40 results about "Fluorescence endoscopy" patented technology

The utility model relates to a 4K fluorescent endoscope optical system, which comprises an objective lens system, a relay lens system and an eyepiece system which are sequentially arranged along the light propagation direction, and is characterized in that the objective lens system is of a reverse long-distance structure; the system comprises a sapphire protection lens, a negative focal power lens, a prism or a steering prism, a positive focal power plano-convex cemented lens, a positive focal power triple cemented lens and a first positive focal power double cemented lens which are arranged along a light propagation direction, the relay lens system comprises n relay lens groups, and each relay lens group is of a double telecentric structure. And the eyepiece system is arranged in the light transmission direction and is formed by symmetrically arranging two doublet rod lenses, n is an odd number, the eyepiece system is of an object space telecentric structure, and the eyepiece system comprises a second positive-focal-power doublet lens, a positive-focal-power lens and a sapphire lens which are glued into a whole in the light transmission direction. The structure of an optical system can be simplified, production and processing cost can be reduced, and 4K ultra-high-definition fluorescent laparoscopic imaging can be realized at the same time.

The invention discloses a fluorescence image adaptive enhancement noise reduction method and a fluorescence endoscope imaging system, and relates to the image processing related field, and the method comprises the steps: loading a fluorescence endoscope image; dividing the fluorescent endoscope image to obtain D window fluorescent images; extracting a fluorescence image of the d-th window; filtering and noise reduction are carried out to generate a d-th window noise reduction image; performing noise reduction verification to generate a d-th window noise reduction verification image; continuously performing filtering noise reduction and noise reduction verification on each window fluorescence image in the D window fluorescence images to generate D window noise reduction verification images; and carrying out image fusion on the D window noise reduction verification images to generate a fluorescence endoscope noise reduction image. The technical problem that the quality of the fluorescence endoscope noise reduction image is uneven due to the fact that an existing fluorescence endoscope image noise reduction method is not ideal in noise reduction effect and lacks a unified verification process is solved, and the technical effect of improving the quality of the fluorescence endoscope noise reduction image is achieved.

The present invention relates to a fluorescence endoscope system, including a light source module, a camera module, a main control module, and a display module. The light source module is configured to emit an illumination beam, the camera module includes an endoscope configured to propagate the illumination beam and its reflected beam, and an operation unit configured to collect the reflected beam and convert the collected reflected beam into video data therefrom. The main control module includes a control unit configured to drive the light source module to emit a first illumination beam or a second illumination beam, and an image processing unit configured to process the video data frame by frame. The display module is configured to play the video data. The present invention can provide at least two operation modes including a white light mode and a fluorescence mode, and a first button of the operation unit can switch between the white light mode and the fluorescence mode, and has the advantage that the fluorescence imaging can provide a fluorescence image of tissue below the tissue surface, and can visualize and accurately identify lesions that are difficult to observe or early lesions, thereby improving the safety of surgery.

The utility model relates to a device for testing the imaging performance of a fluorescent endoscope, which comprises a mounting frame, and a clamp assembly, a container placing disc and an integrating sphere which are sequentially distributed on the mounting frame from top to bottom, and a lighting device arranged on one side of the integrating sphere, and exciting light of the lighting device illuminates the container placing disc through the integrating sphere. The container placing disc is provided with observation holes which are distributed in a circumferential mode, the clamp assembly comprises a double-screw clamp used for fixing the fluorescent endoscope and an adjusting frame used for adjusting the irradiation angle of the fluorescent endoscope, and the main purpose of the utility model is to enable a light source in the container placing disc to be more uniform through the reflection effect of an integrating sphere; according to the fluorescent endoscope, the sensitivity and definition of the fluorescent endoscope are improved, three important indexes including the radiance response characteristic, the fluorescent signal-to-noise ratio and the fluorescent static image latitude of the fluorescent endoscope are analyzed through real-time data of a fluorescent image collected by the fluorescent endoscope, and important parameters are provided for judging the imaging performance of the fluorescent endoscope.

