different number of crossed beam splitters 30, 32 may be used. The use of crossed beam splitters 30, 32 has proven particularly useful. However, in other embodiments, other types of beam splitters and / or other optical elements may be used to couple light from the light-emitting elements 20, 22, 24, 26, 28 into the optical interface 16.

[0114] Fig. 4 shows a schematic representation of the imaging device 10. The imaging device 14 is optically coupled to the optical interface 16, for example via a light guide 106 such as at least one optical fiber.

[0115] The imaging device 10 has a controller 66 configured to automatically coordinate an operating state of the imaging device 14 and a lighting mode of the lighting unit 18. In this case, a user can specify the operating mode of the imaging device 14 through a user action. The controller 66 then sets the appropriate lighting mode of the lighting unit 18. Alternatively or additionally, the user can set a specific lighting mode of the lighting unit 18 through a user action. The controller 66 can then set an appropriate operating mode of the imaging device 14. The lighting device 12 and / or the imaging device 10 has, for example, a user interface via which the user can enter corresponding commands.

[0116] The imaging device 14 comprises a camera unit 68 and a distal shaft 76. The distal shaft 76 is optically coupled to the camera unit 68. The camera unit 68 can have a connection for the distal shaft 76, wherein the distal shaft 76 can be selectively coupled and decoupled. The distal shaft 76 can also be permanently optically and / or mechanically coupled to the camera unit 68. The camera unit 68 is arranged proximally with respect to the shaft 76. The camera unit 68 comprises imaging sensors 108, in the present case, for example, a white light sensor 110 and a near-IR sensor 112. Generally speaking, the imaging sensors 108 can have one or more at least spatially resolving light sensors / image sensors, for example, at least one CMOS sensor and / or at least one CCD sensor.The shaft 76 comprises optical elements (not shown) by means of which light can be guided to the camera unit 68 in order to optically capture the object to be imaged. Furthermore, the shaft 76 comprises at least one light path 114, for example defined by a light guide such as an optical fiber, which leads to a distal portion 116 of the shaft 76 and by means of which the illumination light originating from the optical interface 16 of the illumination device 12 can be coupled out to the object to be imaged.

[0117] The camera unit 68 has different operating states, specifically, for example, at least one multispectral operating state and one fluorescence operating state, and in the present embodiment, additionally a white light operating state and possibly a hyperspectral operating state. The controller 66 automatically adapts the illumination mode of the illumination unit 18 to the current operating state of the camera unit 68. In this case, the controller 66 can make settings to the image recording behavior of the camera unit 68. For example, the controller 66 can set the exposure time, sensitivity / amplification / gain and / or other operating parameters of the camera unit 68, or specifically its image acquisition sensor system 108 and, if applicable, its optics, and thereby define different operating states of the imaging device 14. In the present case, the controller 66 triggers the illumination unit 18 synchronously with the camera.

[0118] The imaging device 14 comprises a filter unit 46 with optical filters 48, 50, 52. Three optical filters are shown as an example, but it is understood that a different number can be used. The filter unit 46 can be switched between a multispectral mode and a fluorescence mode. Furthermore, the filter unit 46 can additionally be switched to a white light mode and / or a hyperspectral mode. The optical filters 48, 50, 52 can be selectively inserted into an observation beam path 70 of the camera unit 68, thereby defining different observation modes. In this case, these define the operating states of the camera unit 68.

[0119] A basic imaging mode can be assigned multiple optical filters 48, 50, 52. For fluorescence imaging in particular, a different suitable optical filter can be used depending on the light element 20, 22, 24, 26, 28 used for excitation. For example, in the present case, the first light element 20 (red) is combined with an optical filter that transmits wavelengths greater than 730 nm but blocks shorter wavelengths. This can ensure, in particular, that only fluorescent light and not the excitation light itself is detected. For example, this optical filter can absorb at least in the range from 600 nm to 730 nm. Furthermore, in the present case, for example, the second light element 22 (dark red) is combined with a filter that absorbs in the range from 700 to 850 nm or that only transmits significantly above 850 nm.

