Hyperspectral endoscope and imaging method therefor
By combining high-frequency monochromatic illumination and high-definition spectral imaging components, the problems of low power, low resolution, and unstable color rendering of endoscope light sources are solved, achieving efficient and stable hyperspectral image analysis, improving the differentiation of lesion tissues and work efficiency.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- SHANGHAI YEELING TECHNOLOGY CO LTD
- Filing Date
- 2025-11-27
- Publication Date
- 2026-06-18
AI Technical Summary
Existing endoscopes lack hyperspectral imaging capabilities, have low light source power and low spectral resolution, resulting in poor imaging contrast. Furthermore, they have short light source lifespans, high power consumption, unstable color rendering, and difficulty in adjusting the light source color, which affects the differentiation of lesions.
Employing high-frequency monochromatic illumination, high-definition spectral imaging, data acquisition, display, and control components, and utilizing high-frequency monochromatic light sources and hyperspectral imaging components, it directly detects lesions through hyperspectral image analysis, simplifying the workflow.
It provides hyperspectral images, improves the differentiation of lesions, simplifies the workflow of medical staff, improves work efficiency, and achieves efficient and stable imaging results.
Smart Images
Figure CN2025138063_18062026_PF_FP_ABST
Abstract
Description
A hyperspectral endoscope and its imaging method Technical Field
[0001] This invention belongs to the field of endoscopic instrument technology, and particularly relates to the field of hyperspectral technology, specifically to a hyperspectral endoscope and its imaging method.
[0002] Background Technology
[0003] In existing technologies, endoscopes serve as crucial instruments in the medical field for minimally invasive surgery and various examinations. Inserting an endoscope into a body cavity to observe the illuminated and imaged area effectively reduces the physical burden on the patient. However, the following technical challenges remain:
[0004] First, existing endoscopes lack hyperspectral imaging capabilities, providing only tri-color or multispectral images. Current endoscopes primarily use LED, halogen, and xenon lamps as light sources, typically employing full-spectrum illumination with filter switching or single-color LED switching to generate multiple spectral sources. Therefore, single-color light sources suffer from low power, low spectral resolution, and poor imaging contrast, resulting in low differentiation between lesions and non-lesions. Furthermore, halogen and xenon lamps have drawbacks such as short lifespan and high power consumption.
[0005] 2. A fluorescent agent combined with specific illumination is used to detect lesions in tissues or areas (the fluorescent agent will be lost during surgery, thus losing its labeling function), and the lesion is displayed by acquiring images. However, the chromogenic components are difficult to control quantitatively, resulting in inconsistent colorimetric output.
[0006] Third, the light source color cannot be adjusted, or the adjustment is complex. Sometimes, in the use of endoscopes, not only is white light used for normal light observation, but also special light such as infrared light is used for special light observation in order to observe internal blood vessels.
[0007] Therefore, there is an urgent need for a hyperspectral endoscope that is simple in structure, highly efficient in color development, and stable. Summary of the Invention
[0008] In view of the above problems, this application proposes a hyperspectral endoscope that can provide hyperspectral images and has adjustable light. By analyzing the hyperspectral images, lesions or potential lesions can be directly detected, simplifying the workflow of medical staff and improving work efficiency.
[0009] This application provides a hyperspectral endoscope, including an endoscope body, characterized in that the endoscope body is provided with a high-frequency monochromatic illumination component, a hyperspectral imaging component, a data acquisition component, a display component, a data processing component, and a control component.
[0010] A high-frequency monochromatic illumination assembly includes a high-frequency monochromatic light source and an illumination fiber. The illumination fiber is installed along a wiring groove inside the endoscope body. The tail end of the illumination fiber is connected to the high-frequency monochromatic light source through a hyperspectral light source module, and the front end of the illumination fiber is fixed to the front end of the endoscope body to illuminate the target object. The high-frequency monochromatic light source, serving as the illumination source, is composed of a spectral module, i.e., a high-speed monochromator.