The present disclosure relates to a fluorescence endoscope system. The fluorescence endoscope system comprises a light source module, a camera module, a main control module and a display module. The light source module is configured to emit illumination beams. The camera module comprises an endoscope and an operation portion. The endoscope is configured to propagate the illumination beams and reflected beams thereof. The operation portion is configured to receive the reflected beams and convert the reflected beams into video data. The main control module comprises a control unit and an image processing unit. The control unit is configured to control the light source module to emit a first illumination beam or a second illumination beam. The image processing unit is configured to process the video data frame by frame. The display module is configured to play the video data. The present disclosure can provide a white-light mode and a fluorescence mode, and switch between the white-light mode and the fluorescence mode by a first button on an operation portion. A fluorescence image of a tissue under a tissue surface is provided by means of fluorescence imaging, such that inconspicuous lesions and early lesions can be visually and precisely identified, thereby improving the safety of surgery.

The invention relates to the technical field of medical image processing, in particular to an image processing system for a fluorescent endoscope, the system comprises a control layer, an equipment layer and a database layer, the equipment layer comprises a camera group, a display and an illumination light source, the camera group is used for collecting visible light images and fluorescent light images, and the display is used for displaying the visible light images and the fluorescent light images; the illumination light source comprises a white light source, a fluorescence excitation light source and a light splitting filtering assembly, the database layer is used for storing data collected by the system, the control layer comprises a CPU, an image processing module, a calculation module and an image output module, the CPU is used for managing and controlling operation of the system, and the image output module is used for outputting the image. The image processing module is used for fusing the visible light image and the fluorescence image to generate a visible light fusion image which only emits fluorescence by the diseased tissue; and the image output module is used for connecting the host with a display to output the visible light fusion image which only emits fluorescence by the diseased tissue in real time.

An imaging device 52 comprises: a color separation optical element 521 for separating incident light into three light beams, specifically light L1 in a first wavelength band including a wavelength band of first fluorescence which is emitted from a first fluorescent reagent and in which the peak wavelength of fluorescence emission is 700-800 nm, light L2 in a second wavelength band including a wavelength band of second fluorescence which is emitted from a second fluorescent reagent and in which the peak wavelength of fluorescence emission is on the longer-wavelength side of the peak wavelength of the first fluorescence, and light L3 in a third wavelength band including a portion of the wavelength band of visible light; a first imaging element 522 for imaging the light L1 in the first wavelength band; a second imaging element 523 for imaging the light L2 in the second wavelength band; and a third imaging element 524 for imaging the light L3 in the third wavelength band.

The utility model discloses an anti-drop dual-fluorescence endoscope plug-in structure, which comprises an endoscope body, a first wiring port and a second wiring port are respectively arranged on the endoscope body, and a first optical fiber cable and a second optical fiber cable are respectively connected onto the first wiring port and the second wiring port. One end of the first optical fiber cable and one end of the second optical fiber cable are respectively provided with a connector, one end of the endoscope body is fixedly connected with a mounting seat, an endoscope tube is mounted on the mounting seat, a light guide hole is formed in the tail end of the endoscope tube, and a camera is mounted at the tail end of the endoscope tube. According to the utility model, through the modular design, each functional part can be disassembled according to needs so as to facilitate maintenance and replacement, the wire body can be effectively fixed after being plugged so as to prevent falling off, the wire body can be disassembled and assembled without any need, and the difficulty of part maintenance and replacement is reduced.

The invention discloses an automatic exposure method of a fluorescent endoscope for an endoscope shooting object based on deep reinforcement learning and a self-group iteration upgrading device. Comprising the following steps: establishing an information acquisition device of the fluorescent endoscope camera system; dividing an observation area; collecting fluorescence image data as the state of the reinforcement learning environment, and inputting the fluorescence image data into an intelligent agent to obtain the exposure time of a fluorescence image; the fluorescence image of each spectral band is collected again, and the observation area is divided again; and collecting visible light image data as the state of the reinforcement learning environment, inputting the visible light image data into the intelligent agent to obtain the exposure time of the visible light image, and achieving automatic image exposure processing based on the fluorescent object. The system is suitable for narrow space imaging under the endoscope, and a good multi-spectral endoscope automatic exposure imaging result can be obtained. According to the self-group iteration upgrading device, model training iteration upgrading can be carried out in multiple modes, and the performance of the device is continuously improved.

