CN109998447B - Filtering method for high-energy visible light laser by medical operation endoscope imaging system - Google Patents
Filtering method for high-energy visible light laser by medical operation endoscope imaging system Download PDFInfo
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- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
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Abstract
本发明涉及一种滤光方法，特别涉及一种医用手术内窥镜成像系统对高能量可见光激光的滤光方法，解决了现有采用间歇式激光手术方案时，手术时间长，风险高及采用加滤光片方案时，图像有色差、不适用电子内窥镜问题。该方法包括以下步骤：步骤1：摄像成像系统输出摄像视频流，传输给电子滤光器；步骤2：电子滤光器解析摄像视频流的视频帧信号，并进行帧计数或帧标记；步骤3：调整电子滤光器反馈给激光发生器的激光出光使能信号SW相对于视频场同步信号VS或奇偶场信号F的延迟时间T1和信号周期T2，使得：SW无效时，显示清晰影像；SW有效时，显示过饱和影像；步骤4：电子滤光器过滤掉SW有效期间的影像，并将其用前一SW无效期间的最后一帧影像替代。
The invention relates to a filtering method, in particular to a filtering method for a high-energy visible light laser by a medical surgical endoscope imaging system, which solves the problems of long operation time, high risk and the need for an intermittent laser operation scheme in the prior art. When the filter scheme is added, the image has chromatic aberration, which is not suitable for electronic endoscopes. The method includes the following steps: Step 1: the camera imaging system outputs the camera video stream and transmits it to the electronic filter; Step 2: the electronic filter analyzes the video frame signal of the camera video stream, and performs frame counting or frame marking; Step 3 : Adjust the delay time T1 and signal period T2 of the laser light-emitting enable signal SW fed back to the laser generator by the electronic filter relative to the video field synchronization signal VS or the odd-even field signal F, so that: when the SW is invalid, a clear image is displayed; SW When it is valid, a supersaturated image is displayed; Step 4: The electronic filter filters out the image during the SW valid period and replaces it with the last frame image of the previous SW invalid period.
Description
Technical Field
The invention relates to a filtering method, in particular to a filtering method of a medical operation endoscope imaging system for high-energy visible light laser.
Background
When visible laser (with the wavelength of 380-780 nm) is applied to the process of excision or treatment of tumors or pathological tissues in a human body cavity, the visible laser is generally matched with an endoscope to display video at a treatment end on a monitor in real time, and a doctor looks up the position of a focus point and observes the treatment effect by watching an image on the monitor. When a tissue is treated and operated by visible light laser (with the wavelength of 380-780 nm), the CCD/CMOS of the endoscope can be saturated by the high-energy visible light laser, the treatment center is completely white on a monitor, a doctor cannot effectively monitor the treatment operation effect in real time, and the popularization and use experience of the laser operation are influenced.
If an intermittent laser operation scheme is adopted, the doctor controls the light emission and stop of the laser through a foot switch, an emergency stop and other devices of a laser generator in the operation process. When the light is not emitted, the position of a focus point of the tissue is searched and observed through the endoscope, then the laser is controlled to generate, the tissue is vaporized and cut, when the light is emitted, the endoscope is saturated, the treatment effect cannot be seen, and the effect is observed after the light is emitted; and after observation, if the excision is complete, light emission is continued, and the steps are repeated until the excision is complete. According to the intermittent laser operation scheme, the light emitting duration and power of the laser at each time need to depend on the experience of a doctor, the doctor frequently controls the laser to be started and stopped, the operation is complicated, the operation time is long, the bleeding amount is large, the operation risk is high, and the condition of over-resection or under-resection exists; thus, such intermittent laser surgery protocols are rarely used in actual laser treatment surgery.
The current technical solution is to add a traditional optical filter in front of the endoscope CCD/CMOS. However, the technical scheme of adding the traditional optical filter in front of the endoscope CCD/CMOS has the following defects:
1. electronic endoscopes are not available.