[0011] The hyperspectral imaging component consists of three parts: a wide-angle optical imaging mirror, a relay image transmission mirror, and an image transmission magnification connecting mirror. They are arranged sequentially from the front end to the rear end inside the endoscope body along the reflection direction of the imaging beam. The wide-angle optical imaging mirror is located at the front end of the endoscope body, the relay image transmission mirror is located in the middle of the endoscope body, and the image transmission magnification connecting mirror is located at the rear end of the endoscope body and is connected to the detector.
[0012] The high-frequency monochromatic illumination component uses a high-frequency monochromatic light source to illuminate the target object. The light reflected from the target object is input to the hyperspectral imaging component. The signal output end of the hyperspectral imaging component is wired to the signal input end of the data acquisition component via an optical fiber. The signal output end of the data acquisition component is wired to the signal input end of the data processing component via an optical fiber. The signal output end of the data processing component is wired to the display component. The illumination component, endoscope imaging component, data acquisition component, display component, and data processing component are all controlled and connected by a control component.
[0013] Furthermore, the illumination optical fiber consists of four parts: a light-collecting mirror assembly, an optical fiber coupling module, an optical fiber guiding module, and an optical fiber output module that couples light energy from the optical fiber into the front-end illumination optical system. The light-collecting mirror assembly collects light energy from a high-frequency monochromatic light source and guides it into the optical fiber; the optical fiber coupling module, the optical fiber guiding module, and the optical fiber output module that couples light energy from the optical fiber into the front-end illumination optical system.
[0014] Furthermore, the aforementioned data acquisition component, specifically the data acquisition electronic circuit module, is combined with a CCD or CMOS endoscope detector.
[0015] Furthermore, the high-frequency monochromatic light source is derived from natural light entering the high-frequency monochromator for spectral dispersion. The high-frequency monochromator has the following structure: it includes a spectrometer and a scanning emission mechanism. The scanning emission mechanism is loaded after the beam emitted by the spectrometer. Along the optical path, the entrance slit, spectrometer, field stop, collimating optical component, rotating mirror or rotating mirror with grating spectral dispersion function, converging imaging component, and exit slit are sequentially arranged. The light rays exit through the field stop and exit slit to form an L-shaped optical path.
[0016] The entrance slit, collimating optical component, rotating mirror or rotating mirror with grating beam splitting function, converging imaging component, and exit slit are all fixed perpendicularly to the horizontal plane. The rotating mirror or rotating mirror with grating beam splitting function is located at the junction of the L-shaped optical path. The entrance slit and collimating optical component are located on the straight optical axis of the light incident direction. The central axis of the collimating optical component and the central axis of the entrance slit are on the same optical axis. The converging imaging component and exit slit are located on the straight optical axis of the light exit direction. The central axis of the converging imaging component and the central axis of the exit slit are on the same optical axis. A corresponding exit slit is set at the image plane of the converging imaging component.
[0017] Furthermore, the rotating mirror with grating beam splitting function is located at the entrance pupil and exit pupil of the collimating optical component and the converging imaging component. The rotating mirror with grating beam splitting function or rotating mirror is a structure of rotating mirror superimposed with grating, or a structure of scanning mirror superimposed with grating or rotating mirror.
[0018] Furthermore, the collimating optical component is a collimating lens, and the resolution of the collimating lens is adapted to the resolution of the spectrum and the position of the motor; the converging imaging component is a lens or a mirror, and the resolution of the converging imaging component is adapted to the resolution of the spectrum and the position of the motor.
[0019] Furthermore, the L-shaped optical path can be at an acute or obtuse angle, and can be adjusted according to actual needs.
[0020] This application provides a hyperspectral endoscope imaging method, characterized in that, as described above, the hyperspectral endoscope uses an optical fiber to access the illumination beam output from a high-frequency monochromator as a light source to illuminate the target object. The monochromatic light-illuminated target object is then imaged onto the endoscope detector via an endoscope imaging optical system. A data acquisition and storage system collects high-spectral-resolution monochromatic images, forming a data cube. The control system uniformly coordinates the illumination monochromatic light and exposure monochromatic light images, one frame per color, and, in conjunction with the data acquisition system, rapidly acquires the hyperspectral image data cube data, which is then processed and displayed by software or AI.