The invention discloses an intelligent endoscope image processing and displaying system, which belongs to the technical field of endoscope images and comprises a fluorescent endoscope module, an image processing module, a display module, a modular module and a control module. The fluorescent endoscope module is used for transmitting an optical signal emitted by a focus tissue to the single-chip three-waveband camera unit in the modular module; the display module is used for displaying images; the image processing module is used for processing the received electric signal to form a real-time three-band image and outputting the three-band image to the display module for displaying; the modular module comprises a single-chip three-waveband camera unit and a three-waveband illumination light source unit; the single-chip three-band camera shooting unit is used for collecting and processing the received optical signals, forming corresponding electric signals and transmitting the electric signals to the image processing module; the three-band illumination light source unit is used for three-band illumination, and the control module is used for imaging control.

A processor 9 constituting a fluorescent endoscopic apparatus 1 alternately turns on first and second laser diodes 321, 322, detects differences in brightness level between pixels of a first captured image obtained by capturing one of first and second fluorescent lights with an imaging element 523 at a timing when the first laser diode 321 is turned on and the corresponding pixels of a second captured image obtained by capturing the one fluorescent light with the imaging element 523 at a timing when the second laser diode 322 is turned on, and determines, on the basis of the differences, a region where the one fluorescent light has been emitted.

The invention relates to the field of medical instruments, and discloses a fluorescence exposure compensation method, system and device for a 3D fluorescence endoscope camera system, and the method comprises the following steps: S1, parameter calibration: before a 3D fluorescence endoscope operation is carried out, calibration of key parameters of the system needs to be completed, and an accurate reference basis is provided for real-time fluorescence exposure compensation in the operation; s2, fluorescent camera exposure parameter estimation: in the 3D fluorescent endoscopic surgery process, estimating and adjusting the fluorescent camera exposure parameters in real time based on the parameters calibrated in S1, so as to realize stable fluorescent exposure. According to the method, the relation curve of the shooting distance and the parallax is established through preoperative dual-target calibration, the parallax image is estimated based on the binocular visible light image and the weighted average parallax value is calculated in the operation, and compared with an existing distance estimation mode based on white light exposure parameters and brightness, the estimation precision of the shooting distance is greatly improved, and the accuracy of shooting distance estimation is improved. And an accurate distance basis is provided for fluorescence exposure compensation.

The utility model discloses a 4K fluorescent 3D endoscope for minimally invasive surgery navigation. The 4K fluorescent 3D endoscope comprises a camera; one end of the signal line is connected with the camera; the signal transmission device comprises a first signal connector, the other end of the signal line is detachably connected with the first signal connector, an insertion column is arranged at the end, close to the first signal connector, of the signal transmission device, and a first groove is formed in the top of the insertion column; the limiting assembly comprises a limiting sleeve and an elastic buckle, the limiting sleeve is arranged on the outer side of the insertion column in a sleeving mode, a through hole is formed in the position, corresponding to the first groove, of the limiting sleeve, and the elastic buckle is arranged on the inner wall of the limiting sleeve; when the signal line is inserted into an insertion column in the signal transmission device, the elastic buckle is extruded by the insertion column, the elastic buckle shrinks towards the interior of the limiting sleeve, meanwhile, elastic deformation is generated, and automatic locking connection of the signal line and the signal transmission device is achieved.

The utility model relates to a fluorescent endoscope system capable of reducing temperature rise of a handle, which comprises a light source emitter used for emitting visible light and exciting light, the handle and a host, the handle comprises a lens assembly and an image sensing module, and the image sensing module comprises at least one visible light sensor and at least one fluorescent sensor; the host is used for receiving a visible light frame and a fluorescence frame, obtaining a fluorescence intensity value of the fluorescence frame, and controlling the fluorescence sensor to enter a standby state when the host selects a visible light mode; when the host selects a fusion mode, when the duration time that the fluorescence intensity value of the fluorescence frame is smaller than a preset value is longer than a preset time period, the fluorescence sensor is controlled to enter a discontinuous wake-up state from a normal state, and when the fluorescence intensity value of the fluorescence frame is larger than the preset value in the preset time period, the fluorescence sensor is controlled to enter the discontinuous wake-up state from the normal state. The fluorescent sensor is controlled to enter a normal state from an intermittent awakening state, so that the power consumption of the handle is reduced, and the temperature rise of the handle is reduced.

Devices, kits, and methods for in vivo imaging, such as fluorescent imaging, are provided. Specifically, fluorescent endoscopy accessory devices may be utilized with any prior endoscopy equipment to allow fluorescent imaging of tissue properties (e.g. tissue autofluorescence) or applied fluorescent molecular probes or tracers. Various kits incorporating one or more fluorescent endoscopy accessory devices as well as other endoscopy-related tools, products, or materials is further detailed. Also disclosed are methods of using the fluorescent endoscopy accessory devices and kits.