Endoscopes are classified into hard endoscopes and soft endoscopes, and soft endoscopes are classified into optical fiber endoscopes and electronic endoscopes. The rigid endoscope has the appearance of a rigid material, a group of optical prisms are arranged in the rigid endoscope, and front end images are transmitted to the outside through an optical lens series which cannot be bent by the principle of optical refraction and reflection similar to a microscope; the optical fiber endoscope adopts the optical fiber bundles which are arranged in order to conduct images in a total reflection mode, the working channel can be bent, the images are imaged on the optical fiber bundles which are arranged in order through an optical lens at the front end and are transmitted to an external CCD/COMS through the optical fiber bundles which are arranged in order; the hard endoscope and the optical fiber endoscope can effectively filter the image with the corresponding wavelength of the visible laser through a method of adding a traditional optical filter in front of the CCD/CMOS, and then the clear focus central image can be obtained through the endoscope shooting. The CCD/COMS of the electronic endoscope is directly embedded in the position of an objective lens window of the endoscope lens and is placed in a human body cavity when in use, so that an optical filter is not suitable to be added. The additional addition of the optical filter has potential safety hazard, so the technical scheme of adding the traditional optical filter in front of the CCD/CMOS of the endoscope is not suitable for an electronic endoscope.
2. The image has color differences. An optical filter can be added in front of the CCD/COMS for a rigid endoscope and an optical fiber endoscope, but because all the optical filters reflect or absorb certain laser (laser in a specific wavelength range), the optical filters still have a restraining effect on light with the similar wavelength of the laser, the spectral characteristics of images on the CCD/CMOS are changed, and chromatic aberration is formed.
Disclosure of Invention
The invention aims to provide a filtering method of a medical operation endoscope imaging system to high-energy visible light laser, which enables doctors to observe operation effects in real time during laser treatment operations and is suitable for not only a rigid endoscope and an optical fiber endoscope, but also an electronic endoscope; solves the technical problems of long operation time and high operation risk when the existing intermittent laser operation scheme is adopted and the technical problems that the image has chromatic aberration and is not suitable for an electronic endoscope when the scheme of adding the optical filter in front of the CCD/CMOS of the endoscope is adopted.
The technical scheme adopted by the invention is that the filtering method of the medical operation endoscope imaging system to the high-energy visible light laser is characterized by comprising the following steps:
step 1: the camera shooting imaging system outputs a camera shooting video stream and transmits the camera shooting video stream to an electronic filter arranged between the camera shooting imaging system and the display device;
step 2: the electronic filter analyzes the video frame signal of the video stream received in the step 1 to obtain a video field synchronous signal VS and a frame valid data identifier DE, or obtain a video field synchronous signal VS, a parity field signal F and a frame valid data identifier DE; and performing frame counting or frame marking;
and step 3: according to the analysis result of the video frame signal in the step 2, adjusting and setting the delay time T1 and the signal period T2 of the laser light emitting enable signal SW fed back to the laser generator by the electronic filter relative to the video field synchronization signal VS obtained in the step 2 or relative to the odd-even field signal F obtained in the step 2, so that: when the laser light emitting enable signal SW fed back to the laser generator by the electronic filter is invalid, namely the laser generator does not emit light, the CCD/CMOS image is a clear image; when the laser light output enable signal SW fed back to the laser generator by the electronic filter is effective, namely the laser generator outputs light, the CCD/CMOS image is a supersaturated image;
and 4, step 4: the electronic filter is set to filter the image in the effective period of the laser light-emitting enable signal SW, only the image in the ineffective period of the laser light-emitting enable signal SW is reserved, and the image in the effective period of the laser light-emitting enable signal SW is replaced by the last frame image in the ineffective period of the previous laser light-emitting enable signal SW adjacent to the previous one.
Further, in step 1, the imaging system is an endoscopic imaging system.
Further, in the step 1, the camera imaging system outputs the camera video stream, and the camera video stream is transmitted to an electronic filter arranged between the camera imaging system and the display device through a data line.
Further, the type of the data line is a VGA data line, an HDMI data line, a BNC data line, or an S-terminal data line.
By adopting the method, when the laser light-emitting enable signal SW is effective, the laser light is emitted, the CCD/CMOS image is saturated, and the video frame is invalid; in the period that the laser light emitting enable signal SW is invalid, the laser does not emit light, the CCD/CMOS image is not saturated, and the video frame is clear and effective; only the video frames in the period of the laser light-emitting enable signal SW being invalid are displayed, so that all the finally displayed video frames are clear and effective video frames, invalid videos are not displayed, and the aim of laser filtering is fulfilled.