[0021] Furthermore, in the high-frequency monochromator's spectral dispersion method, polychromatic light enters through an entrance slit, passes through a spectrometer, a field stop, and a collimating optical assembly to transform the incident divergent beam into a collimated parallel beam, and then enters a rotating mirror or rotating mirror with a grating spectral dispersion function. Various colors of light enter a converging imaging component and are imaged onto its image plane, where color bands of various colors of light are presented. A corresponding exit slit is set at the image plane of the converging imaging component, and by rotating the rotating mirror or rotating mirror with a grating spectral dispersion function, various colors of light are sequentially emitted from the exit slit, i.e., monochromatic light emission, thus forming a monochromator.
[0022] Furthermore, the reflector with grating beam splitting function is rotated at high speed by a rotating mechanism, so the switching speed of monochromatic light is also high, forming a high-frequency switching monochromatic output; the reflector with grating beam splitting function obtains monochromatic light of one color for each angle it rotates.
[0023] Compared with the prior art, this application has the following beneficial effects: the present invention provides observers with hyperspectral images, and the analysis of hyperspectral images can directly detect lesions or potential lesion tissues or sites without waiting for clinical slides or fluorescent agents and specific light source illumination to detect them; it simplifies the workflow of medical staff and improves work efficiency.
[0024] (1) The hyperspectral endoscope of this application uses a high-frequency monochromatic light source as an illumination source and uses an illumination fiber to guide the high-frequency monochromatic light source. The high-frequency monochromatic light source illuminates the monitored part, improves the reflectivity of the target object in the monitored part and the resolution of the reflected light, and provides a solid foundation for the observer to obtain hyperspectral images. The high-frequency monochromatic light source, together with the hyperspectral imaging component, provides the observer with hyperspectral images.
[0025] (2) The hyperspectral endoscope of this application uses a high-frequency monochromatic light source from a high-frequency monochromator and a rotating reflector with a grating beam splitting function. While ensuring the beam splitting efficiency, it simplifies the component structure of the existing monochromator and can adjust the color of the output high-frequency monochromatic light source. This greatly enhances its practicality in endoscopy applications, because sometimes not only is white light used for normal light observation, but also special light such as infrared light is used for special light observation in order to observe internal blood vessels. The output light source of the high-frequency monochromator can be adjusted, making it easier to observe.
[0026] Attached Figure Description
[0027] Figure 1 is a schematic diagram of the hyperspectral endoscope structure of the present invention.
[0028] Figure 2 is a schematic diagram of the working principle of the hyperspectral endoscope of the present invention.
[0029] Figure 3 is a schematic diagram of the high-frequency monochromator that generates a high-frequency monochromatic light source in the hyperspectral endoscope of the present invention.
[0030] Figure 4 is a schematic diagram of the scanning emission mechanism in Figure 3.
[0031] Figure 5 is a schematic diagram of the working principle of the scanning emission mechanism in Figure 3.
[0032] Figure 6 is a schematic diagram of the structure of a rotating mirror with grating beam splitting function.
[0033] Explanation of markings in the diagram:
[0034] 1 Endoscope body, 2 Illumination beam, 3 Imaging beam, 4 High-frequency monochromator, 5 High-frequency monochromatic light source, 6 Illumination fiber, 7 Wide-angle optical imaging mirror, 8 Relay image transmission mirror, 9 Image transmission magnification connection mirror.
[0035] 31. Entrance slit; 32. Rotating mirror or rotating mirror with grating beam splitting function; 33. Exit slit; 34. Collimating optical component; 35. Converging imaging component; 36. Grating; 37. Mirror; 38. Rotation axis; 39. Rotation mechanism; 310. Field stop; 311. Convex grating. Embodiments of the present invention
[0036] The technical solution of the present invention will be further explained below with reference to the accompanying drawings and specific embodiments. It is believed that those skilled in the art will be able to fully understand the technical solution of this case.