A fluorescence endoscope device (1) comprises: a WLI light source (31) that emits WLI light; excitation light sources (32, 33) that emit excitation light for exciting a fluorescent reagent; a first imaging element (522) that images return light, which is the WLI light from an object being observed; a second imaging element (523) that images fluorescence emitted from the fluorescent reagent contained in the object being observed; and a processor (93). The processor (93) can switch between a superimposed fluorescence mode for outputting a superimposed image in which a fluorescence image obtained through imaging by the second imaging element (523) is superimposed on a WLI light image obtained through imaging by the first imaging element (522), and a single fluorescence mode for only outputting the fluorescence image. The processor (93) sets the amount of WLI light that is emitted by the WLI light source (31) for each exposure time per frame in the second imaging element (523) to be smaller in the single fluorescence mode than in the superimposed fluorescence mode.

The invention provides a compensation method for fluorescence signal uniformity in a fluorescence endoscope system deployed to an FPGA (Field Programmable Gate Array) based on deep reinforcement learning and a self-group iteration upgrading device. The compensation method comprises the following steps: dividing an imaging visual field of a fluorescence camera into a plurality of rectangular areas with the same size; a fluorescent contrast agent with a certain concentration is selected and placed in the center of each rectangular area successively, and images are collected; respectively calculating an average gray value in each rectangular region; and constructing and training a gray scale compensation multi-agent of the fluorescence imaging system by using a PPO algorithm, wherein the gray scale compensation agent outputs a compensation value of each pixel for performing compensation transformation on a gray scale value of the acquired fluorescence image. According to the method, the trouble caused by unreasonable change of the gray value of the fluorescence image in the operation process can be solved, and the defects which are difficult to solve in the hardware structure are overcome from the perspective of a software algorithm. According to the self-group iteration upgrading device, model training iteration upgrading can be carried out in multiple modes, and the performance of the device is continuously improved.

The invention relates to an image processor (170) and / or a computer-implemented image processing method for a medical fluorescent viewing device (100), such as a fluorescent microscope or a fluorescent endoscope. A digital white light color image (114) of the object (106) recorded in the first imaged spectrum (202) and a digital fluorescent color image (112) of the object (106) recorded in the second imaged spectrum (222) are retrieved. The second imaged spectrum (222) overlaps a fluorescence emission spectrum (226) of the at least one fluorophore (116) and is different from the first imaged spectrum (202). Both the first and second imaged spectra (202, 222) overlap the visible spectrum (212). In order to facilitate a user's manipulation of a medical viewing device (100) and migration to a new fluorescence imaging technique, at least one digital output color image (160, 160-I, 160-II, 160-III) of a set (1000) of output digital output color images (160) is provided, the set comprising: digital output color images (160, 160-I) generated by an image processor (170) only from digital fluorescence color images (112); a digital output color image (160, 160-II) generated by the image processor (170) only from the digital white light color image (114); and a digital output color image (160, 160-III) generated by the image processor (170) from a combination of the digital fluorescent color image (114) and the digital white color image (112). For switching between the respective output images, receiving a display selection signal (900) from a selector device (165); and selecting at least one digital output color image (160, 160-I, 160-II, 160-III) from the group for output according to the display selection signal (900).

The invention provides a light path system of a 4K 3D electronic fluorescence endoscope, which comprises an objective lens used for receiving incident light and realizing light convergence; the special-shaped beam splitter prism is used for splitting incident light into a white light wave band and a near-infrared light wave band; the relay lens group is used for adjusting the diagonal size of the fluorescence image; the transfer image transmitting lens group is used for carrying out distortion correction and image amplification on the white light image; the 45-degree reflecting prism is used for reflecting and focusing the amplified white light image on the image acquisition unit; the image acquisition unit comprises at least two 4KCMOS (complementary metal oxide semiconductor) with different sizes, and the 4KCMOS is used for acquiring a fluorescent image and a white light image respectively; and the signal processing unit is used for processing the acquired fluorescence image and the white light image into digital information and transmitting the digital information to the image processor. According to the invention, the light splitting prism light splitting technology is adopted, and 4K-level white light and fluorescence image acquisition is realized through the light path system while the volume limitation of the endoscope tube is met, so that the white light and fluorescence image resolution of the 3D electronic fluorescence endoscope is improved.