The invention has the beneficial effects that:
(1) by adopting the method, on one hand, the laser is safe and controllable. It compares in when adopting intermittent type formula laser operation scheme, manual control laser generator light-emitting, relies on the doctor to rely on experience operation to the control of length during the light-emitting, and easy out of control, and this scheme laser generator light-emitting time is controllable at every turn. Take 30W laser generator, 60FPS endoscope as an example: each time 1/60S is emitted, the video delay time is additionally increased to be 1/60S at most, and the single-emitting light energy: 30W 1/60s is 0.5J, and 0.5J energy is generated by delaying one frame time slot, so that the problem of operation safety is not caused; for the low-power laser generator, the single light-emitting energy is smaller, so that potential safety hazards do not exist. From the human eyes, although the emergent light of the laser cannot be seen, the operation effect of the laser during vaporization cutting or solidification can be seen continuously, the video is clear and visible in real time, so that a doctor can perform continuous operation without intermittent pause, the operation is smooth, the time consumption of the whole operation is small, the efficiency is high, and the operation is safe and controllable; on the other hand, by adopting the method of the invention, each frame of image sent into the display device is shot before the laser emits light, so that the image displayed by the display device is clear and has no chromatic aberration; moreover, the method of the invention filters light through the electronic filter arranged between the camera imaging system and the display device, and does not need to add a filter in front of the CCD/CMOS of the endoscope, so the method is not only suitable for a rigid endoscope and an optical fiber endoscope, but also suitable for the electronic endoscope; therefore, the invention solves the technical problems of long operation time and high operation risk when the existing intermittent laser operation scheme is adopted and the technical problems that the image has chromatic aberration and is not suitable for an electronic endoscope when the scheme of adding the optical filter in front of the CCD/CMOS of the endoscope is adopted.
(2) By adopting the method, the video is continuously output without delay. For standard definition, high definition video images, frame rate: the video delay is not less than 60FPS, the actual video rate is not less than 30FPS after the method is adopted, and the video delay cannot be distinguished by human eyes due to the human eye visual retention principle.
(3) By adopting the method, a doctor can observe the resection position and evaluate the resection effect in real time while controlling the laser resection operation, and the operation is safe and controllable.
(4) By adopting the method, the doctor experience is good. When the intermittent laser operation scheme is adopted, the supersaturation phenomenon exists in the image when the laser emits light, and the discomfort of eyes can exist when a doctor watches the endoscope display device for a long time; after the method is adopted, the oversaturated images are filtered and not displayed, and the images seen by doctors are all clear images, so that the experience is good.
Drawings
FIG. 1 is a timing diagram of a video field sync signal VS and a laser out enable signal SW in an electronic filter;
FIG. 2 is a schematic representation of the principles of the method of the present invention as applied to laser surgery.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a filtering method of a medical operation endoscope imaging system for high-energy visible light laser, which comprises the following steps:
step 1: the camera shooting imaging system outputs a camera shooting video stream and transmits the camera shooting video stream to an electronic filter arranged between the camera shooting imaging system and the display device;
step 2: the electronic filter analyzes the video frame signal of the video stream received in the step 1 to obtain a video field synchronous signal VS and a frame valid data identifier DE, or obtain a video field synchronous signal VS, a parity field signal F and a frame valid data identifier DE; and performing frame counting or frame marking;
and step 3: referring to fig. 1, according to the result of the parsing of the video frame signal in step 2, the delay time T1 and the signal period T2 of the laser light emission enable signal SW fed back to the laser generator by the electronic filter with respect to the video field synchronization signal VS obtained in step 2 or with respect to the odd-even field signal F obtained in step 2 are adjusted so that: when the laser light emitting enable signal SW fed back to the laser generator by the electronic filter is invalid, namely the laser generator does not emit light, the CCD/CMOS image is a clear image; when the laser light output enable signal SW fed back to the laser generator by the electronic filter is effective, namely the laser generator outputs light, the CCD/CMOS image is a supersaturated image;
and 4, step 4: the electronic filter is set to filter the image in the effective period of the laser light-emitting enable signal SW, only the image in the ineffective period of the laser light-emitting enable signal SW is reserved, and the image in the effective period of the laser light-emitting enable signal SW is replaced by the last frame image in the ineffective period of the previous laser light-emitting enable signal SW adjacent to the previous one.