[0037] Example 1
[0038] As shown in Figure 1, this application provides a hyperspectral endoscope, including an endoscope body 1. The endoscope body 1 is equipped with a high-frequency monochromatic illumination component, a hyperspectral imaging component, a data acquisition component, a display component, a data processing component, and a control component. The high-frequency monochromatic illumination component illuminates the target object using a high-frequency monochromatic light source 5. The light reflected from the target object is input to the hyperspectral imaging component. The signal output end of the hyperspectral imaging component is wired to the signal input end of the data acquisition component via an optical fiber. The signal output end of the data acquisition component is wired to the signal input end of the data processing component via an optical fiber. The signal output end of the data processing component is wired to the display component. The illumination component, the endoscope imaging component, the data acquisition component, the display component, and the data processing component are all controlled and connected by the control component.
[0039] The illumination beam output from the high-frequency monochromator is used as a light source through fiber optic access to illuminate the target object. The monochromatic light-illuminated target object is then imaged onto the endoscope detector by the endoscope imaging optical system. The high-spectral-resolution monochromatic images are collected by the data acquisition and storage system and formed into a data cube. The control system uniformly allocates the illumination monochromatic light and exposure monochromatic light images, one color per frame, and works with the data acquisition system to obtain high-speed high-spectral image data cube data, which is then handed over to software or AI for interpretation and display.
[0040] In this embodiment, the high-frequency monochromatic illumination component includes a high-frequency monochromatic light source 5 and an illumination fiber 6. The illumination fiber 6 is installed along the inside of the endoscope body 1 and can be fixed by wiring channels, adhesive, or other conventional fixing methods. The tail end of the illumination fiber 6 is connected to the high-frequency monochromatic light source 5 through a spectral module, and the front end of the illumination fiber 6 is fixed to the front end of the endoscope body 1 to illuminate the target object. The high-frequency monochromatic light source 5, as the illumination source, is composed of a spectral module, i.e., a high-speed monochromator.
[0041] In this embodiment, the hyperspectral imaging component consists of three parts: a wide-angle optical imaging mirror 7, a relay image transmission mirror 8, and an image transmission magnification connecting mirror 9. They are arranged sequentially from the front end to the rear end inside the endoscope body 1 along the propagation direction of the imaging beam 3. The wide-angle optical imaging mirror 7 is located at the front end of the endoscope body 1, the relay image transmission mirror 8 is located in the middle of the endoscope body 1, and the image transmission magnification connecting mirror 9 is located at the end of the endoscope body 1 and connected to the detector.
[0042] In this embodiment, the data acquisition component (data acquisition electronic circuit module) works with detectors such as CCD or CMOS to acquire hyperspectral imaging data and image the target object illuminated by monochromatic light onto the endoscope detector; the data processing component performs functions such as data processing, storage, submission, intelligence generation, autonomous decision-making, and early warning on the hyperspectral imaging data obtained by the data acquisition component; and the display component (display with necessary display software) displays the hyperspectral images.
[0043] In another embodiment, the existing light source illumination system remains unchanged. At the focal plane of the current imaging system, only the existing CCD or CMOS chip is replaced with a hyperspectral image chip to obtain a hyperspectral image, which is then processed and displayed by software.
[0044] In another embodiment, the existing light source illumination system remains unchanged. At the focal plane of the current imaging system, the transfer scanning emission system and spectrometer of this application are linked to the focal plane of the imaging system, that is, the patent we applied for is used in reverse. Then, a CCD or CMOS chip is set at the focal plane of the spectrometer to obtain a hyperspectral image, which is then processed and displayed by software.
[0045] In this embodiment, the software and control components include modules for lighting, acquisition, processing, and display. These modules are organized and operated in a predetermined order to acquire, process, and store hyperspectral imaging data, generate production information, make decisions, and display the data to staff.