The invention relates to the technical field of imaging, and provides a high-definition fluorescent endoscope photography imaging system which is formed by close cooperation and organic integration of a composite light source module, an optical imaging module, an image processing module and a control feedback module. The imaging system can obtain high-resolution, high-contrast, real-color and rich-detail images in various complex scenes, clearer and more accurate tissue information is provided for doctors, and early discovery and accurate diagnosis of diseases are facilitated; through information interaction and cooperative control among the modules of the imaging system, full-process intelligentization and automation from light source excitation, image acquisition and processing to feedback control are realized, the intelligent processing of the imaging system also reduces the influence of human factors on the imaging result, and the consistency and repeatability of imaging are improved.

The utility model relates to an objective optical system of a 4K fluorescent endoscope, which is characterized in that the objective optical system is integrally of a reverse long-distance structure and comprises a sapphire protection lens, a negative-focal-power lens, a prism or a steering prism, a positive-focal-power plano-convex cemented lens, a positive-focal-power triple cemented lens and a positive-focal-power doublet lens which are arranged along the light propagation direction, the plane or convex surface on one side of the negative-focal-power lens is positioned on one side of the sapphire protection lens, and the concave surface on the other side of the negative-focal-power lens and the two sides of the prism or the steering prism are respectively glued with the other side of the negative-focal-power lens and the plane of the positive-focal-power plano-convex glued lens; the convex surface of the positive-focal-power plano-convex cemented lens is located on one side of the convex surface of the positive-focal-power triple cemented lens, and the plane of the positive-focal-power triple cemented lens is located on one side of the convex surface of the positive-focal-power double cemented lens. According to the utility model, the field curvature, the vertical axis chromatic aberration and the distortion of the whole endoscope system are well corrected, the stray light is reduced, and the objective lens requirement of the 4K-resolution fluorescent laparoscope can be met.

The invention relates to a fluorescent endoscope imaging device and method, and belongs to the technical field of image processing. The device comprises a pneumoperitoneum machine, a fluorescent cold light source, a fluorescent mirror, a fluorescent camera, a fluorescent camera cable, a camera host, a signal connecting line and a rear end device, a man-machine interaction module, a fluorescence excitation module, an optical imaging module, a data acquisition module, a GPU image processing module, a white light processing module, a fluorescence processing module, an ISP image processing module, a segmentation module, a registration module, a fusion module, a storage management module, a display output module and the like are adopted. Low-delay and high-pixel transmission is met, image information is completely reserved, a host can better complete image processing, and the final image quality is guaranteed; the problems of module temperature rise, component damage, influence on imaging quality and the like caused by image processing at the fluorescent camera lens module end are solved. The method can be applied to the field of fluorescent endoscope images.

The invention discloses a fluorescent endoscope image brightness adjusting method, system and device and a medium, and the method comprises the steps: obtaining an image adjusting mode and a light source mode of a fluorescent endoscope, and carrying out the brightness adjustment of a visible light image according to an obtained first actual brightness value and a first electronic shutter value when the image adjusting mode is a first light source mode; when the mode is a second light source mode, brightness adjustment is carried out on the near-infrared light image according to an obtained second actual brightness value and a second electronic shutter value; when the mode is a third light source mode, obtaining a first actual brightness value, a first electronic shutter value, a second actual brightness value and a second electronic shutter value; brightness adjustment is carried out on the visible light image and the near-infrared light image; and after the brightness adjustment is completed, obtaining a target image by using an image fusion technology. According to the invention, the light source brightness of the near infrared spectrum and the light source brightness of the visible light spectrum can be independently adjusted, and the problem of overexposure or underexposure of the image can be effectively reduced.

The present invention belongs to the technical field of fluorescent materials and relates to a fluorescence-based color calibration card. The fluorescence-based color calibration card includes a shell portion and a fluorescent material module portion; the fluorescent material module portion is liquid or colloid; the fluorescent material module portion includes a fluorescent dye and a solvent; or, the fluorescent material module portion includes a fluorescent dye, a solvent, and a thermogel substance; the shell portion includes: a substrate and a cover plate, a filling groove is provided on the surface of the substrate, and the cover plate covers the opening of the filling groove to confine the fluorescent material module portion within the filling groove. The fluorescence-based color calibration card provided by the present invention can be used for parameter correction of fluorescent endoscope equipment, judgment of the operating status of fluorescent endoscope equipment, and auxiliary adjustment of the operating status of fluorescent endoscope equipment under different fluorescence modes, making up for the defect that the current fluorescent endoscope lacks a matching color calibration card.