[0120] The user can select a specific filter 48, 50, 52 and thereby directly select a corresponding observation mode or operating state of the camera unit 68. For this purpose, the camera unit 68 has a filter sensor 72 that can automatically detect an optical filter currently inserted into the observation beam path 70. The user can thus manually insert a selected filter 48, 50, 52 into the observation beam path 70. In the example shown, the optical filters 48, 50, 52 are mounted on a filter carrier 118. This can be moved into different positions, allowing one of the optical filters 48, 50, 52 to be selected at a time. The filter sensor 72 then detects the currently selected optical filter 48, 50, 52.The controller can then determine the current operating state of the camera unit 68 and thus of the imaging device 14 based on a sensor signal from the filter sensor 72 and automatically adjust the illumination mode of the illumination unit 18 accordingly. The user thus sets the entire imaging device 10 to the desired mode through a simple user action such as manually selecting an optical filter 48, 50, 52. In principle, a user can combine different filters with different illumination modes and thereby create different types of contrast.

[0121] In the illustrated case, the imaging device 14, and in particular the shaft 76, comprises a broadband transmitting optic 77 that can be used consistently in the different illumination modes. In this case, the broadband optic 77 is designed for a spectral range of at least 400 nm to 1000 nm. It can be used consistently for different illumination and / or observation spectral ranges.

[0122] In some embodiments, the imaging device 14 can be designed as a stereoendoscope comprising a stereoscopic eyepiece with two sides. Different optical filters can be connected upstream of these sides independently of one another, whereby different contrast images can be superimposed on one another. In the context of further embodiments and modifications, the same reference numerals as above are used below for identical or similar components. With regard to their description, reference is generally made to the above statements, whereas the differences between the embodiments are primarily explained below. Furthermore, for reasons of clarity, some reference numerals have been omitted in the following figures.

[0123] Fig. 5 shows a schematic representation of another embodiment of the imaging device 10. The imaging device 10 comprises an illumination device 12 with an optical interface 16 and an illumination unit 18, as well as an imaging device 14 connected to the optical interface 16. The imaging device 14 comprises a camera unit 68 with an automated filter unit 210. The automated filter unit 210 comprises a plurality of optical filters 48, 50, 52, which can be automatically inserted into an observation beam path 70 of the camera unit 68 according to an observation mode specified by a user.

[0124] The automated filter unit 210 includes a filter drive 212 configured to automatically move the optical filters 48, 50, 52 into or out of the observation beam path 70. The optical filters 48, 50, 52 can be mounted on a filter carrier 118 connected to the filter drive 212. The filter drive 212 can be configured to move the filter carrier 118, for example, to shift and / or rotate and / or pivot it.

[0125] The imaging device 14 has a user interface 214, by means of which the user can set a desired observation mode. For example, a desired position of the filter carrier 118 can be specified using the user interface 214.

[0126] The imaging device 14 further includes a controller 66. The controller 66 is coupled to the filter drive 212 and the user interface 214. The controller 66 is configured, in particular, to process a user specification of an observation mode and to control both the filter unit 210 and the illumination unit 18 in accordance with this user specification. The controller 66 can thus set an operating state of the imaging device 14 and a corresponding illumination mode of the illumination unit 18 in accordance with an observation mode selected by the user.

[0127] Fig. 6 shows a schematic representation of yet another embodiment of the imaging device 10. The imaging device 10 comprises an illumination device 12 with an optical interface 16 and an illumination unit 18, as well as an imaging device 14 connected to the optical interface 16. The imaging device 14 comprises a proximal base unit 310. The proximal base unit 310 is connected to the optical interface 16 of the illumination device 12. Illumination light generated by the illumination device 12 can thus be supplied to the proximal base unit 310. The imaging device 14 further comprises a controller 66, which in some embodiments can be integrated into the base unit 310.