[0046] As shown in Figure 2, the software and control module controls and organically organizes the data acquisition and lighting system. First, the lighting system is controlled to call a monochromatic light in the front-end endoscope imaging optical system to illuminate the target. Then, the data acquisition system is controlled to collect the monochromatic light image data of the target and hand it over to the storage and transfer module and the display module. On the one hand, it provides real-time display of some or all data and intelligence that meet specific requirements. On the other hand, it stores the collected data and images and hands them over to the intelligence processing system for analysis, processing, and decision-making, and gives analysis results or reports and alarms.
[0047] In this embodiment, the illumination optical fiber 6 consists of four parts: a light-collecting mirror group, an optical fiber coupling module, an optical fiber guiding module, and an optical fiber output module that couples light energy from the optical fiber into the front-end illumination optical system. The light-collecting mirror group collects light energy from the high-frequency monochromatic light source 5 and guides it into the optical fiber; the optical fiber coupling module, the optical fiber guiding module, and the optical fiber output module that couples light energy from the optical fiber into the front-end illumination optical system.
[0048] In this embodiment, the high-frequency monochromatic light source 5 is derived from polychromatic light that has been dispersed by the high-frequency monochromator 4. The structure of the high-frequency monochromator 4 is shown in Figure 3. As shown in Figure 5: It includes a spectrometer and a scanning exit mechanism. The scanning exit mechanism is loaded after the beam emitted by the spectrometer. Along the optical path, the entrance slit 31, the spectrometer, the field stop 310, the collimating optical component 34, the rotating mirror or rotating mirror 32 with grating beam splitting function, the converging imaging component 35, and the exit slit 33 are arranged in sequence. The light rays are emitted through the field stop 310 and the exit slit 33 to form an L-shaped optical path.
[0049] The entrance slit 31, spectrometer, field stop 310, collimating optical component 34, rotating mirror or rotating mirror 32 with grating beam splitting function, converging imaging component 35, and exit slit 33 are all fixed perpendicularly to the horizontal plane. The rotating mirror or rotating mirror 32 with grating beam splitting function is located at the junction of the L-shaped optical path. The central axis of the collimating optical component 34 and the central axis of the field stop 310 are on the same optical axis. The converging imaging component 35 and the exit slit 33 are located on the straight optical axis of the light emission direction. The central axis of the converging imaging component 35 and the central axis of the exit slit 33 are on the same optical axis. A corresponding exit slit 33 is set at the image plane of the converging imaging component 35.
[0050] In this embodiment, the selected spectrometer can be any conventional spectrometer.
[0051] In this embodiment, the L-shaped optical path has a certain angle. Specifically, the L-shaped optical path can be adjusted as needed to form an acute angle or an obtuse angle.
[0052] In this embodiment, as shown in FIG6, the rotating mirror or rotating mirror 32 with grating beam splitting function is a rotating mirror with a superimposed grating structure or a rotating mirror. The rotating mirror with grating beam splitting function is a rotating mirror with a superimposed grating structure. The rotating mirror can be planar or have a superimposed grating, and the type of grating is not limited. The superimposed grating can be a planar grating, a concave grating, or a convex grating.
[0053] In another embodiment, as shown in FIG6, the rotating mirror or rotating mirror 32 with grating beam splitting function is a structure of scanning mirror superimposed with grating or a rotating mirror. The rotating mirror can be planar or superimposed with grating, and the type of grating is not limited. The superimposed grating can be a planar grating, a concave grating, or a convex grating.
[0054] In this embodiment, the collimating optical component 34 is a lens or a reflector, and the resolution of the collimating lens is adapted to the resolution of the spectrum and the position of the motor.
[0055] In this embodiment, the converging imaging component 35 is a lens or a reflector, and the resolution of the converging imaging component 35 is adapted to the resolution of the spectrum and the position of the motor.
[0056] In this embodiment, the rotating mirror or rotating mirror 32 with grating beam splitting function is located at the entrance pupil and exit pupil of the collimating optical component 34 and the converging imaging component 35, respectively. This facilitates efficient utilization of the input and output beam energy.