In the above step 1, the camera imaging system outputs the camera video stream, and transmits the camera video stream to an electronic filter provided between the camera imaging system and the display device through a data line, wherein the type of the data line is one of a VGA data line, an HDMI data line, a BNC data line, or an S-terminal data line, but is not limited to these types, and may be other types.
Referring to fig. 2, when the method of the present invention is used for laser surgery, a video frame-extracting mode is mainly adopted, the principle of image-taking by pulsed light intermittent is utilized, when laser light is emitted, the current endoscope image is discarded, and the monitor display image is replaced by the previous frame image; when the laser light is not emitted, the endoscope image is displayed on the monitor in real time. The actual image frame frequency is equal to half of the actual acquisition frame frequency of the endoscope, for example, the endoscope image has a processed actual frame frequency of 12.5FPS for PAL or NTSC frame frequency of 25 FPS; for the RGB system, 60FPS or more, and the processed actual frame rate is 30FPS or more. Although the method of the invention is still intermittent light emitting, the intermittent time period is fixed, the delay of 1 frame is increased at most for the image, the operation effect is not influenced, the processed image is still continuous, and the doctor can continuously carry out the operation.
The method is not only suitable for filtering the visible light laser under the condition of applying the endoscope during the laser operation, but also suitable for filtering the visible light laser under the condition of applying other digital imaging systems during the laser operation; the method is also suitable for other occasions similar to the cooperative feedback application of the strong light operation and the camera system, and the situation that the center effect of the operation surface cannot be restored due to the supersaturation of the CCD/CMOS can be effectively solved.
Claims (4)
1. A filtering method of high-energy visible light laser of a medical operation endoscope imaging system is characterized by comprising the following steps:
step 1: the camera shooting imaging system outputs a camera shooting video stream and transmits the camera shooting video stream to an electronic filter arranged between the camera shooting imaging system and the display device;
step 2: the electronic filter analyzes the video frame signal of the video stream received in the step 1 to obtain a video field synchronous signal VS and a frame valid data identifier DE, or obtain a video field synchronous signal VS, a parity field signal F and a frame valid data identifier DE; and performing frame counting or frame marking;
and step 3: according to the analysis result of the video frame signal in the step 2, adjusting and setting the delay time T1 and the signal period T2 of the laser light emitting enable signal SW fed back to the laser generator by the electronic filter relative to the video field synchronization signal VS obtained in the step 2 or relative to the odd-even field signal F obtained in the step 2, so that: when the laser light emitting enable signal SW fed back to the laser generator by the electronic filter is invalid, namely the laser generator does not emit light, the CCD/CMOS image is a clear image; when the laser light output enable signal SW fed back to the laser generator by the electronic filter is effective, namely the laser generator outputs light, the CCD/CMOS image is a supersaturated image;
and 4, step 4: the electronic filter is set to filter the image in the effective period of the laser light-emitting enable signal SW, only the image in the ineffective period of the laser light-emitting enable signal SW is reserved, and the image in the effective period of the laser light-emitting enable signal SW is replaced by the last frame image in the ineffective period of the previous laser light-emitting enable signal SW adjacent to the previous one.
2. The method for filtering high-energy visible laser light by a medical surgical endoscopic imaging system according to claim 1, wherein: in step 1, the camera imaging system is an endoscope camera imaging system.
3. The method for filtering high-energy visible laser light by a medical surgical endoscopic imaging system according to claim 1, wherein: in the step 1, the camera imaging system outputs a camera video stream, and the camera video stream is transmitted to an electronic filter arranged between the camera imaging system and the display device through a data line.
4. The method for filtering high-energy visible laser light by a medical surgical endoscopic imaging system according to claim 3, wherein: the data line is of a VGA data line, an HDMI data line, a BNC data line or an S terminal data line.
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Denomination of invention: A filtering method for high-energy visible light laser in a medical surgical endoscopic imaging system Granted publication date: 20211210 Pledgee: Pudong Development Bank of Shanghai Limited by Share Ltd. Xi'an branch Pledgor: Xi'an blue top medical electronic technology Co.,Ltd. Registration number: Y2024980008511 |