[0128] Different interchangeable shafts 312, 314 can be optically and electronically coupled to the proximal base unit 310. The base unit 310 has an interface 316 for coupling different interchangeable shafts 312, 314. This interface 316 supplies the illumination light coming from the illumination device 12 to a coupled interchangeable shaft 312, 314. Furthermore, the interface 316 is configured to electrically supply a coupled interchangeable shaft 312, 314 and / or to electronically connect it to the controller 66 of the imaging device 14.

[0129] The interchangeable shafts 312, 314 each have an integrated camera 318, 320 and integrated optical filters 322, 324. The integrated cameras 318, 320 are designed as tipcams. In the present case, the integrated camera 318 of a first interchangeable shaft 312 is configured for multispectral imaging. Furthermore, the integrated camera 310 of a second interchangeable shaft 314 is configured for fluorescence imaging. The optionally present optical filters 322, 324 can be adapted to this.

[0130] In other embodiments, interchangeable shafts can also be used that only include optical filters but no integrated camera. These can then be coupled to a proximal camera unit. The proximal camera unit can then, in some cases, be designed without an additional filter unit. The selection of a specific optical filter or a specific observation mode can be made by selecting a suitably equipped interchangeable shaft. The controller 66 is configured to detect a coupled interchangeable shaft 312, 314. This can be done software-based, mechanically, and / or by sensor detection. Depending on the detected interchangeable shaft 312, 314, the controller 66 can then determine in which operating state or observation mode the imaging device 14 should be operated. The control unit 66 is also configured to set an illumination mode of the illumination unit 18.The control unit 66 is thus configured to set an illumination mode of the illumination unit 18 depending on the observation mode defined by a currently coupled interchangeable shaft 312, 314.

[0131] In this case, the interchangeable shafts 312, 314 and the imaging device 10 are part of a medical imaging system 316. The medical imaging system 316 allows a user to select a suitable interchangeable shaft 312, 314, couple it to the base unit 310, and thus define a mode for the entire imaging device 10. Simply changing the interchangeable shaft 312, 314 thus automatically adapts the illumination device 18 to the desired image acquisition mode.

[0132] Fig. 7 shows a schematic perspective view of another embodiment of an imaging device 10'. The reference numerals of this embodiment are provided with apostrophes for differentiation. In this embodiment, the imaging device 10' is designed as an exoscopic imaging device. It comprises an illumination device 12' and an imaging device 14'. Their basic functionality corresponds to that described above, but in this embodiment, the imaging device 14' is designed as an exoscope.

[0133] Aspects of the above description can also be summarized or described as follows. Fig. 8 shows a schematic flow diagram of a method for generating illumination light for an imaging device 14 by means of an illumination device 12. The sequence of the method also follows from the above explanations. The illumination device 12 comprises an optical interface 16 for optically connecting an imaging device 14 and a illumination unit 18 which is configured to supply illumination light to the optical interface 16, wherein the illumination unit 18 comprises a plurality of independently selectably activatable lighting elements 20, 22, 24, 26, 28 which are configured to generate light according to different

[0134] emission spectra to provide the illumination light.

[0135] The method comprises a step S11 of at least temporarily activating a first group of the light-emitting elements 20, 22, 24, 26, 28 to provide illumination light for multispectral imaging. Furthermore, the method comprises a step S12 of at least temporarily activating a second group of the light-emitting elements 20, 22, 24, 26, 28 to provide illumination light for fluorescence imaging. One of the light-emitting elements 20, 22, 24, 26, 28 is at least temporarily activated both during the at least temporary activation of the first group of the light-emitting elements 20, 22, 24, 26, 28 and during the at least temporary activation of the second group of the light-emitting elements 20, 22, 24, 26, 28.

[0136] Fig. 9 shows a schematic flow diagram of a method for operating an imaging device 10. The sequence of the method also follows from the above explanations. In a step S21, an imaging device 10 with an imaging device 14 is provided. In a step S22, illumination light is supplied to the imaging device 14. The illumination light is supplied to the imaging device 14 according to a method as described with reference to Fig. 8.