[0057] In this embodiment, the linewidth of the slit affects the spectral resolution and energy of the spectrometer; the slit (at the very end in the figure) has a linewidth that affects the spectral resolution and energy of the spectrometer. It can be adjusted as needed.
[0058] In this embodiment, the reflector or rotating reflector with grating beam splitting function is rotated at high speed by a rotating mechanism, so the switching speed of monochromatic light is also high, forming a high-frequency switching monochromatic output. The high-speed rotating reflector 2 (reflector or rotating reflector with grating beam splitting function, so the switching speed of monochromatic light is also high, thus realizing high-frequency switching monochromatic light output) achieves high-frequency switching monochromatic light output.
[0059] Example 2
[0060] Based on Example 1, the spectrometer in the high-frequency monochromator 4 is preferably a spectrometer with a convex grating. The spectrometer that uses a convex grating as the spectrometer element does not need to rotate during the spectrometer process, thereby ensuring that the position of the emitted monochromatic light is relatively fixed.
[0061] Example 3
[0062] Based on Embodiment 1, the high-frequency monochromator 4 can also be simplified to consist of two matched objective lenses and a high-speed grating mirror. A white light beam collimated by the front objective lens is incident on the rotating mirror (grating), and after diffraction by the high-speed mirror, it forms a collimated beam with a monochromatic arrangement. This beam is then converged by the second objective lens, and the monochromatic spectrum is arranged on the focal plane of the objective lens before exiting through the exit slit 33. When the exit slit 33 is fixed, the rotation of the mirror can select the wavelength, i.e., the spectrum, of the emitted monochromatic light.
[0063] Example 4
[0064] Based on Embodiment 1, the source of the high-frequency monochromatic light source 5 in this application can also be replaced with any conventional monochromator.
[0065] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A hyperspectral endoscope, comprising an endoscope body, characterized in that, The endoscope body is equipped with a high-frequency monochromatic illumination component, a hyperspectral imaging component, a data acquisition component, a display component, a data processing component, and a control component. A high-frequency monochromatic illumination component includes a high-frequency monochromatic light source and an illumination fiber. The illumination fiber is installed along the inside of the endoscope body. The tail end of the illumination fiber is connected to the high-frequency monochromatic light source through a hyperspectral light source module. The front end of the illumination fiber is fixed to the front illumination point of the endoscope body to illuminate the target object. The high-frequency monochromatic light source, used as the illumination source, consists of a spectral module, namely a high-speed monochromator. The hyperspectral imaging component consists of three parts: a wide-angle optical imaging mirror, a relay image transmission mirror, and an image transmission magnification connecting mirror. They are arranged sequentially from the front end to the rear end inside the endoscope body along the reflection direction of the imaging beam. The wide-angle optical imaging mirror is located at the front end of the endoscope body, the relay image transmission mirror is located in the middle of the endoscope body, and the image transmission magnification connecting mirror is located at the end of the endoscope body and is connected to the detector. The endoscope is inserted into the body through an opening. High-frequency monochromatic light inside the endoscope illuminates the target object, which reflects the monochromatic light. Part of the monochromatic light enters the imaging component at the front end of the hyperspectral endoscope. The signal output of the hyperspectral imaging component is connected to the detector module, and is wired to the signal input of the data acquisition component via an optical fiber. The signal output of the data acquisition component is wired to the signal input of the data processing component via an optical fiber. The signal output of the data processing component is wired to the display component. The illumination component, endoscope imaging component, data acquisition component, display component, and data processing component are all controlled and connected by a control component.
2. The hyperspectral endoscope according to claim 1, characterized in that, The illumination optical fiber consists of four parts: a light-collecting mirror group, an optical fiber coupling module, an optical fiber guiding module, and an optical fiber output module that couples light energy from the optical fiber into the front-end illumination optical system. The light-collecting mirror group collects light energy from a high-frequency monochromatic light source and guides it into the optical fiber; the optical fiber coupling module, the optical fiber guiding module, and the optical fiber output module that couples light energy from the optical fiber into the front-end illumination optical system.