The invention relates to a flexible three-dimensional wide-spectrum endoscopic imaging detection system and an imaging method thereof, and the imaging detection system comprises a flexible imaging detection unit which is used for collecting a visible light image and a near-infrared fluorescence image of a detected part; a light source; the three-dimensional image processing unit is used for processing the visible light image and the near-infrared fluorescence image so as to realize a three-dimensional wide-spectrum image, and the image processing unit has a function of realizing white light multi-source image fusion based on feature recognition; the multi-source image fusion function can fuse the visible light image and the near-infrared fluorescence image into an image with multi-source information in real time. The three-dimensional wide-spectrum (400-2500nm) imaging, including in-vivo focus three-dimensional white light imaging and three-dimensional fluorescent endoscopy, can be realized, and the three-dimensional imaging effect is good.

The utility model discloses a device for detecting the optical performance of a 3D (three-dimensional) fluorescent endoscope, relates to the technical field of detection of the optical performance of the endoscope, and solves the problems that in the conventional device, the height of the endoscope cannot be accurately adjusted according to detection requirements due to the fact that a base for mounting the endoscope does not have an adjusting function, so that the application range of the endoscope is limited; and the detection process is difficult to adapt to diversified requirements. Comprising a mounting base, a group of stop blocks arranged on the mounting base and a mounting bin connected in the stop blocks; wherein an inner cavity is formed in the mounting base, an assembling base plate is arranged in the mounting bin, the middle of the assembling base plate protrudes upwards, and a positioning threaded column is arranged on the outer wall of the protrusion; the device further comprises a fine adjustment assembly. By means of the design, the requirement for adjusting the height of the endoscope under different detection requirements can be met, the endoscope can be prevented from deviating in the detection process, and therefore the accuracy of the detection result is improved.

The application relates to a fluorescent image processing method and a fluorescent endoscope system. In a fluorescent mode, a detected object marked by a fluorescent agent is illuminated based on detection light, the detection light comprising white light and excitation light emitted in a set light emission mode; light signals from the detected object are collected based on a collection mode corresponding to the light emission mode, a first image is obtained based on first waveband light signals, and a second image is obtained based on second waveband light signals; the first waveband is set based on a spectral range of fluorescent light excited by the excitation light, and the second waveband is set based on a spectral range of the white light; the first image and the second image are fused to obtain a fluorescent detection image of the detected object, thereby solving the problem of unclear imaging of a fluorescent marking peripheral region and improving overall imaging effect.

This invention relates to a focal plane consistency coefficient testing device for a fluorescence endoscopy system. It includes a fixed plate, a worktable mounted on the fixed plate, and a transmission light box. An endoscope with a camera is mounted on the worktable via a connector. The camera is secured to the endoscope with a clip. A focusing knob is provided on the camera for adjusting image sharpness. The endoscope is positioned directly opposite the transmission light box, and a test card is mounted above the transmission light box. This invention provides a focal plane consistency coefficient testing device for a fluorescence endoscopy system, which boasts advantages such as simple and reasonable structure, practicality, and convenience.

The invention discloses an automatic exposure method for an endoscope shooting object by combining software and hardware with a fluorescent endoscope and a self-iteration upgrading device. The method mainly comprises the following steps: constructing an information acquisition device of the fluorescent endoscope camera system; collecting fluorescence image data as the state of the reinforcement learning environment, inputting the fluorescence image data into a deep noise reduction convolutional neural network, and then inputting the fluorescence image data into an intelligent agent to obtain the exposure time of a fluorescence image; the fluorescence image of each spectral band is collected again, and the observation area is divided again; and collecting visible light image data as the state of the reinforcement learning environment, inputting the visible light image data into the deep noise reduction convolutional neural network, and then inputting the visible light image data into the intelligent agent to obtain the exposure time of the visible light image so as to achieve automatic image exposure processing based on the fluorescent object. The system is suitable for a narrow space under the endoscope, and a good multi-spectral endoscope automatic exposure imaging result can be obtained.