[0137] Fig. 10 shows a schematic flow diagram of a method for operating an imaging device 10. The sequence of the method also follows from the above explanations. The method comprises a step S31 of providing an illumination device 12 for providing illumination light for an imaging device 14. The imaging device 14 comprises an optical interface 16 for optically connecting an imaging device 14 and a illumination unit 18 which is configured to supply illumination light to the optical interface 16. The illumination unit 18 is multimodal and can be operated in several different illumination modes. Furthermore, the method comprises a step S32 of providing an imaging device 14 which can be connected to the optical interface 16 of the illumination device 12.Furthermore, the method comprises a step S33 of automated coordination of an operating state of the imaging device 14 and an illumination mode of the illumination unit 18.

[0138] The following describes an aspect relating to the correction of object images based on depth information obtainable from calibration images. Fig. 11 shows a schematic representation of a medical imaging device 410 according to this aspect. The medical imaging device 410 can, in principle, be constructed and / or designed like the imaging device 10 described above or also like the above imaging device 10'. In particular, reference is made to the above description with regard to the functioning of the components and details of the design of the imaging device 410. To explain the present aspect, it is expedient to describe the technical facts with reference to Fig. 11, which is to be understood purely schematically, and the other figures.

[0139] In the specific example, the imaging device 410 is an endoscope device, but can also be an exoscope device and / or a microscope device. The imaging device 410 comprises an illumination unit 412 with at least one light source 414. The illumination unit 412 can, for example, be designed as described above with reference to the illumination device 12. For the following description, it is assumed that the illumination unit 412 is designed in this way. However, this is to be understood purely as an example. Basically, the illumination unit 412 is configured to provide illumination light 416, by means of which an object 418 to be imaged can be illuminated.

[0140] The imaging device 410 further comprises an image capture unit 420 with a lens 442 (illustrated only schematically) and with suitable image capture sensors 444. The image capture unit 420 is configured to detect object light 428 originating from the object 418. This can be remitted illumination light 416 and / or light emitted by the object 418, for example, fluorescent light.

[0141] The image capture sensor system 444 is configured here to capture images in both the visible and near-infrared ranges. For example, the image capture sensor system 444 is sensitive at least in a range between 450 nm and 950 nm, and in some embodiments, in a range between 400 nm and 1000 nm.

[0142] In the following, it is assumed that the image capture unit 420, in combination with the illumination unit 412, is operable at least in a white light mode and a fluorescence mode. In white light mode, broadband illumination light 416 is radiated, for example, by means of a white light luminous element, approximately at least in the range from 480 nm to 750 nm. Illumination light 416 remitted by the object 418 is then observed. In fluorescence mode, however, illumination light 416 is radiated at a specific wavelength suitable for exciting a fluorescent dye used. Furthermore, light emitted by the fluorescent dye, which is emitted by the object 418 and specifically by excited dye molecules, is detected.

[0143] In the present case, the image capture unit 420 is configured to capture stereo images. For this purpose, it may comprise suitable stereo optics and / or suitable stereo image capture sensors 444.

[0144] The object 418 to be imaged is, for example, an anatomical structure, for example in a patient's cavity. The object 418 comprises a region 448 colored with a fluorescent dye. Indocyanine green, for example, is used as the dye. Furthermore, the object 418 comprises tissue 450 that covers the colored region 448. For example, the colored region 448 is a vessel and the tissue 450 is fatty tissue that covers the vessel, although this is to be understood purely as an example. Fig. 12 shows a schematic representation of the imaging situation. A surface of the tissue 450 is located at a distance do from the imaging device 410, specifically from the lens 442 of the image acquisition unit 420. The colored region 448 is located within the tissue 450 and is arranged at a distance di from its surface.In the following, it is assumed that illumination light is coupled out in the area of ​​the lens 442.

[0145] This has several implications for imaging. If illumination light 416 is used that has a shallow penetration depth into the object 418, it is essentially reflected and / or scattered by the surface of the tissue 450. The intensity of the remitted light then depends on the distance d0 according to a distance law, approximately according to the well-known inverse square law. It is assumed that air is present in the region of the distance d0, which is located in the cavity within which the imaging is performed.