3. The hyperspectral endoscope according to claim 1, characterized in that, The data acquisition component is a data acquisition electronic circuit module combined with a CCD or CMOS detector.
4. A hyperspectral endoscope according to claim 1, characterized in that, The high-frequency monochromatic light source is obtained by polychromatic light entering the high-frequency monochromator for spectral dispersion. The high-frequency monochromator has the following structure: it includes a spectrometer and a scanning exit mechanism. The scanning exit mechanism is loaded after the beam emitted by the spectrometer. Along the optical path, the entrance slit, spectrometer, field aperture, collimating optical component, rotating mirror or rotating mirror with grating spectral dispersion function, converging imaging component, and exit slit are arranged in sequence. The light rays are emitted through the field aperture and exit slit to form an L-shaped optical path. The entrance slit, collimating optical component, rotating mirror or rotating mirror with grating beam splitting function, converging imaging component, and exit slit are all fixed perpendicularly to the horizontal plane. The rotating mirror or rotating mirror with grating beam splitting function is located at the junction of the L-shaped optical path. The entrance slit and collimating optical component are located on the straight optical axis of the light incident direction. The central axis of the collimating optical component and the central axis of the entrance slit are on the same optical axis. The converging imaging component and exit slit are located on the straight optical axis of the light exit direction. The central axis of the converging imaging component and the central axis of the exit slit are on the same optical axis. A corresponding exit slit is set at the image plane of the converging imaging component.
5. A hyperspectral endoscope according to claim 4, characterized in that, The rotating mirror with grating beam splitting function is located at the entrance pupil and exit pupil of the collimating optical component and the converging imaging component. The rotating mirror with grating beam splitting function or rotating mirror is a structure of rotating mirror superimposed with grating, or a structure of scanning mirror superimposed with grating or rotating mirror.
6. A hyperspectral endoscope according to claim 4, characterized in that, The collimating optical component is a collimating lens, and the resolution of the collimating lens is adapted to the resolution of the spectrum and the position of the motor; the converging imaging component is a lens or a mirror, and the resolution of the converging imaging component is adapted to the resolution of the spectrum and the position of the motor.
7. A hyperspectral endoscope according to claim 4, characterized in that, The L-shaped optical path has an acute or obtuse angle.
8. An imaging method using a hyperspectral endoscope, characterized in that, The hyperspectral endoscope as described in any one of claims 1-7 uses an optical fiber to access the illumination beam output from a high-frequency monochromator as a light source to illuminate the target object. The endoscope's imaging optical system then images the monochromatic illuminated target object onto the endoscope's detector. A data acquisition and storage system collects high-spectral-resolution monochromatic images, forming a data cube. The control system uniformly coordinates the illumination monochromatic light and exposure monochromatic light images, one color per frame, and, in conjunction with the data acquisition system, rapidly acquires the hyperspectral image data cube data, which is then processed and displayed by software or AI.
9. The imaging method of a hyperspectral endoscope according to claim 8, characterized in that, The high-frequency monochromator uses a method where polychromatic light enters through an entrance slit, passes through a spectrometer, a field stop, and a collimating optical assembly to transform the divergent beam into a collimated parallel beam, and then enters a rotating mirror or rotating mirror with a grating beam splitting function. Various colors of light are then incident on a converging imaging assembly and imaged onto its image plane, where color bands of various colors of light are displayed. A corresponding exit slit is set at the image plane of the converging imaging assembly, and by rotating the rotating mirror or rotating mirror with a grating beam splitting function, various colors of light are sequentially emitted from the exit slit, i.e., monochromatic light is emitted, thus forming a monochromator.
10. The imaging method of a hyperspectral endoscope as described in claim 8, characterized in that, The reflector with grating beam splitting function is rotated at high speed by a rotating mechanism, so the switching speed of monochromatic light is also high, forming a high-frequency switching monochromatic output; the reflector with grating beam splitting function obtains monochromatic light of one color for each angle it rotates.