[0146] If we work with illuminating light 416 that can penetrate the tissue 450 and is suitable, for example, to reach the dyed area 448 and excite dye molecules there to fluoresce, two effects must be taken into account. First, the irradiated intensity is also subject to a distance law. Furthermore, an attenuation of the illuminating light 416 occurs within the tissue 450 due to interaction with the tissue 450. The intensity actually available for fluorescence excitation is thus lower than the intensity emitted by the illumination unit 412.

[0147] Object light 428 emitted by the colored area 448 is also subject to a certain attenuation in the tissue 450. Furthermore, the intensity of the emitted object light 428 also follows a distance law, whereby the total distance do + di must be taken into account. The fluorescence intensity detectable by the image acquisition unit 420 is thus smaller than the fluorescence intensity emitted by the colored area 448.

[0148] As mentioned above, a detectable intensity Idetektiert is thus obtained as follows:

[0149] Detected = l(A0) / (do + dl) a ' 6Xp(-|j(A0)-dl) ' 6Xp(-|j(Al)-dl)-R where Idetected is the detected light intensity, l(A0) is the intensity of the incident light with wavelength A o, do is a distance between the lens and the surface of the object to be imaged, di is a distance between the surface of the object to be imaged and the area in the object to be imaged that is colored with fluorescent dye, a is an exponent that defines the inverse distance law and can be chosen, for example, as 2 to calculate according to the inverse square law, p(A0) is an attenuation factor for the attenuation of light of wavelength A o when passing through the object to be imaged |J(AI) denotes an attenuation factor for the attenuation of light of wavelength Ai when passing through the object to be imaged.

[0150] To account for these effects and to correct images accordingly, the imaging device 410 comprises an image correction unit 426. Its operation is described below with reference to Figures 13 to 18.

[0151] In the present example, two calibration images 422, 423 are first acquired. These can each be stereo images. A first calibration image 422 is obtained, for example, by illuminating with white light and detecting remitted light. Since white light has a shallow penetration depth into the object 418, the first calibration image 422 essentially shows a surface of the object 418. Light penetrating the object 418 and remitted by deeper layers can be neglected because the remitted intensity is significantly lower than the intensity remitted from the surface of the object 418 due to both the attenuation of the incident light and the attenuation of the remitted light in the tissue.

[0152] Furthermore, a second calibration image 423 is recorded, for which light is irradiated at a wavelength at which the dye used can be excited. The second calibration image 423 is recorded through a suitable observation filter and / or in a suitable wavelength range to detect fluorescent light. This light originates from the dyed area 448.

[0153] In this example, the image correction unit 426 is configured to determine a depth map 432, 434 from each of the two calibration images 422, 423. A stereo reconstruction algorithm is used for this purpose. The depth maps 432, 434 thus comprise information regarding an observed surface of the respective object—in the case of the depth map 432, which is determined from the first calibration image, a surface of the object 418 to be observed, and in the case of the depth map 434, which is determined from the second calibration image, a surface of the colored region 448 located in the tissue 450.

[0154] From this, the distances do and di, schematically illustrated in Fig. 12, can be determined. It is understood that such distances can be determined point by point. The depth maps 432, 434 contain, in particular, point-by-point depth information, so that a correction can be performed on a pixel-by-pixel basis.

[0155] It should be noted that, due to scattering effects, the distance di from the second calibration image 423 can be determined taking into account a scattering factor. Due to the scattering effects, the stereo reconstruction can result in a depth for the colored area 448 of d0 + x-di, where x is an empirically determined factor between 0 and 1. The factor x can be determined empirically, for example, by suitable calibration and then taken into account by the image correction unit 426 to determine the actual distance value di.

[0156] In the present case, the correction includes consideration of the above equation, i.e., both distances and attenuations are taken into account. By using the two depth maps 432, 434, it is then possible to determine the position of the colored region 448 in the tissue 450. An object image 424 of the object 418 can then be recorded. This can be based on several individual images and, for example, be an overlay representation on which a white light image and a fluorescence image are superimposed. Due to the described distance and attenuation effects, the colored region 448 in the object image 424 can appear significantly paler than corresponds to the actual fluorescence emission. The image correction unit 426 is therefore configured to generate a corrected object image 430 in accordance with the correction.In the corrected object image 430, for example, the intensity of the fluorescent light originating from the colored region 448 is shown increased in accordance with the correction. The corrected object image 430 thus comprises at least one image region 436 that is enhanced and / or attenuated relative to another image region 437 with respect to at least one parameter, such as a hue, brightness, and / or color saturation, in accordance with the correction. The colored region 448 is then clearly recognizable by a user despite its position within the tissue 450.

[0157] The corrected object image 430 can be output to a user via a schematically illustrated display 446 of the imaging device 410.

[0158] Fig. 19 shows another example of a corrected object image 430. In order to additionally provide the user with information about how deep the colored area 448 is located in the tissue 450, in this case the colored area 448 is displayed with a brightness / intensity corrected as described above, but in false colors according to a color scale 452. The color scale 452 contains information regarding a depth of the colored area 448 in the object 418. The color scale 452 can be displayed to the user so that the user can directly determine a specific depth from the displayed coloring of the colored area 448.

[0159] With reference to the above statements regarding a multimodal illumination device 12, it is generally understood that, depending on the dye used, different wavelengths or wavelength mixtures can be used as illumination light 416 to acquire calibration images. Furthermore, illumination can also be performed at a wavelength at which dye emission is expected in order to analyze the absorption / attenuation properties of the tissue under consideration. For example, if indocyanine green is used as the dye, a calibration image can be acquired by irradiating light with a wavelength of approximately 940 nm (cf. fourth light element 26). In this case, remitted light is not detected as fluorescent light, as described above.A depth map determined in this way then provides information about the penetration depth and the absorption behavior of the tissue under consideration in the spectral range in which the dye emits during subsequent object imaging.

[0160] If, for example, Cy 5.5 is used as the dye, a calibration image can be taken to determine the absorption in the tissue that is decisive for its fluorescence. This image is irradiated with dark-red light, for example with a wavelength of 770 nm (cf. second light element 22).

[0161] Alternatively or additionally, a calibration image that allows conclusions to be drawn about the surface of object 418 can also be obtained using monochromatic and / or narrowband illumination. Multiple calibration images can also be acquired in different spectral ranges to create spectrally dependent depth maps.

[0162] Fig. 20 illustrates another application. Here, the imaging device 410 is configured for multispectral and / or hyperspectral imaging. Such imaging can be used, for example, to measure specific tissue parameters, such as perfusion. For this purpose, the intensity of specific pixels associated with specific tissue types, such as blood vessels, is observed at suitable wavelengths. Perfusion measurements can be performed, for example, by comparing intensities at 680 nm and 930 nm. However, if the above effects on the detected intensity are not taken into account, falsified parameters can be determined.

[0163] The imaging device 410 can therefore be configured to record a plurality of calibration images 422-1, 422-2, 422-3, 422-4 for different spectral ranges. These can be obtained, for example, by using one of the above-described light elements 20, 22, 24, 26 as an illumination light source in order to record a corresponding calibration image. Stereo images are preferably recorded again in this case. From the calibration images 422-1, 422-2, 422-3, 422-4, depth maps 432-1, 432-2, 432-3, 432-4 can be calculated, for example, by means of stereo reconstruction. These are in turn assigned to specific spectral ranges. The depth maps 432-1, 432-2, 432-3, 432-4 contain information regarding an average penetration depth of the respective light. In addition, a white light image or an image using short-wavelength illumination light, such as blue light, can be taken as an additional calibration image.From the additional calibration image, a further depth map can be determined in the manner described above, which, due to the shallow penetration depth of the light, at least essentially corresponds to a surface of the object to be imaged. If depth maps 432-1, 432-2, 432-3, and 432-4 are each subtracted from this additional depth map, the average penetration depth in the respective spectral range can be estimated. Absorption losses in the tissue under consideration can then be taken into account accordingly.

[0164] Additionally or alternatively, as described above, a distance law may be considered to account for intensity losses due to distance from the illumination unit 412.

[0165] Fig. 21 shows a schematic flow diagram of a method for medical imaging. The sequence of the method also follows from the above explanations. The method is carried out, for example, using the imaging device 410. A step S41 comprises providing illumination light 416 for illuminating an object 418 to be imaged. A step S42 comprises capturing at least one calibration image 422, 423 of the object 418 to be imaged. A step S43 comprises capturing at least one object image 424 of the object 418 to be imaged. A step S44 comprises determining depth information from the calibration image 422, 423. A step S45 comprises determining a correction for the object image 424, wherein the correction comprises taking into account a location dependence of a light intensity of illumination light 416 and / or a distance dependence of a light intensity of object light 428 in accordance with the depth information.A step S46 comprises generating a corrected object image 430 in accordance with the correction.

[0166] Fig. 22 shows a schematic representation of a computer program product 438 with a computer-readable medium 440. Program code is stored on the computer-readable medium, which program code is configured to cause one and / or all of the described methods to be carried out when executed in a processor.

[0167] List of reference symbols

[0168] 10 Imaging device

[0169] 12 Lighting device

[0170] 14 Imaging device

[0171] 16 optical interface

[0172] 18 lighting unit

[0173] 20 light elements

[0174] 22 lighting elements

[0175] 24 light elements

[0176] 26 light elements

[0177] 28 light elements

[0178] 30 beam splitters

[0179] 32 beam splitters

[0180] 34 Entrance page

[0181] 36 Entrance page

[0182] 37 Entrance page

[0183] 38 Entrance page

[0184] 40 Entrance page

[0185] 41 Entrance page

[0186] 42 Exit page

[0187] 44 Exit page

[0188] 46 Filter unit

[0189] 48 filters

[0190] 50 filters

[0191] 52 filters

[0192] 54 optical path

[0193] 56 light-emitting surface

[0194] 58 light-emitting surface

[0195] 60 light-emitting surface

[0196] 62 light-emitting surface

[0197] 64 light-emitting surface

[0198] 66 Control

[0199] 68 Camera unit

[0200] 70 Observation beam path

[0201] 72 filter sensor

[0202] 74 display unit

[0203] 76 Shaft 77 Optics

[0204] 78 lens

[0205] 80 lens

[0206] 82 lens

[0207] 84 lens

[0208] 86 lens

[0209] 88 lens

[0210] 90 beam splitter element

[0211] 92 beam splitter element

[0212] 94 beam splitter element

[0213] 96 beam splitter element

[0214] 98 Transmission spectrum

[0215] 100 transmission spectrum

[0216] 102 Transmission spectrum

[0217] 104 Transmission spectrum

[0218] 106 light guides

[0219] 108 Imaging sensors

[0220] 110 White light sensor

[0221] 112 Near-IR sensor

[0222] 114 Light Path

[0223] 116 distal section

[0224] 210 filter unit

[0225] 212 filter drive

[0226] 214 User interface

[0227] 310 base unit

[0228] 312 Exchangeable shaft

[0229] 314 Exchangeable shaft

[0230] 316 Imaging System

[0231] 318 Camera

[0232] 320 Camera

[0233] 322 filters

[0234] 324 filters

[0235] 410 Imaging device

[0236] 412 lighting unit

[0237] 414 Light source

[0238] 416 Illumination light

[0239] 418 Object

[0240] 420 Image acquisition unit 422 Calibration image

[0241] 423 Calibration image

[0242] 424 Object image

[0243] 426 Image correction unit

[0244] 428 Object light

[0245] 430 corrected object image

[0246] 432 depth map

[0247] 434 Depth map

[0248] 436 image area

[0249] 437 image area

[0250] 438 Computer program product

[0251] 440 Computer-readable medium

[0252] 442 lens

[0253] 444 Image acquisition sensors

[0254] 446 ad

[0255] 448 colored area

[0256] 450 fabrics

[0257] 452 scale

Claims

Claims 1. A medical imaging device (410), in particular an endoscope device, an exoscope device and / or a microscope device, comprising: an illumination unit (412) with at least one light source (414) configured to provide illumination light (416) for illuminating an object (418) to be imaged; an image acquisition unit (420) configured to record at least one calibration image (422, 423) of the object (418) to be imaged and to record at least one object image (424) of the object (418) to be imaged; and an image correction unit (426) configured to: Determining depth information from the calibration image (422, 423); Determining a correction for the object image (424), wherein the correction comprises taking into account a location dependency, in particular a distance dependency, of a light intensity of illumination light (416) and / or a distance dependency of a light intensity of object light (428) in accordance with the depth information; and Generating a corrected object image (430) in accordance with the correction.

2. The medical imaging device (410) of claim 1, wherein the depth information comprises at least one depth map (432, 434).

3. The medical imaging device (410) of claim 1 or 2, wherein an image acquisition of the calibration image (422, 423) comprises a detection of remitted light.

4. Medical imaging device (410) according to one of the preceding claims, wherein an image acquisition of the calibration image (422, 423) comprises a detection of fluorescent light.

5. Medical imaging device (410) according to one of the preceding claims, wherein the illumination unit (412) is configured to be operable in different illumination modes in which illumination light can be provided in different spectral ranges, and wherein the image acquisition unit (420) is configured to record a plurality of calibration images (422, 423) whose image recording is based on different illumination modes of the illumination unit (412).

6. Medical imaging device (410) according to one of the preceding claims, wherein the image acquisition unit (412) is configured to record a plurality of calibration images (422, 423) in different spectral ranges simultaneously and / or sequentially, in particular using different optical filters.

7. Medical imaging device (410) according to one of the preceding claims, wherein the correction comprises a distance correction based on an inverse of a power of a length of a light path, in particular a length of a light path between the image acquisition unit (420) and the object to be imaged (418) and / or a light path within the object to be imaged (418).

8. Medical imaging device (410) according to one of the preceding claims, wherein the correction comprises an absorption correction based on an attenuation, in particular exponential, of light along a light path with a length, in particular a length of a light path within the object to be imaged (418).

9. Medical imaging device (410) according to claim 8, wherein the absorption correction comprises an attenuation of illumination light (416) and / or an attenuation of object light (428) is taken into account.

10. Medical imaging device (410) according to one of the preceding claims, wherein the image correction unit (426) is configured to determine spatial and / or spectral properties from the at least one calibration image (422, 423), in particular inhomogeneities, of the lighting unit (412) and to take the determined spatial and / or spectral properties into account in the correction.

11. Medical imaging device (410) according to one of the preceding claims, wherein the image correction unit (426) is configured to determine the depth information based on a stereo reconstruction.

12. Medical imaging device (410) according to one of the preceding claims, wherein in the corrected object image (430) at least one image region (436) is enhanced and / or attenuated according to the correction relative to at least one other image region (437) with respect to at least one parameter, such as a hue, a brightness and / or a color saturation.

13. Medical imaging device (410) according to one of the preceding claims, wherein the illumination unit (412) and / or the image acquisition unit (420) is configured for multispectral imaging.

14. A method for medical imaging, in particular with a medical imaging device (410) according to one of the preceding claims, comprising: Providing illumination light (416) for illuminating an object to be imaged (418); Recording at least one calibration image (422, 423) of the object to be imaged (418); Capturing at least one object image (424) of the object (418) to be imaged; Determining depth information from the calibration image (422, 423); Determining a correction for the object image (424), wherein the correction comprises taking into account a location dependence of a light intensity of illumination light (416) and / or a distance dependence of a light intensity of object light (428) in accordance with the depth information; and Generating a corrected object image (430) in accordance with the correction.

15. Program code which, when executed in a processor, is arranged to effect performance of a method according to claim 14.

16. A computer program product (438) comprising a computer-readable medium (440) on which program code according to claim 15 is stored. JW

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